// template

class FitNodeBase { // states after up/down stream filter m_upstreamstate ; m_downstreamstate ; } ;

class TransportNode { // this info could also be stored in the 'processor'

// ref states m_upstreamrefstate ; m_downstreamrefstate ; // ref noise (need to store only 1) m_upstreamnoise ;

// note: enough information to process, but const State& process( const State& input, int direction ) { }

} ;

// template class Value1DWithCov { double m_x ; // coordinate double m_C ; // covariance }

//template< int StateDim, int ConstraintDim > MeasurementNode1D { // minimal data content

// this information stored in the measurement? m_referencestate ; m_m ; // measured coordinate m_V ; // variance of measuremed coodinate m_H ; // projection matrix

// states after up/down stream filter m_upstreamstate ; m_downstreamstate ;

// INode* upstreamNode() { ... } ; INode* downstreamNode() { ... } ;

// compute on demand mutable std::pair<bool,State> m_state ; // smoothed state

// compute on demand mutable std::pair<bool,State> m_state ; // smoothed state

// some things worth caching? at least, we need fast access to the // smoothed residual which Value1DWithCov m_downstreamprojectedstate ; // caches m_H * m_downstreamsta$ upstream/downstream/smoothed residual }

-- WouterHulsbergen - 15 Mar 2007