function plot_particles(S,real,range_pos,Estimate_bestparticle,Estimate_weightedmean,Estimate_robustmean,parameter)

% function that plots the position of all the particles

W=S(4,:); % matrix of weights
M=length(W); % M is the number of particles 

figure;
hold on;
%plot(S(1,:),S(2,:),'.');\
plot(real(1),real(2),'cs','MarkerEdgeColor','c','MarkerFaceColor','c','MarkerSize',12);
%axis equal;
plot(Estimate_bestparticle(1),Estimate_bestparticle(2),'bo','MarkerEdgeColor','b','MarkerFaceColor','b','MarkerSize',12);
plot(Estimate_weightedmean(1),Estimate_weightedmean(2),'ro','MarkerEdgeColor','r','MarkerFaceColor','r','MarkerSize',12);
plot(Estimate_robustmean(1), Estimate_robustmean(2),'mo','MarkerEdgeColor','m','MarkerFaceColor','m','MarkerSize',12);
scatter(S(1,:),S(2,:),15,S(4,:),'o','filled');
colorbar;
plot(Estimate_bestparticle(1),Estimate_bestparticle(2),'bo','MarkerEdgeColor','b','MarkerFaceColor','b','MarkerSize',12);
plot(Estimate_weightedmean(1),Estimate_weightedmean(2),'ro','MarkerEdgeColor','r','MarkerFaceColor','r','MarkerSize',12);
plot(Estimate_robustmean(1), Estimate_robustmean(2),'mo','MarkerEdgeColor','m','MarkerFaceColor','m','MarkerSize',12);
plot(real(1),real(2),'cs','MarkerEdgeColor','c','MarkerFaceColor','c','MarkerSize',12);
legend('Real position','Estimate bestparticle','Estimate weightedmean','Estimate robustmean')
%axis([-range_pos/2,range_pos/2,-range_pos/2,range_pos/2]);
axis([-2,20,-2,20]);

switch parameter
    case 1
        drawwall;
    case 2
        drawRF;
    case 3
        drawwall;
        drawRF;
end