Fixed bug in computation of measurement likelihood
De par ma chandelle verte! It used to work I swear!
Added initial version of regularized resampling (untested)
Added regularizedResample function which should work the same way as basicResample
Fixed what was probably the most idiotic bug in existence ever
Added basic rejection sampling scheme
(regularizedResample() is no longer useful)
Integrated Regularized Resampling and Roulette-Wheel. Seems to work now
Last change in this branch before rebase