x = 0.0;
y = 0.0;
estX = 0.0;
estY = 0.0;
dx = 0.0;
dy = 0.0;
dxc = 0.0;
dyc = 0.0;
i = 1;
N = 6;
while(i <= N) do
	i = i + 1;
	guard_stay = unifReal(0.0,1.0);
	if (guard_stay <= 0.2) 
	then
		dxc = 0.0;
		dyc = 0.0
	else
		guard_flip1 = unifReal(0.0,1.0);
		guard_flip2 = unifReal(0.0,1.0);
		guard_flip3 = unifReal(0.0,1.0);
                guard_flip4 = unifReal(0.0,1.0);
                guard_flip5 = unifReal(0.0,1.0);
                guard_flip6 = unifReal(0.0,1.0);
                guard_flip7 = unifReal(0.0,1.0);
		if (guard_flip1 <= 0.1) then
			if (guard_flip2 <= 0.1) then
				if (guard_flip3 <= 0.1) then
					dxc = 0.0;
					dyc = unifReal(1.0, 2.0)
				else
					dxc = 0.0;
					dyc = unifReal(-2.0, -1.0)
				end
			else
				if (guard_flip4 <= 0.1) then
					dxc = unifReal(1.0, 2.0);
					dyc = 0.0
				else
					dxc = unifReal(-2.0, -1.0);
					dyc = 0.0
				end
			end
		else
			if (guard_flip5 <= 0.1) then
                                if (guard_flip6 <= 0.1) then
                                        dxc = unifReal(1.0, 1.4142);
                                        dyc = unifReal(1.0, 1.4142) 
                                else
                                        dxc = unifReal(1.0, 1.4142);
                                        dyc = unifReal(-1.4142, -1.0)
                                end
                        else
                                if (guard_flip7 <= 0.1) then
                                        dxc = unifReal(-1.4142,-1.0);
                                        dyc = unifReal(1.0,1.4142)
                                else
                                        dxc = unifReal(-1.4142,-1.0);
                                        dyc = unifReal(-1.4142,-1.0)
                                end
                        end
		end
	end;
	dx = dxc + unifReal(-0.05,0.05);
	dy = dyc + unifReal(-0.05,0.05);
	x = x + dx;
	y = y + dy;
	estX = estX + dxc;
	estY = estY + dyc
end;
estimateProb(x-estX <= 0.10);
estimateProb(x-estX >= -0.10);
estimateProb(x-estX <= 0.20);
estimateProb(x-estX >= -0.20);
estimateProb(x-estX <= 0.30);
estimateProb(x-estX >= -0.30);
estimateProb(y-estY <= 0.10);
estimateProb(y-estY >= -0.10);
estimateProb(y-estY <= 0.20);
estimateProb(y-estY >= -0.20);
estimateProb(y-estY <= 0.30);
estimateProb(y-estY >= -0.30)