Function navtk::filtering::experimental::residual_resample_with_replacement

• Defined in File resampling.hpp

Function Documentation

ResamplingResult navtk::filtering::experimental::residual_resample_with_replacement(const Vector &weights, const size_t *m_arg)

Residual resampling method to select samples as children (duplicates) to higher weighted samples.

Parameters

• weights – The posterior weights.

• m_arg – A pointer to the number of samples to be returned. Default = nullptr.

Returns

A structure containing a vector of indexes to resample the distribution and the number of particle count mapped to the index.