@user995434 I do not program in C++ and don't think I would understand your code well enough to indicate how well you understood my point. Maybe you can explain what you are doing and that way I can comment.  All that I was saying is that you know the value of the process at time t-1 and then conditioned on that value you generate the value for the process at time t by drawing a random value from the conditional distribution. You must specify an initial value X0 but after that each X is sampled from its distribution conditional on the value of the previous X.

Very simple particle filters algorithm (sequential monte carlo method) implementation
Alert: This post contains spoilers. If you are not up-to-date to Naruto's manga, don't read it.

At chapter 651 of Naruto's manga, during the fight against Obito, Naruto called Shikamaru, Lee, Ino, Kiba and the others to join the fight and help him:



But what kind of jutsu did Naruto use to call them? Is he using the abilities of Yamanaka's clan or his own Kyuubi's chakra has this kind of power too? 
