in order to use independent smooth resampling; modification of the input of the procedure since
now no partition is required

computes the weights and the nodes for approximating gaussian distributions using the scaled unscented approach.

computes the proposal distribution during the importance sampling step for gaussian-mixture filters. Fix many bugs.

gaussian mixture nonlinear filters: uses gaussian-mixture approximations for particles. Fix bugs and normalize the way likelihood is calculated.

computes the proposal distribution during the importance sampling step in gaussian nonlinear filters. Uses a nonlinear Kalman filter and several gaussian approximations.

fix bugs and normalize the way we write the likelihood.

test different cases before doing resampling

fix bug for calculating observed predicted mean and variance with the correct weights.