void ParticleFilter::Resample()
{
if (myParticles.size() == 0)
return;
// MultinomialResample();
#if sampling == RESIDUAL
ResidualResample();
#elif sampling == IMPORTANCE
ImportanceResample();
#elif sampling == SCATTER
ScatterResample();
#endif
// cout << "sampled " << myParticles.size() << " new samples" << endl;
}
virtual void SelectData( const Dataset& data, unsigned int subsetSize, Dataset& subset )
{
ImportanceResample( data, proposal, target, subsetSize, subset );
}