From 705d593e3634b159a4836d16c192824dee274f0b Mon Sep 17 00:00:00 2001
From: toni <toni@localhost.localdomain>
Date: Wed, 30 Mar 2016 17:00:15 +0200
Subject: [PATCH] resampling for backward simulation now as class

---
 code/CMakeLists.txt.user     | 2 +-
 code/eval/FixedLagEvalBase.h | 2 ++
 code/eval/SmoothingEval1.h   | 1 +
 3 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/code/CMakeLists.txt.user b/code/CMakeLists.txt.user
index 3abd594..d5116e5 100644
--- a/code/CMakeLists.txt.user
+++ b/code/CMakeLists.txt.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.6.0, 2016-03-24T18:17:49. -->
+<!-- Written by QtCreator 3.6.0, 2016-03-29T16:54:26. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
diff --git a/code/eval/FixedLagEvalBase.h b/code/eval/FixedLagEvalBase.h
index 849bfdf..ce9e998 100644
--- a/code/eval/FixedLagEvalBase.h
+++ b/code/eval/FixedLagEvalBase.h
@@ -8,6 +8,8 @@
 #include <KLib/math/filter/particles/ParticleFilter.h>
 #include <KLib/math/filter/particles/ParticleFilterHistory.h>
 #include <KLib/math/filter/smoothing/BackwardSimulation.h>
+#include <KLib/math/filter/smoothing/sampling/ParticleTrajectorieSampler.h>
+#include <KLib/math/filter/smoothing/sampling/CumulativeSampler.h>
 #include <KLib/math/statistics/Statistics.h>
 
 #include "GroundTruthWay.h"
diff --git a/code/eval/SmoothingEval1.h b/code/eval/SmoothingEval1.h
index b6e66f1..3bb52a6 100644
--- a/code/eval/SmoothingEval1.h
+++ b/code/eval/SmoothingEval1.h
@@ -52,6 +52,7 @@ public:
 
         //create the backward smoothing filter
         bf = new K::BackwardSimulation<MyState>(500);
+        bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
 
 
 	}