int M = config_.resample_rate * samples.size(), N = samples.size();

    if(config_.resample_strategy == MWEAKEST) {

      auto cmp = [](SamplePtr a, SamplePtr b) { return a->weight() < b->weight(); };
      sort( samples.begin(), samples.end(), cmp);

      for(int i = 0, k = N - 1; i < std::min(M, N/2); i++, k--) {
    samples[i] = std::make_shared<Sample> ( *samples[k] );
    normal ( samples[i], *samples[i], config_.sigma_static_position*dt, config_.sigma_static_orientation*dt );
      }


    }