Function bayes_estimate::estimators::sir::roughen_minmax

pub fn roughen_minmax<N: RealField, D: Dim>(
    s: &mut Vec<VectorN<N, D>>, 
    k: f32, 
    rng: &mut dyn RngCore
) where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, 

Min max roughening.

Uses algorithm from Ref[1]. max-min in each state dimension in the samples determines the amount of normally distrubuted noise added to that dimension for each sample.

‘k’ is scaling factor for normally distributed noise

Numerics: If the are very few unique samples the roughening will colapse as it is not representative of the true state distribution.