enum mrpt::bayes::CParticleFilter::TParticleResamplingAlgorithm
Overview
Defines the different resampling algorithms. More…
#include <CParticleFilter.h> enum TParticleResamplingAlgorithm { prMultinomial = 0, prResidual, prStratified, prSystematic, };
Detailed Documentation
Defines the different resampling algorithms.
The implemented resampling methods are:
prMultinomial (Default): Uses standard select with replacement (draws M random uniform numbers)
prResidual: The residual or “remainder” method.
prStratified: The stratified resampling, where a uniform sample is drawn for each of M subdivisions of the range (0,1].
prSystematic: A single uniform sample is drawn in the range (0,1/M].
See the theoretical discussion in resampling schemes.