void Robot::start() {
	long double sum = 0;
	create_T();
	create_J();
	_J = _T*_J;
	// _Z.printMatrix();
	for(auto observation : _observations) {
		create_O(observation);
		_Y=_O*_J;
		// _Y.printMatrix();
		sum = _Y.sum();
		_E = _Y/sum;
		output();
		_J=_T*_Y;
	}
}