function outIndex = deterministicR(inIndex,q);% PURPOSE : Performs the resampling stage of the SIR%           in order(number of samples) steps. It uses Kitagawa's%           deterministic resampling algorithm.% INPUTS  : - inIndex = Input particle indices.%           - q = Normalised importance ratios.% OUTPUTS : - outIndex = Resampled indices.% AUTHORS  : Arnaud Doucet and Nando de Freitas - Thanks for the acknowledgement.% DATE     : 08-09-98if nargin < 2, error('Not enough input arguments.'); end[S,arb] = size(q);  % S = Number of particles.% RESIDUAL RESAMPLING:% ====================N_babies= zeros(1,S);u=zeros(1,S);% generate the cumulative distributioncumDist = cumsum(q');aux=rand(1);u=aux:1:(S-1+aux);u=u./S;j=1;for i=1:S   while (u(1,i)>cumDist(1,j))      j=j+1;   end   N_babies(1,j)=N_babies(1,j)+1;end% COPY RESAMPLED TRAJECTORIES:  % ============================index=1;for i=1:S  if (N_babies(1,i)>0)    for j=index:index+N_babies(1,i)-1      outIndex(j) = inIndex(i);    end;  end;     index= index+N_babies(1,i);   end