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.