SequentialFilterHistory.h

Go to the documentation of this file.

//////////////////////////////////////////////////////////////////////////////////////////////////
/*! \file       SequentialFilterHistory.h
 *  \brief      An abstract class to store generic sequential filter data.
 *  \author     $Author: cakinli $
 *  \version $Revision: 1.7 $
 *  \date    $Date: 2005/03/16 18:08:13 $
*//////////////////////////////////////////////////////////////////////////////////////////////////
/*  
*/
//////////////////////////////////////////////////////////////////////////////////////////////////

#ifndef __SSSL_SEQUENTIALFILTER_HISTORY_H__
#define __SSSL_SEQUENTIALFILTER_HISTORY_H__

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

/*! \brief An abstract class to store generic sequential filter data. */
class SequentialFilterHistory : public History
{
public:
        // DESTRUCTOR (no constructor)
        /*! Default destructor. */
    virtual ~SequentialFilterHistory() {};
    
        // OPERATORS
        virtual void AppendHistory(const double& _appendTime);
    virtual void AppendHistory(const ssfTime& _appendTime);
    
    virtual void ResetHistory();

    // INSPECTORS
    virtual Matrix GetHistory();
        virtual void GetKalmanHistory(Matrix&, Matrix&) = 0;
        virtual Vector GetIterationHistory() { Vector temp(0); return temp; };
        
   // void GetState(const ssfTime& _requestedTime, sequentialFilterData& _returnSequentialStruct);

protected:
        // A PSEUDO-CONSTRUCTOR
        void InitializeSequentialFilterHistory(SequentialFilter* _ptr_filter);  

        /*! @brief Pointer to the filter that the history is logging.
         * Note that because this is a pointer to a base class it can be used to
         * point to an instance of any derived class. */
        SequentialFilter* m_ptr_filter;

private:
        /*! \brief Internal vector container of the state Vector, x. */
    vector<Vector> m_sfStateHistory;
        
        /*! \brief Internal vector container of the control Vector, u. */
        vector<Vector> m_sfControlHistory;

        /*! \brief Internal vector container of the measurement Vector, z. */
        vector<Vector> m_sfMeasurementHistory;

        /*! \brief Internal vector container of the parameter Vector, w. */
        vector<Vector> m_sfParameterHistory;


};

#endif


// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
*       $Log: SequentialFilterHistory.h,v $
*       Revision 1.7  2005/03/16 18:08:13  cakinli
*       *** empty log message ***
*       
*       Revision 1.6  2003/11/01 21:00:16  rsharo
*       changed "Time.h" includes to "utils/Time.h" includes. Also eliminated excess compile warnings.
*       
*       Revision 1.5  2003/07/12 17:54:40  simpliciter
*       Added IEKF and EKF Histories.
*       
*       Revision 1.4  2003/06/28 00:45:37  simpliciter
*       Basic housekeeping.
*       
*       Revision 1.3  2003/06/27 01:53:56  simpliciter
*       Fully commented and fully functional!
*       GetState not implemented because it would require / desire
*       iterpolations, which seems not in the spirit of logging the
*       performance of a filter.
*       
*       Revision 1.2  2003/06/24 15:50:06  simpliciter
*       Everything but the all important "GetHistory" command
*       should work.  :)
*       
*       Revision 1.1  2003/06/12 20:47:23  simpliciter
*       Previously IterativeFilterHistory.h
*       
*       Revision 1.0  2003/06/11 20:55:53  simpliciter
*       Initial submission.
*       
*       
*
******************************************************************************/

---