observer.hpp
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	#ifndef __OBSERVER_HPP__
	#define __OBSERVER_HPP__


	#include <iterator>
	#include <vector>
	#include <algorithm>
	//#include "Vector.h"
	//#include <boost/numeric/ublas/vector.hpp>

	typedef std::vector<double> state_type;
	//typedef boost::numeric::ublas::vector<double> state_type;

	class KeepLast{
	protected:
	state_type last;
	double time;
	public:
	KeepLast(){}
	KeepLast(state_type x):last(x){}
	void operator()(const state_type& x, double t);
	void resize(uint n){last.resize(n);}
	void init(uint n){last.resize(n);}
	state_type& getState(){return last;}
	double getTime(){return time;}
	void setTime(double t){time=t;}
	};


	struct push_back_state_and_time
	{
	std::vector< state_type >& m_states;
	std::vector< double >& m_times;

	push_back_state_and_time( std::vector< state_type > &states , std::vector< double > &times )
	: m_states( states ) , m_times( times ) { }

	void operator()( const state_type &x , double t )
	{m_states.push_back( x );m_times.push_back( t );}
	state_type& getState(){return m_states.back();}
	};

	struct push_back_sel_state_and_time: push_back_state_and_time{

	std::vector<uint>& m_idx;

	push_back_sel_state_and_time( std::vector< state_type > &states , std::vector< double > &times, std::vector<uint> &idx):
	push_back_state_and_time(states,times),m_idx(idx){}

	void operator()( const state_type &x , double t )
	{
	state_type x_sel(m_idx.size());
	for(int i=0;i<m_idx.size();i++){
	x_sel[i]=x[m_idx[i]];
	}
	m_states.push_back( x_sel );
	m_times.push_back( t );
	}


	};


	#endif