This is a trivial implementation of Condensation, designed fortutorial purposes.  Simulated data is generated modelling a particlemoving in one dimension under the action of a first-orderauto-regressive process with measurements corrupted by noise. TheCondensation algorithm then tracks the particle using a model of thesame form, and the state distribution is displayed at each timestepusing an ASCII histogram, along with the estimated, true and measuredparticle positions. The estimated position is displayed as an 'x', themeasured position a '+' and the true position a '.' - if any twocoincide in the same character position a '*' is displayed thereinstead.To build the program, first edit the makefile. The default compiler is `cc' and this can be changed if necessary. By default, the option-DANSI_TERM_SEQUENCES is sent to the compiler, which causes theprogram to generate control codes to scroll the cursor up the terminal after each iteration and then sleep(1), resulting in an `animated'histogram. On a Windows machine, this option should be removed fromthe CCOPTS line of the makefile to allow successful compilation. Whenthe makefile has been edited, type `make' and the executable`condense' will be produced. Now run `./condense'All of the parameters of the simulation and process models can bechanged by altering model_parameters.h and recompiling.Files in the distribution:README               This file.makefilecondensation.h       Declarations of external functions and variables.data_types.h         Declarations of data structures used.model_parameters.h   Constants specifying the process and observation                     models used.utility.c            Routines to generate Gaussian noise and evaluate                     a Gaussian density.model_specific.c     Routines for sampling from the process model,                     evaluating the observation density, generating                     simulated data and displaying the estimated                     distribution. These routines can be replaced by                     more complex models for a realistic application.condensation.c       The generic condensation algorithm. The routines                     in this file implement the basic condensation                     algorithm and can be used with any process or                     observation model.