Add ESS Resampler to particle filter tutorial

[spike-dstl]

This pull request is to assess issue #682 of adding the ESS resampler to the particle filter tutorial.

[codecov]

Codecov Report

Base: 94.92% // Head: 94.92% // No change to project coverage 👍

Coverage data is based on head (703dc98) compared to base (18ee65a).
Patch has no changes to coverable lines.

❗ Current head 703dc98 differs from pull request most recent head 6431fb7. Consider uploading reports for the commit 6431fb7 to get more accurate results

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #747   +/-   ##
=======================================
  Coverage   94.92%   94.92%           
=======================================
  Files         171      171           
  Lines        8454     8454           
  Branches     1232     1232           
=======================================
  Hits         8025     8025           
  Misses        317      317           
  Partials      112      112           

Flag	Coverage Δ
integration	69.82% <ø> (+0.04%)	⬆️
unittests	92.03% <ø> (ø)

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