00001 // $Id: innovationCheck.h tdelaet $ 00002 // Copyright (C) 2007 Tinne De Laet <first dot last at mech dot kuleuven dot be> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published by 00006 // the Free Software Foundation; either version 2.1 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // This program is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program; if not, write to the Free Software 00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00017 // 00018 00019 #ifndef __INNOVATION_CHECK__ 00020 #define __INNOVATION_CHECK__ 00021 00022 #include <vector> 00023 #include "../wrappers/matrix/vector_wrapper.h" 00024 #include "../wrappers/matrix/matrix_wrapper.h" 00025 00026 namespace BFL 00027 { 00028 00030 00033 class InnovationCheck 00034 { 00035 00036 public: 00041 InnovationCheck(double min_innovation = 0.0 ); 00042 00044 virtual ~InnovationCheck(); 00045 00047 00051 bool check(MatrixWrapper::ColumnVector innovation); 00052 00053 private: 00055 double min_innovation; 00056 00057 }; // class 00058 00059 } // End namespace BFL 00060 00061 #endif // __INNOVATION_CHECK__ 00062