/// <summary>
/// Calculate and set the weights of the particles based on a measurement.
/// </summary>
/// <param name="parCon">The particles to calculate and set the weights for</param>
/// <param name="diffs">List containing the difference between the measurement and a particle value.</param>
/// <param name="dist">The propability distribution of the measurement.</param>
private void CalculateWeights(AbstractParticleController parCon, IList <float> diffs, IDistribution dist)
{
for (int index = 0; index < diffs.Count; index++)
{
float diff = diffs[index];
float p = (float)(dist.CDF(0, diff + Cdfmargin) - dist.CDF(0, diff - Cdfmargin));
parCon.SetWeightAt(index, parCon.GetWeightAt(index) * p);
}
}