resampleResidual( w )

function [ indx ] = resampleResidual( w )

M = length(w);

% "Repetition counts" (plus the random part, later on):
Ns = floor(M .* w);

% The "remainder" or "residual" count:
R = sum( Ns );

% The number of particles which will be drawn stocastically:
M_rdn = M-R;

% The modified weights:
Ws = (M .* w - floor(M .* w))/M_rdn;

% Draw the deterministic part:
% ---------------------------------------------------
i=1;
for j=1:M,
    for k=1:Ns(j),
        indx(i)=j;
        i = i +1;
    end
end;

% And now draw the stocastic (Multinomial) part:
% ---------------------------------------------------
Q = cumsum(Ws);
Q(M)=1; % Just in case...

while (i<=M),
    sampl = rand(1,1);  % (0,1]
    j=1;
    while (Q(j)<sampl),
        j=j+1;
    end;
    indx(i)=j;
    i=i+1;
end

% t = rand(M+1);
% T = sort(t);
% T(M+1) = 1; 
% j=1;
% 
% while (i<=M),
%     if (T(i)<Q(j)),
%         indx(i)=j;
%         i=i+1;
%     else
%         j=j+1;        
%     end
% end
%