fixed minor bugs where number of evaluations was divided by numer of objects instead of numer of blocks

Author: wumanu

source/dbot/filter/rao_blackwell_coordinate_particle_filter.hpp

@@ -155,6 +155,12 @@ class RaoBlackwellCoordinateParticleFilter
         loglikes_ = loglikes;
     }
 
+    /// accessors **************************************************************
+    std::vector<std::vector<int>> sampling_blocks() const
+    {
+        return sampling_blocks_;
+    }
+
     /// mutators ***************************************************************
     Belief& belief() { return belief_; }
     void set_particles(const std::vector<State>& samples)

source/dbot/tracker/rbc_particle_filter_object_tracker.cpp

@@ -41,7 +41,7 @@ auto RbcParticleFilterObjectTracker::on_initialize(
     const std::vector<State>& initial_states) -> State
 {
     filter_->set_particles(initial_states);
-    filter_->resample(evaluation_count_ / object_model_->count_parts());
+    filter_->resample(evaluation_count_ / filter_->sampling_blocks().size());
 
     State delta_mean = filter_->belief().mean();