enum mrpt::bayes::CParticleFilter::TParticleResamplingAlgorithm¶

Overview¶

Defines the different resampling algorithms. More…

#include <CParticleFilter.h>

enum TParticleResamplingAlgorithm
{
    prMultinomial = 0,
    prResidual,
    prStratified,
    prSystematic,
};

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.