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	diff --git a/include/rosa/agent/ReliabilityConfidenceCombinator.h b/include/rosa/agent/ReliabilityConfidenceCombinator.h
	index e3315bb..08bc82b 100644
	--- a/include/rosa/agent/ReliabilityConfidenceCombinator.h
	+++ b/include/rosa/agent/ReliabilityConfidenceCombinator.h
	@@ -1,745 +1,741 @@
	//===-- rosa/agent/ReliabilityConfidenceCombinator.h ------------- C++ --===//
	//
	// The RoSA Framework
	//
	//===----------------------------------------------------------------------===//
	///
	/// \file rosa/agent/ReliabilityConfidenceCombinator.h
	///
	/// \author Daniel Schnoell (daniel.schnoell@tuwien.ac.at)
	///
	/// \date 2019
	///
	/// \brief Definition of ReliabilityConfidenceCombinator functionality.
	///
	/// \note based on Maximilian Goetzinger (maxgot@utu.fi) code in
	/// CAM_Dirty_include SA-EWS2_Version... inside Agent.cpp
	///
	/// \note By defining and setting Reliability_trace_level it is possible to
	/// change the level to which it should be traced. \note All classes throw
	/// runtime errors if not all things are set
	///
	/// \note should the Reliability be capped?
	///
	///
	//===----------------------------------------------------------------------===//

	#ifndef ROSA_AGENT_ReliabilityConfidenceCombinator_H
	#define ROSA_AGENT_ReliabilityConfidenceCombinator_H

	#include "rosa/core/forward_declarations.h" // needed for id_t
	#include "rosa/support/log.h"

	#include "rosa/agent/FunctionAbstractions.hpp"
	#include "rosa/agent/Functionality.h"
	#include "rosa/agent/RangeConfidence.hpp"

	#include <algorithm>
	#include <functional>
	#include <type_traits>
	#include <vector>

	/// 0 everything
	/// 1 vectors
	/// 2 outputs
	#define trace_everything 0
	#define trace_vectors 1
	#define trace_outputs 2

	#ifndef Reliability_trace_level
	#define Reliability_trace_level 0
	#endif
	#define trace_end "\n\n\n"

	namespace rosa {
	namespace agent {
	/// This is a struct with a few methods that make Reliability Combinator
	/// more readable \tparam IdentifierType The datatype of the States \tparam
	/// ReliabilityType The datatype of the Reliability
	template <typename IdentifierType, typename ReliabilityType> struct ConfOrRel {
	/// making both Template Arguments readable to make a few things easier
	using _IdentifierType = IdentifierType;
	/// making both Template Arguments readable to make a few things easier
	using _ReliabilityType = ReliabilityType;

	/// The actual place where the data is stored
	IdentifierType Identifier;
	/// The actual place where the data is stored
	ReliabilityType Reliability;

	ConfOrRel(IdentifierType _Identifier, ReliabilityType _Reliability)
	: Identifier(_Identifier), Reliability(_Reliability){};
	ConfOrRel(){};

	/// Pushes the Data in a Human readable form
	/// \param out The stream where it is written to
	/// \param c The struct itself
	friend std::ostream &operator<<(std::ostream &out, const ConfOrRel &c) {
	out << "Identifier: " << c.Identifier << "\t Reliability: " << c.Reliability
	<< " ";
	return out;
	}

	/// needed or it throws an clang diagnosic error
	using map =
	std::map<IdentifierType, ReliabilityType>; // needed or it throws an
	// clang diagnosic error
	/// Filles the vector with the data inside the map
	/// \param me The vector to be filled
	/// \param data The data wich is to be pushed into the vector
	friend std::vector<ConfOrRel> &operator<<(std::vector<ConfOrRel> &me,
	map &&data) {
	for (auto tmp : data) {
	me.push_back(ConfOrRel(tmp.first, tmp.second));
	#if Reliability_trace_level <= trace_everything
	LOG_TRACE_STREAM << "\n" << ConfOrRel(tmp.first, tmp.second) << trace_end;
	#endif
	}
	return me;
	}

	/// This is to push the data inside a vector in a human readable way into the
	/// ostream \param out The ostream \param c The vector which is read
	friend std::ostream &operator<<(std::ostream &out,
	const std::vector<ConfOrRel> &c) {
	std::size_t index = 0;
	for (ConfOrRel data : c) {
	out << index << " : " << data << "\n";
	index++;
	}
	return out;
	}
	};

	/// This is the combinator for Reliability and confidences it takes the
	/// Sensor value, its "History" and feedback from \c
	/// CrossCombinator to calculate different Reliabilities.
	/// \tparam SensorValueType Datatype of the Sensor value ( Typically
	/// double or float) \tparam IdentifierType Datatype of the State ( Typically
	/// long or int)
	/// \tparam ReliabilityType Datatype of the Reliability (
	/// Typically double or float)
	///
	/// \note more information about how it calculates
	/// the Reliabilities it should be considered feedback is a sort of Confidence
	/// \verbatim
	///----------------------------------------------------------------------------------
	///
	///
	/// ->Reliability---> getInputReliability()
	/// \| \|
	/// \| V
	/// Sensor Value ---\| PossibleIdentifierCombinationMethod -> next line
	/// \| A \|
	/// \| \| V
	/// ->Confidence--- getPossibleIdentifiers()
	///
	///-----------------------------------------------------------------------------------
	///
	/// feedback
	/// \|
	/// V
	/// ValuesFromMaster
	/// \| -> History ---\|
	/// V \| V
	/// here -> FeedbackCombinatorMethod --------> HistoryCombinatorMethod->nextline
	/// \| \|
	/// V V
	/// getpossibleIdentifiersWithMasterFeedback()getPossibleIdentifiersWithHistory()
	///
	///----------------------------------------------------------------------------------
	///
	/// here -> sort -> most likely -> getmostLikelyIdentifierAndReliability()
	///
	///---------------------------------------------------------------------------------
	/// \endverbatim
	/// the mentioned methods are early outs so if two ore more of them are run in
	/// the same step they will be interpreted as different time steps
	/// <pre>
	/// Default values for Combinators:
	/// InputReliabilityCombinator = combinationMin;
	/// PossibleIdentifierCombinationMethod=PossibleIdentifierCombinationMethodMin;
	/// FeedbackCombinatorMethod = FeedbackCombinatorMethodAverage;
	/// HistoryCombinatorMethod = HistoryCombinatorMethodMax;
	/// </pre>
	/// To understand the place where the combinator methods come into play a list
	/// for each getter which Methods are used.
	///
	/// <pre>
	/// \c getInputReliability():
	/// -InputReliabilityCombinator
	/// \c getPossibleIdentifiers():
	/// -InputReliabilityCombinator
	/// -PossibleIdentifierCombinationMethod
	/// \c getpossibleIdentifiersWithMasterFeedback():
	/// -InputReliabilityCombinator
	/// -PossibleIdentifierCombinationMethod
	/// -FeedbackCombinatorMethod
	/// \c getPossibleIdentifiersWithHistory():
	/// -InputReliabilityCombinator
	/// -PossibleIdentifierCombinationMethod
	/// -FeedbackCombinatorMethod
	/// -HistoryCombinatorMethod
	/// \c getmostLikelyIdentifierAndReliability():
	/// -InputReliabilityCombinator
	/// -PossibleIdentifierCombinationMethod
	/// -FeedbackCombinatorMethod
	/// -HistoryCombinatorMethod
	/// </pre>
	-///
	-///
	-///
	-///
	template <typename SensorValueType, typename IdentifierType,
	typename ReliabilityType>
	class ReliabilityAndConfidenceCombinator {
	public:
	static_assert(std::is_arithmetic<SensorValueType>::value,
	"LowLevel: SensorValueType has to an arithmetic type\n");
	static_assert(std::is_arithmetic<IdentifierType>::value,
	"LowLevel: IdentifierType has to an arithmetic type\n");
	static_assert(std::is_arithmetic<ReliabilityType>::value,
	"LowLevel: ReliabilityType has to an arithmetic type\n");

	/// Typedef to shorten the writing.
	/// \c ConfOrRel
	using ConfOrRel = ConfOrRel<IdentifierType, ReliabilityType>;

	/// Calculates the input reliability by combining Reliability of the Sensor
	/// and the Slope Reliability \param SensorValue The sensor Value \note to set
	/// the combination method \c setInputReliabilityCombinator()
	auto getInputReliability(SensorValueType SensorValue) {
	auto inputReliability =
	getReliability(SensorValue, previousSensorValue, valueSetCounter);
	previousSensorValue = SensorValue;
	PreviousSensorValueExists = true;
	return inputReliability;
	}

	/// Calculates the possible Identifiers
	/// \param SensorValue the Sensor Value
	/// \brief it combines the input reliability and the confidence of the Sensor.
	/// The use combination method can be set using \c
	/// setPossibleIdentifierCombinationMethod()
	auto getPossibleIdentifiers(SensorValueType SensorValue) {
	std::vector<ConfOrRel> possibleIdentifiers;
	ReliabilityType inputReliability = getInputReliability(SensorValue);

	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
	#endif

	possibleIdentifiers << Confidence->operator()(SensorValue);
	possibleIdentifiers = PossibleIdentifierCombinationMethod(
	possibleIdentifiers, inputReliability);
	return possibleIdentifiers;
	}

	/// return the Possible Values with the feedback in mind
	/// \param SensorValue The sensor Value
	/// \brief it combines the input reliability and the confidence of the Sensor.
	/// The combines them with FeedbackCombinatorMethod and returns the result.
	auto getpossibleIdentifiersWithMasterFeedback(SensorValueType SensorValue) {
	std::vector<ConfOrRel> possibleIdentifiers;
	ReliabilityType inputReliability = getInputReliability(SensorValue);

	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
	#endif

	possibleIdentifiers << Confidence->operator()(SensorValue);

	possibleIdentifiers = PossibleIdentifierCombinationMethod(
	possibleIdentifiers, inputReliability);

	possibleIdentifiers =
	FeedbackCombinatorMethod(possibleIdentifiers, ValuesFromMaster);
	return possibleIdentifiers;
	}

	/// returns all possible Identifiers and Reliabilities with the History in
	/// mind \param SensorValue the Sensor value how this is done is described at
	/// the class.
	auto getPossibleIdentifiersWithHistory(SensorValueType SensorValue) {
	std::vector<ConfOrRel> ActuallPossibleIdentifiers;
	std::vector<ConfOrRel> possibleIdentifiers;
	ReliabilityType inputReliability = getInputReliability(SensorValue);

	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
	#endif

	possibleIdentifiers << Confidence->operator()(SensorValue);

	possibleIdentifiers = PossibleIdentifierCombinationMethod(
	possibleIdentifiers, inputReliability);
	possibleIdentifiers =
	FeedbackCombinatorMethod(possibleIdentifiers, ValuesFromMaster);

	saveInHistory(possibleIdentifiers);
	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\nActuallPossibleIdentifiers:\n"
	<< possibleIdentifiers << trace_end;
	LOG_TRACE_STREAM << "\npossibleIdentifiers:\n"
	<< possibleIdentifiers << trace_end;
	#endif
	possibleIdentifiers.clear();

	return getAllPossibleIdentifiersBasedOnHistory();
	}

	/// Calculates the Reliability
	/// \param SensorValue The current Values of the Sensor
	///
	/// \return Reliability and Identifier of the current SensorValue
	///
	ConfOrRel getmostLikelyIdentifierAndReliability(SensorValueType SensorValue) {
	#if Reliability_trace_level <= trace_outputs
	LOG_TRACE_STREAM << "\nTrace level is set to: " << Reliability_trace_level
	<< "\n"
	<< "Will trace: "
	<< ((Reliability_trace_level == trace_outputs)
	? "outputs"
	: (Reliability_trace_level == trace_vectors)
	? "vectors"
	: (Reliability_trace_level ==
	trace_everything)
	? "everything"
	: "undefined")
	<< trace_end;
	#endif

	std::vector<ConfOrRel> ActuallPossibleIdentifiers;
	std::vector<ConfOrRel> possibleIdentifiers;
	ReliabilityType inputReliability = getInputReliability(SensorValue);

	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
	#endif

	possibleIdentifiers << Confidence->operator()(SensorValue);

	possibleIdentifiers = PossibleIdentifierCombinationMethod(
	possibleIdentifiers, inputReliability);
	possibleIdentifiers =
	FeedbackCombinatorMethod(possibleIdentifiers, ValuesFromMaster);

	saveInHistory(possibleIdentifiers);
	#if Reliability_trace_level <= trace_vectors
	LOG_TRACE_STREAM << "\nActuallPossibleIdentifiers:\n"
	<< possibleIdentifiers << trace_end;
	LOG_TRACE_STREAM << "\npossibleIdentifiers:\n"
	<< possibleIdentifiers << trace_end;
	#endif
	possibleIdentifiers.clear();

	possibleIdentifiers = getAllPossibleIdentifiersBasedOnHistory();

	std::sort(possibleIdentifiers.begin(), possibleIdentifiers.end(),
	[](ConfOrRel A, ConfOrRel B) -> bool {
	return A.Reliability > B.Reliability;
	});

	#if Reliability_trace_level <= trace_outputs
	LOG_TRACE_STREAM << "\noutput lowlevel: " << possibleIdentifiers.at(0)
	<< trace_end;
	#endif
	return possibleIdentifiers.at(0);
	}

	/// feedback for this functionality most commonly it comes from a Master Agent
	/// \param ValuesFromMaster The Identifiers + Reliability for the feedback
	/// \brief This input kind of resembles a confidence but not
	/// directly it more or less says: compared to the other Identifiers inside
	/// the System these are the Identifiers with the Reliability that you have.
	void feedback(std::vector<ConfOrRel> ValuesFromMaster) {
	this->ValuesFromMaster = ValuesFromMaster;
	}

	//
	// ----------------------Reliability and Confidence Function setters----------
	//
	/// This is the setter for Confidence Function
	/// \param Confidence A pointer to the Functional for the \c Confidence of the
	/// Sensor value
	void setConfidenceFunction(
	std::unique_ptr<RangeConfidence<ReliabilityType, IdentifierType,
	SensorValueType>> &Confidence) {
	this->Confidence = std::move(Confidence);
	}

	/// This is the setter for Reliability Function
	/// \param Reliability A pointer to the Functional for the Reliability
	/// \brief The Reliability takes the current Sensor value and return the
	/// Reliability of the value.
	void setReliabilityFunction(
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	&Reliability) {
	this->Reliability = std::move(Reliability);
	}

	/// This is the setter for ReliabilitySlope Function
	/// \param ReliabilitySlope A pointer to the Functional for the
	/// ReliabilitySlope
	/// \brief The ReliabilitySlope takes the difference of the current Sensor
	/// Value to the last one and tells you how likely the change is.
	void setReliabilitySlopeFunction(
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	&ReliabilitySlope) {
	this->ReliabilitySlope = std::move(ReliabilitySlope);
	}

	/// This is the setter for TimeConfidence Function
	/// \param TimeConfidence A pointer to the Functional for the TimeConfidence
	/// \brief The time function takes the position in the History with greater
	/// equals older and return a Reliability of how "relevant" it is.
	void setTimeConfidenceFunction(
	std::unique_ptr<Abstraction<std::size_t, ReliabilityType>>
	&TimeConfidence) {
	this->TimeConfidence = std::move(TimeConfidence);
	}

	/// This is the setter for all possible States
	/// \param states A vector containing all states
	/// \brief This exists even though \c State Type is an arithmetic Type because
	/// the states do not need to be "next" to each other ( ex. states={ 1 7 24 })
	void setStates(std::vector<IdentifierType> states) { this->States = states; }

	/// This sets the Maximum length of the History
	/// \param length The length
	void setHistoryLength(std::size_t length) { this->HistoryMaxSize = length; }

	/// This sets the Value set Counter
	/// \param ValueSetCounter the new Value
	/// \note This might actually be only an artifact. It is only used to get the
	/// reliability from the \c ReliabilitySlope [ ReliabilitySlope->operator()(
	/// (lastValue - actualValue) / (SensorValueType)valueSetCounter) ]
	void setValueSetCounter(unsigned int ValueSetCounter) {
	this->valueSetCounter = ValueSetCounter;
	}

	//
	// ----------------combinator setters-----------------------------------------
	//

	/// This sets the combination method used by the History
	/// \param Meth the method which should be used. predefined \c
	/// HistoryCombinatorMethodMin() \c HistoryCombinatorMethodMax() \c
	/// HistoryCombinatorMethodMult() \c HistoryCombinatorMethodAverage()
	void setHistoryCombinatorMethod(
	std::function<ReliabilityType(ReliabilityType, ReliabilityType)> Meth) {
	HistoryCombinatorMethod = Meth;
	}

	/// sets the predefined method for the combination of the possible Identifiers
	/// and the master \param Meth the method predefined ones are \c
	/// FeedbackCombinatorMethodAverage() \c FeedbackCombinatorMethodMin() \c
	/// FeedbackCombinatorMethodMax() \c FeedbackCombinatorMethodMult()
	void setFeedbackCombinatorMethod(
	std::function<std::vector<ConfOrRel>(std::vector<ConfOrRel>,
	std::vector<ConfOrRel>)>
	Meth) {
	FeedbackCombinatorMethod = Meth;
	}

	/// Sets the used combination method for Possible Identifiers
	/// \param Meth a Pointer for the used Method. Predefined methods \c
	/// PossibleIdentifierCombinationMethodMin() \c
	/// PossibleIdentifierCombinationMethodMax() \c
	/// PossibleIdentifierCombinationMethodAverage()
	void setPossibleIdentifierCombinationMethod(
	std::function<std::vector<ConfOrRel>(std::vector<ConfOrRel>,
	ReliabilityType)>
	Meth) {
	PossibleIdentifierCombinationMethod = Meth;
	}

	/// sets the input reliability combinator method
	/// \param method the to be used method
	/// \note there are predefined methods \c combinationMin() \c combinationMax()
	/// \c combinationAverage()
	void setInputReliabilityCombinator(
	std::function<ReliabilityType(ReliabilityType, ReliabilityType)> method) {
	InputReliabilityCombinator = method;
	}

	//
	// ----------------predefined combinators------------------------------------
	//
	struct predefinedMethods {
	/// predefined Method
	static ReliabilityType HistoryCombinatorMethodMin(ReliabilityType A,
	ReliabilityType B) {
	return std::min(A, B);
	}
	/// predefined Method
	static ReliabilityType HistoryCombinatorMethodMax(ReliabilityType A,
	ReliabilityType B) {
	return std::max(A, B);
	}
	/// predefined Method
	static ReliabilityType HistoryCombinatorMethodMult(ReliabilityType A,
	ReliabilityType B) {
	return A * B;
	}
	/// predefined Method
	static ReliabilityType HistoryCombinatorMethodAverage(ReliabilityType A,
	ReliabilityType B) {
	return (A + B) / 2;
	}

	/// predefined method
	static std::vector<ConfOrRel>
	FeedbackCombinatorMethodAverage(std::vector<ConfOrRel> A,
	std::vector<ConfOrRel> B) {
	for (auto &tmp_me : A)
	for (auto &tmp_other : B) {
	if (tmp_me.Identifier == tmp_other.Identifier) {
	tmp_me.Reliability =
	(tmp_me.Reliability + tmp_other.Reliability) / 2;
	}
	}
	return A;
	}
	/// predefined method
	static std::vector<ConfOrRel>
	FeedbackCombinatorMethodMin(std::vector<ConfOrRel> A,
	std::vector<ConfOrRel> B) {
	for (auto &tmp_me : A)
	for (auto &tmp_other : B) {
	if (tmp_me.Identifier == tmp_other.Identifier) {
	tmp_me.Reliability =
	std::min(tmp_me.Reliability + tmp_other.Reliability);
	}
	}
	return A;
	}
	/// predefined method
	static std::vector<ConfOrRel>
	FeedbackCombinatorMethodMax(std::vector<ConfOrRel> A,
	std::vector<ConfOrRel> B) {
	for (auto &tmp_me : A)
	for (auto &tmp_other : B) {
	if (tmp_me.Identifier == tmp_other.Identifier) {
	tmp_me.Reliability =
	std::max(tmp_me.Reliability + tmp_other.Reliability);
	}
	}
	return A;
	}
	/// predefined method
	static std::vector<ConfOrRel>
	FeedbackCombinatorMethodMult(std::vector<ConfOrRel> A,
	std::vector<ConfOrRel> B) {
	for (auto &tmp_me : A)
	for (auto &tmp_other : B) {
	if (tmp_me.Identifier == tmp_other.Identifier) {
	tmp_me.Reliability = tmp_me.Reliability * tmp_other.Reliability;
	}
	}
	return A;
	}

	/// Predefined combination method for possible Identifiers
	static std::vector<ConfOrRel>
	PossibleIdentifierCombinationMethodMin(std::vector<ConfOrRel> A,
	ReliabilityType B) {
	for (auto tmp : A)
	tmp.Reliability = std::min(tmp.Reliability, B);
	return A;
	}
	/// Predefined combination method for possible Identifiers
	static std::vector<ConfOrRel>
	PossibleIdentifierCombinationMethodMax(std::vector<ConfOrRel> A,
	ReliabilityType B) {
	for (auto tmp : A)
	tmp.Reliability = std::max(tmp.Reliability, B);
	return A;
	}

	/// Predefined combination method for possible Identifiers
	static std::vector<ConfOrRel>
	PossibleIdentifierCombinationMethodAverage(std::vector<ConfOrRel> A,
	ReliabilityType B) {
	for (auto tmp : A)
	tmp.Reliability = (tmp.Reliability + B) / 2;
	return A;
	}

	/// Predefined combination method for possible Identifiers
	static std::vector<ConfOrRel>
	PossibleIdentifierCombinationMethodMult(std::vector<ConfOrRel> A,
	ReliabilityType B) {
	for (auto tmp : A)
	tmp.Reliability = tmp.Reliability * B / 2;
	return A;
	}

	/// The predefined min combinator method
	static ReliabilityType combinationMin(ReliabilityType A,
	ReliabilityType B) {
	return std::min(A, B);
	}

	/// The predefined max combinator method
	static ReliabilityType combinationMax(ReliabilityType A,
	ReliabilityType B) {
	return std::max(A, B);
	}

	/// The predefined average combinator method
	static ReliabilityType combinationAverage(ReliabilityType A,
	ReliabilityType B) {
	return (A + B) / 2;
	}

	/// The predefined average combinator method
	static ReliabilityType combinationMult(ReliabilityType A,
	ReliabilityType B) {
	return A * B;
	}
	};

	// ----------------------------------------------------------------
	// Stored Values
	// ----------------------------------------------------------------
	private:
	std::vector<std::vector<ConfOrRel>> History;
	std::size_t HistoryMaxSize;
	std::vector<ConfOrRel> ValuesFromMaster;

	SensorValueType previousSensorValue;
	unsigned int valueSetCounter;
	std::vector<IdentifierType> States;
	bool PreviousSensorValueExists = false;

	std::unique_ptr<
	RangeConfidence<ReliabilityType, IdentifierType, SensorValueType>>
	Confidence;
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>> Reliability;
	std::unique_ptr<Abstraction<SensorValueType, ReliabilityType>>
	ReliabilitySlope;
	std::unique_ptr<Abstraction<std::size_t, ReliabilityType>> TimeConfidence;

	// combination functions
	std::function<ReliabilityType(ReliabilityType, ReliabilityType)>
	InputReliabilityCombinator = predefinedMethods::combinationMin;

	std::function<std::vector<ConfOrRel>(std::vector<ConfOrRel>, ReliabilityType)>
	PossibleIdentifierCombinationMethod =
	predefinedMethods::PossibleIdentifierCombinationMethodMin;

	std::function<std::vector<ConfOrRel>(std::vector<ConfOrRel>,
	std::vector<ConfOrRel>)>
	FeedbackCombinatorMethod =
	predefinedMethods::FeedbackCombinatorMethodAverage;
	std::function<ReliabilityType(ReliabilityType, ReliabilityType)>
	HistoryCombinatorMethod = predefinedMethods::HistoryCombinatorMethodMax;

	// ---------------------------------------------------------------------------
	// needed Functions
	// ---------------------------------------------------------------------------

	/// returns the Reliability
	/// \param actualValue The Value of the Sensor
	/// \param lastValue of the Sensor this is stored in the class
	/// \param valueSetCounter It has an effect on the difference of the current
	/// and last value This might not be needed anymore
	/// \brief it returns the combination the \c Reliability function and \c
	/// ReliabilitySlope if the previous value exists. if it doesn't it only
	/// returns the \c Reliability function value.
	ReliabilityType getReliability(SensorValueType actualValue,
	SensorValueType lastValue,
	unsigned int valueSetCounter) {
	ReliabilityType relAbs = Reliability->operator()(actualValue);
	if (PreviousSensorValueExists) {
	ReliabilityType relSlo = ReliabilitySlope->operator()(
	(lastValue - actualValue) / (SensorValueType)valueSetCounter);

	return InputReliabilityCombinator(relAbs, relSlo);
	} else
	return relAbs;
	}

	/// adapts the possible Identifiers by checking the History and combines those
	/// values. currently with max
	/// \brief combines the historic values with the \c TimeConfidence function
	/// and returns the maximum Reliability for all Identifiers.
	std::vector<ConfOrRel> getAllPossibleIdentifiersBasedOnHistory() {
	// iterate through all history entries
	std::size_t posInHistory = 0;
	std::vector<ConfOrRel> possibleIdentifiers;
	for (auto pShE = History.begin(); pShE < History.end();
	pShE++, posInHistory++) {

	// iterate through all possible Identifiers of each history entry
	for (ConfOrRel &pSh : *pShE) {

	IdentifierType historyIdentifier = pSh.Identifier;
	ReliabilityType historyConf = pSh.Reliability;

	historyConf = historyConf * TimeConfidence->operator()(posInHistory);

	bool foundIdentifier = false;
	for (ConfOrRel &pS : possibleIdentifiers) {

	if (pS.Identifier == historyIdentifier) {

	pS.Reliability =
	HistoryCombinatorMethod(pS.Reliability, historyConf);

	foundIdentifier = true;
	}
	}

	if (foundIdentifier == false) {

	ConfOrRel possibleIdentifier;
	possibleIdentifier.Identifier = historyIdentifier;
	possibleIdentifier.Reliability = historyConf;

	possibleIdentifiers.push_back(possibleIdentifier);
	}
	}
	}

	return possibleIdentifiers;
	}

	/// saves the Identifiers in the History
	/// \brief It checks the incoming Identifiers if any have a Reliability
	/// greater than 0.5 all of them get saved inside the History and then the
	/// History get shortened to the maximal length. It only saves the Value if
	/// the History is empty.
	///
	/// \param actualPossibleIdentifiers The Identifiers which should be saved
	///
	/// \note Does the History really make sense if the values are to small it
	/// only stores something if it's empty and not if it isn't completely filled
	void saveInHistory(std::vector<ConfOrRel> actualPossibleIdentifiers) {

	// check if the reliability of at least one possible Identifier is high
	// enough
	bool atLeastOneRelIsHigh = false;
	for (ConfOrRel pS : actualPossibleIdentifiers) {
	if (pS.Reliability > 0.5) {
	atLeastOneRelIsHigh = true;
	}
	}
	// save possible Identifiers if at least one possible Identifier is high
	// enough (or if the history is empty)
	if (History.size() < 1 \|\| atLeastOneRelIsHigh == true) {
	History.insert(History.begin(), actualPossibleIdentifiers);

	// if history size is higher than allowed, save oldest element
	while (History.size() > HistoryMaxSize) {
	// delete possibleIdentifierHistory.back();
	History.pop_back();
	}
	}
	}
	};

	} // namespace agent
	} // namespace rosa
	#endif // !ROSA_AGENT_ReliabilityConfidenceCombinator_H

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