Hincoin

// Copyright Eric Niebler 2016

#include <cstddef>
#include <cstdio>
#include <cstdint>
#include <cstring>
#include <utility>
#include <type_traits>

#define REQUIRES(X) \

Hincoin

vector<particle> resample(const vector<particle>& prior,double slow, double fast,int correspondence)
{
	auto r = robot;
	vector<particle> posterior;
	vector<double> importance_weights;
	for(const auto& x : prior)
		importance_weights.push_back(x.importance_weight);
	std::uniform_real_distribution<double> add_random(0,1);
	std::uniform_real_distribution<double> yeta_dist(0,2*PI);
	std::normal_distribution<double> range_dist(0.0,prior[0].range_noise);

Hincoin

vector<particle> resample(const vector<particle>& prior,double slow, double fast,int correspondence)
{
	auto r = robot;
	vector<particle> posterior;
	vector<double> importance_weights;
	for(const auto& x : prior)
		importance_weights.push_back(x.importance_weight);
	std::uniform_real_distribution<double> add_random(0,1);
	std::uniform_real_distribution<double> yeta_dist(0,2*PI);
	std::normal_distribution<double> range_dist(0.0,prior[0].range_noise);