resampling for backward simulation now as class

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"

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>()));
 
 
 	}