IteratedExtendedKalmanFilterHistory.h

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//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file IteratedExtendedKalmanFilterHistory.h
*  \brief Provides functionality beyond KalmanFilterHistory to store the number of iterations at each time-step.
*  \author $Author: cakinli $
*  \version $Revision: 1.6 $
*  \date    $Date: 2005/03/16 18:08:13 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*  
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_ITERATEDEXTENDEDKALMANFILTER_HISTORY_H__
#define __SSSL_ITERATEDEXTENDEDKALMANFILTER_HISTORY_H__

#include "utils/Time.h"
#include <datahandling/History.h>
#include <matrix/Matrix.h>
#include <Logging/ExtendedKalmanFilterHistory.h>
#include <Filtering/IteratedExtendedKalmanFilter.h>
#include <vector>
using namespace std;
using namespace O_SESSAME;

/*! \brief Provides functionality beyond KalmanFilterHistory to store the number of iterations at each time-step.
**
*/
class IteratedExtendedKalmanFilterHistory : public ExtendedKalmanFilterHistory
{
public:
    IteratedExtendedKalmanFilterHistory(IteratedExtendedKalmanFilter* _ptr_filter);
    virtual ~IteratedExtendedKalmanFilterHistory() {};
    
    void AppendHistory(const double& _appendTime);
    void AppendHistory(const ssfTime& _appendTime);

    // INSPECTORS
    Vector GetIterationHistory();
        
                
private:
        /*! \brief internal vector container of the number of iterations used in the measurement update. */
    vector<int> m_iekfIterationHistory;
 

};


#endif


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: IteratedExtendedKalmanFilterHistory.h,v $
*       Revision 1.6  2005/03/16 18:08:13  cakinli
*       *** empty log message ***
*       
*       Revision 1.5  2003/11/01 21:00:14  rsharo
*       changed "Time.h" includes to "utils/Time.h" includes. Also eliminated excess compile warnings.
*       
*       Revision 1.4  2003/07/12 18:19:59  simpliciter
*       Fixed linker errors.
*       
*       Revision 1.3  2003/07/12 17:55:17  simpliciter
*       Working.
*       
*       Revision 1.2  2003/06/12 20:51:41  simpliciter
*       Changed from iterative-named base class to sequential.
*       
*       Revision 1.1  2003/06/11 20:58:13  simpliciter
*       Initial submission.
*       
*       
*
******************************************************************************/

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