observer.hpp
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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