bool ribi::kalman::FixedLagSmootherKalmanFilterCalculationElements::IsComplete() const
{
const std::size_t sz = GetMeasurement().size();
return
sz != 0
//Others, e.g.
//&& sz == m_innovation.size()
//&& sz == m_innovation_covariance.size1()
//&& sz == m_innovation_covariance.size2()
//&& sz == m_innovation_covariance.size1()
&& sz == GetMeasurement().size()
&& sz == GetPredictedState().size()
&& sz == GetPreviousState().size();
}
/*
*******************************************************************
* Function: DeRegister
*
* Description:
*
* Parameters:
*
* Returns:
*
*******************************************************************
*/
CGBLCOError CGBLLOMeasuredObjective::DeRegisterMeasurement(XString nameOfMeasurement, int regID)
{
CGBLCOError errorType = CGBLCOError(CGBLCOError::EGBLCOErrorType::GBLCO_OK);
// Get the measurement
CGBLMeasurement *theMeasurement = NULL;
errorType = GetMeasurement(nameOfMeasurement, theMeasurement);
if (GBLLO_ERROR_MEASUREMENTNOTFOUND == (int)errorType)
{
// there is no measurement found
errorType = CGBLCOError(CGBLCOError::EGBLCOErrorType::GBLCO_OK,
GBLLO_ERROR_REGISTRATIONNOTFOUND_DESC, GBLLO_ERROR_REGISTRATIONNOTFOUND);
}
else
{
errorType = theMeasurement->DeRegister(regID);
// check if the measurement can now be deleted
if (GBLLO_ERROR_EMPTYREGARRAY == (int)errorType)
{
// Delete the measurement
// change the error type
errorType = CGBLCOError(CGBLCOError::EGBLCOErrorType::GBLCO_OK);
}
}
return errorType;
}
/*
*******************************************************************
* Function: TeamRegisterMeasurement
*
* Description:
*
* Parameters:
*
* Returns:
*
*******************************************************************
*/
int CGBLLOMeasuredObjective::TeamRegisterMeasurement(XString measurementName, CGBLTeamID theTeamID,
TGBLLOMeasurementCallback *callbackFunction, bool isATeam)
{
// First, find the measurement to register - it is assumed that by this stage the measurement name
// Does belong with the MO so no check is made. The check will be made once the measurement
// has been found
CGBLMeasurement *theMeasurement = NULL;
CGBLCOError errorType = GetMeasurement(measurementName, theMeasurement);
if (GBLLO_ERROR_MEASUREMENTNOTFOUND == (int)errorType)
{
// We have not found a measurement, there needs to be a new one
// First, get the measurement list from the MO Controller
GBLMeasuredObjective::typedefs::MeasurementList *theMeasList = NULL;
theMeasList = theMOManager->GetListOfMeasurements();
CGBLMeasurementData *theMeas = *theMeasList->FindPtr(measurementName);
// Now we have the measurement data, check if it belongs in this MO
if( (NULL != theMeas) && (theMeas->GetMOName() == theMOData->GetName()) )
{
// Now construt a new measurement
theMeasurement = new CGBLMeasurement(theMeas, theContext);
}
else
{
errorType = CGBLCOError(CGBLCOError::EGBLCOErrorType::GBLCO_LOCAL,
GBLLO_ERROR_INVALIDMEASUREMENT_DESC, GBLLO_ERROR_INVALIDMEASUREMENT);
}
}
int theRetVal = 0;
if (theMeasurement != NULL)
{
theRetVal = theMeasurement->TeamRegister(theTeamID, callbackFunction);
}
return theRetVal;
}
