text: #include <muse_armcl/resampling/resampling.hpp>
  #include <muse_smc/resampling/impl/stratified.hpp>
  
  namespace muse_armcl {
  class EIGEN_ALIGN16 Stratified : public Resampling
  {
  public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      using allocator_t = Eigen::aligned_allocator<Stratified>;
  protected:
      virtual void doSetup(ros::NodeHandle &nh) override
      {
      }
  
      void doApply(sample_set_t &sample_set)
      {
          muse_smc::impl::Stratified<StateSpaceDescription>::apply(sample_set);
      }
  
      void doApplyRecovery(sample_set_t &sample_set)
      {
          muse_smc::impl::Stratified<StateSpaceDescription>::applyRecovery(uniform_pose_sampler_,
                                                                           recovery_random_pose_probability_,
                                                                           sample_set);
      }
  };
  }
  
  #include <class_loader/class_loader_register_macro.h>
  CLASS_LOADER_REGISTER_CLASS(muse_armcl::Stratified, muse_armcl::Resampling)
  