noisyDistance = observation
        emissionModel = busters.getObservationDistribution(noisyDistance)
        pacmanPosition = gameState.getPacmanPosition()
        "*** YOUR CODE HERE ***"
        allPossible = util.Counter()
        #beliefs = self.getBeliefDistribution()

        if noisyDistance == None:
            #allPossible = util.Counter()
            #allPossible[self.getJailPosition] = 1
            self.particles = [self.getJailPosition() for i in range(self.numParticles)]
        else: # Like observe method in ExactInference class
            for p in self.legalPositions:
                trueDistance = util.manhattanDistance(p, pacmanPosition)
                allPossible[p] += emissionModel[trueDistance]
            # After reweighting based on observation
            # Stack overflow: https://stackoverflow.com/questions/3525953/check-if-all-values-of-iterable-are-zero
            if not any(allPossible.values()): #when all particles have weight 0
                self.initializeUniformly(gameState)
            else: #InitiliazeUniformly code with random selector
                particles = []
                for i in range(self.numParticles):
                    particles.append(util.sample(allPossible))
                self.paricles = particles