kstatics.cpp

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// This file is part of kfilter.
// kfilter is a C++ variable-dimension extended kalman filter library.
//
// Copyright (C) 2004        Vincent Zalzal, Sylvain Marleau
// Copyright (C) 2001, 2004  Richard Gourdeau
// Copyright (C) 2004        GRPR and DGE's Automation sector
//                           �cole Polytechnique de Montr�al
//
// Code adapted from algorithms presented in :
//      Bierman, G. J. "Factorization Methods for Discrete Sequential
//      Estimation", Academic Press, 1977.
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


#include <vector>

#include <kfilter/kvector.hpp>
#include <kfilter/kmatrix.hpp>

using namespace std;
using namespace Kalman;

namespace {

  typedef vector<KVectorContextImpl> VectorContextList;

  VectorContextList vectorContexts(1, KVectorContextImpl());

  KVectorContext currentVectorIndex = 0;

  typedef vector<KMatrixContextImpl> MatrixContextList;

  MatrixContextList matrixContexts(1, KMatrixContextImpl());

  KMatrixContext currentMatrixIndex = 0;

}

KVectorContextImpl* Kalman::currentVectorContext = &vectorContexts[0];

KVectorContext Kalman::DEFAULT_VECTOR_CONTEXT = 0;

KVectorContext Kalman::createKVectorContext(std::string elemDelim, 
                                            std::string startDelim,
                                            std::string endDelim,
                                            unsigned prec) {
  if (prec < 1) prec = 1;
  if (prec > 9) prec = 9;

  vectorContexts.push_back(KVectorContextImpl(elemDelim, 
                                              startDelim, 
                                              endDelim, 
                                              prec));
  return vectorContexts.size() - 1;
}

KVectorContext Kalman::selectKVectorContext(KVectorContext c) {

  if (c >= vectorContexts.size()) {
    return currentVectorIndex;
  }

  KVectorContext tmp = currentVectorIndex;
  currentVectorIndex = c;
  currentVectorContext = &vectorContexts[c];
  return tmp;
}

KMatrixContextImpl* Kalman::currentMatrixContext = &matrixContexts[0];

KMatrixContext Kalman::DEFAULT_MATRIX_CONTEXT = 0;

KMatrixContext Kalman::createKMatrixContext(std::string elemDelim,
                                            std::string rowDelim,
                                            std::string startDelim,
                                            std::string endDelim,
                                            unsigned prec) {
  if (prec < 1) prec = 1;
  if (prec > 9) prec = 9;

  matrixContexts.push_back(KMatrixContextImpl(elemDelim, 
                                              rowDelim, 
                                              startDelim, 
                                              endDelim, 
                                              prec));
  return matrixContexts.size() - 1;
}

KMatrixContext Kalman::selectKMatrixContext(KMatrixContext c) {

  if (c >= matrixContexts.size()) {
    return currentMatrixIndex;
  }

  KMatrixContext tmp = currentMatrixIndex;
  currentMatrixIndex = c;
  currentMatrixContext = &matrixContexts[c];
  return tmp;
}