diff --git a/include/rosa/agent/ReliabilityConfidenceCombinator.h b/include/rosa/agent/ReliabilityConfidenceCombinator.h
index d06d7ee..8f3be6e 100644
--- a/include/rosa/agent/ReliabilityConfidenceCombinator.h
+++ b/include/rosa/agent/ReliabilityConfidenceCombinator.h
@@ -1,762 +1,760 @@
 //===-- 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_RELIABILITY_H
 #define ROSA_AGENT_RELIABILITY_H
 
 #include "rosa/agent/CrossReliability.h"
 #include "rosa/agent/FunctionAbstractions.hpp"
 #include "rosa/agent/Functionality.h"
 #include "rosa/agent/RangeConfidence.hpp"
 
 #include <algorithm>
 #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 StateType The datatype of the States \tparam
 /// ReliabilityType The datatype of the Reliability
 template <typename StateType, typename ReliabilityType> struct ConfOrRel {
   /// making both Template Arguments readable to make a few things easier
   typedef StateType _StateType;
   /// making both Template Arguments readable to make a few things easier
   typedef ReliabilityType _ReliabilityType;
 
   /// The actual place where the data is stored
   StateType score;
   /// The actual place where the data is stored
   ReliabilityType Reliability;
 
   ConfOrRel(StateType _score, ReliabilityType _Reliability)
       : score(_score), 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 << "Score: " << c.score << "\t Reliability: " << c.Reliability << " ";
     return out;
   }
 
   /// needed or it throws an clang diagnosic error
   typedef std::map<StateType, ReliabilityType>
       map; // 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 calculates the minimum of the Reliabilities & the given value
 /// \param me The vector with the Reliabilities
 /// \param value The comparing value
 template <typename Conf>
 std::vector<Conf> min(std::vector<Conf> me,
                       typename Conf::_ReliabilityType value) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto tmp : me)
     tmp.Reliability = std::min(tmp.Reliability, value);
   return me;
 }
 /// This calculates the maximum of the Reliabilities & the given value
 /// \param me The vector with the Reliabilities
 /// \param value The comparing value
 template <typename Conf>
 std::vector<Conf> max(std::vector<Conf> me,
                       typename Conf::_ReliabilityType value) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto tmp : me)
     tmp.Reliability = std::max(tmp.Reliability, value);
   return me;
 }
 /// This calculates the average of the Reliabilities & the given value
 /// \param me The vector with the Reliabilities
 /// \param value The comparing value
 template <typename Conf>
 std::vector<Conf> average(std::vector<Conf> me,
                           typename Conf::_ReliabilityType value) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto tmp : me)
     tmp.Reliability = (tmp.Reliability + value) / 2;
   return me;
 }
 
 /// This calculates the average of the Reliabilities & the given value
 /// \param me The vector with the Reliabilities
 /// \param value The comparing value
 template <typename Conf>
 std::vector<Conf> mult(std::vector<Conf> me,
                        typename Conf::_ReliabilityType value) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto tmp : me)
     tmp.Reliability = tmp.Reliability * value / 2;
   return me;
 }
 
 /// This average's the Reliabilities of the same Scores
 template <typename Conf>
 std::vector<Conf> average(std::vector<Conf> A, std::vector<Conf> B) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto &tmp_me : A)
     for (auto &tmp_other : B) {
       if (tmp_me.score == tmp_other.score) {
         tmp_me.Reliability = (tmp_me.Reliability + tmp_other.Reliability) / 2;
       }
     }
   return A;
 }
 /// This min's the Reliabilities of the same Scores
 template <typename Conf>
 std::vector<Conf> min(std::vector<Conf> A, std::vector<Conf> B) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto &tmp_me : A)
     for (auto &tmp_other : B) {
       if (tmp_me.score == tmp_other.score) {
         tmp_me.Reliability =
             std::min(tmp_me.Reliability + tmp_other.Reliability);
       }
     }
   return A;
 }
 /// This max's the Reliabilities of the same Scores
 template <typename Conf>
 std::vector<Conf> max(std::vector<Conf> A, std::vector<Conf> B) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto &tmp_me : A)
     for (auto &tmp_other : B) {
       if (tmp_me.score == tmp_other.score) {
         tmp_me.Reliability =
             std::max(tmp_me.Reliability + tmp_other.Reliability);
       }
     }
   return A;
 }
 /// This mult's the Reliabilities of the same Scores
 template <typename Conf>
 std::vector<Conf> mult(std::vector<Conf> A, std::vector<Conf> B) {
   static_assert(std::is_arithmetic<typename Conf::_ReliabilityType>::value);
   for (auto &tmp_me : A)
     for (auto &tmp_other : B) {
       if (tmp_me.score == tmp_other.score) {
         tmp_me.Reliability = tmp_me.Reliability * tmp_other.Reliability;
       }
     }
   return A;
 }
 
 /// 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 StateType 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
 /// \verbatim
 ///----------------------------------------------------------------------------------
 ///
 ///
 ///                  ->Reliability---> getInputReliability()
 ///                  |             |
 ///                  |             V
 ///  Sensor Value ---|            PossibleScoreCombinationMethod -> next line
 ///                  |             A					|
 ///                  |             |					V
 ///                  ->Confidence---			getPossibleScores()
 ///
 ///-----------------------------------------------------------------------------------
 ///
 ///           feedback
 ///               |
 ///               V
 ///           ValuesFromMaster
 ///               |               -> History ---|
 ///               V               |             V
 /// here -> FeedbackCombinatorMethod --------> HistoryCombinatorMethod->nextline
 ///                   |                                   |
 ///                   V                                   V
 ///   getpossibleScoresWithMasterFeedback()      getPossibleScoresWithHistory()
 ///
 ///----------------------------------------------------------------------------------
 ///
 /// here -> sort -> most likely -> mostLikelySoreAndReliability()
 ///
 /// ---------------------------------------------------------------------------------
 /// \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;
 ///	PossibleScoreCombinationMethod	= PossibleScoreCombinationMethodMin;
 /// FeedbackCombinatorMethod		= FeedbackCombinatorMethodAverage;
 /// HistoryCombinatorMethod			= HistoryCombinatorMethodMax;
 ///	</pre>
 ///
 ///
 ///
 template <typename SensorValueType, typename StateType,
           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<StateType>::value,
                 "LowLevel: StateType 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
   typedef ConfOrRel<StateType, ReliabilityType> ConfOrRel;
 
   /// 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 Reliability
   /// \param SensorValue The current Values of the Sensor
   ///
   /// \return Reliability and Score of the current SensorValue
   ///
   ConfOrRel mostLikelySoreAndReliability(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> ActuallPossibleScores;
     std::vector<ConfOrRel> possibleScores;
     ReliabilityType inputReliability = getInputReliability(SensorValue);
 
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
 #endif
 
     possibleScores << Confidence->operator()(SensorValue);
 
     possibleScores =
         PossibleScoreCombinationMethod(possibleScores, inputReliability);
     possibleScores = FeedbackCombinatorMethod(possibleScores, ValuesFromMaster);
 
     saveInHistory(possibleScores);
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\nActuallPossibleScores:\n"
                      << possibleScores << trace_end;
     LOG_TRACE_STREAM << "\npossibleScores:\n" << possibleScores << trace_end;
 #endif
     possibleScores.clear();
 
     possibleScores = getAllPossibleScoresBasedOnHistory();
 
     std::sort(possibleScores.begin(), possibleScores.end(),
               [](ConfOrRel A, ConfOrRel B) -> bool {
                 return A.Reliability > B.Reliability;
               });
 
 #if Reliability_trace_level <= trace_outputs
     LOG_TRACE_STREAM << "\noutput lowlevel: " << possibleScores.at(0)
                      << trace_end;
 #endif
     return possibleScores.at(0);
   }
 
   /// Calculates the possible Scores
   /// \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
   /// setPossibleScoreCombinationMethod()
   auto getPossibleScores(SensorValueType SensorValue) {
     std::vector<ConfOrRel> possibleScores;
     ReliabilityType inputReliability = getInputReliability(SensorValue);
 
     // get input rel()
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
 #endif
 
     possibleScores << Confidence->operator()(SensorValue);
     possibleScores =
         PossibleScoreCombinationMethod(possibleScores, inputReliability);
     return possibleScores;
   }
 
   /// 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 getpossibleScoresWithMasterFeedback(SensorValueType SensorValue) {
     std::vector<ConfOrRel> possibleScores;
     ReliabilityType inputReliability = getInputReliability(SensorValue);
 
     // get input rel()
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
 #endif
 
     possibleScores << Confidence->operator()(SensorValue);
 
     possibleScores =
         PossibleScoreCombinationMethod(possibleScores, inputReliability);
 
-    // set comb method with values from master ( class :: min | max | average |
-    // mult | [] ()-> {}  )
     possibleScores = FeedbackCombinatorMethod(possibleScores, ValuesFromMaster);
     return possibleScores;
   }
 
   /// returns all possible Scores and Reliabilities with the History in mind
   /// \param SensorValue the Sensor value
   /// how this is done is described at the class.
   auto getPossibleScoresWithHistory(SensorValueType SensorValue) {
     std::vector<ConfOrRel> ActuallPossibleScores;
     std::vector<ConfOrRel> possibleScores;
     ReliabilityType inputReliability = getInputReliability(SensorValue);
 
     // get input rel()
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\ninput Rel: " << inputReliability << trace_end;
 #endif
 
     possibleScores << Confidence->operator()(SensorValue);
 
     possibleScores =
         PossibleScoreCombinationMethod(possibleScores, inputReliability);
     possibleScores = FeedbackCombinatorMethod(possibleScores, ValuesFromMaster);
 
     saveInHistory(possibleScores);
 #if Reliability_trace_level <= trace_vectors
     LOG_TRACE_STREAM << "\nActuallPossibleScores:\n"
                      << possibleScores << trace_end;
     LOG_TRACE_STREAM << "\npossibleScores:\n" << possibleScores << trace_end;
 #endif
     possibleScores.clear();
 
     return getAllPossibleScoresBasedOnHistory();
   }
 
   /// feedback for this functionality most commonly it comes from a Master Agent
   /// \param ValuesFromMaster The Scores + Reliability for the feedback
   /// \brief This input kind of resembles a confidence but not
   /// directly it more or less says: compared to the other Scores inside the
   /// System these are the Scores 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, StateType,
                                       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<StateType> 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(ReliabilityType (*Meth)(ReliabilityType,
                                                           ReliabilityType)) {
     HistoryCombinatorMethod = Meth;
   }
 
   /// sets the predefined method for the combination of the possible scores and
   /// the master \param Meth the method predefined ones are
   /// \c FeedbackCombinatorMethodAverage() \c FeedbackCombinatorMethodMin() \c
   /// FeedbackCombinatorMethodMax() \c FeedbackCombinatorMethodMult()
   void setFeedbackCombinatorMethod(std::vector<ConfOrRel> (*Meth)(
       std::vector<ConfOrRel>, std::vector<ConfOrRel>)) {
     FeedbackCombinatorMethod = Meth;
   }
 
   /// Sets the used combination method for Possible Scores
   /// \param Meth a Pointer for the used Method. Predefined methods \c
   /// PossibleScoreCombinationMethodMin() \c PossibleScoreCombinationMethodMax()
   /// \c PossibleScoreCombinationMethodAverage()
   void setPossibleScoreCombinationMethod(
       std::vector<ConfOrRel> (*Meth)(std::vector<ConfOrRel>, ReliabilityType)) {
     PossibleScoreCombinationMethod = 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(
       ReliabilityType (*method)(ReliabilityType, ReliabilityType)) {
     InputReliabilityCombinator = method;
   }
 
   //
   // ----------------predefined combinators------------------------------------
   //
   /// 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) {
     return average(A, B);
   }
   /// predefined method
   static std::vector<ConfOrRel>
   FeedbackCombinatorMethodMin(std::vector<ConfOrRel> A,
                               std::vector<ConfOrRel> B) {
     return min(A, B);
   }
   /// predefined method
   static std::vector<ConfOrRel>
   FeedbackCombinatorMethodMax(std::vector<ConfOrRel> A,
                               std::vector<ConfOrRel> B) {
     return max(A, B);
   }
   /// predefined method
   static std::vector<ConfOrRel>
   FeedbackCombinatorMethodMult(std::vector<ConfOrRel> A,
                                std::vector<ConfOrRel> B) {
     return mult(A, B);
   }
 
   /// Predefined combination method for possible Scores
   static std::vector<ConfOrRel>
   PossibleScoreCombinationMethodMin(std::vector<ConfOrRel> A,
                                     ReliabilityType B) {
     return min(A, B);
   }
   /// Predefined combination method for possible Scores
   static std::vector<ConfOrRel>
   PossibleScoreCombinationMethodMax(std::vector<ConfOrRel> A,
                                     ReliabilityType B) {
     return max(A, B);
   }
 
   /// Predefined combination method for possible Scores
   static std::vector<ConfOrRel>
   PossibleScoreCombinationMethodAverage(std::vector<ConfOrRel> A,
                                         ReliabilityType B) {
     return average(A, B);
   }
 
   /// Predefined combination method for possible Scores
   static std::vector<ConfOrRel>
   PossibleScoreCombinationMethodMult(std::vector<ConfOrRel> A,
                                      ReliabilityType B) {
     return mult(A, B);
   }
 
   /// 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;
   }
 
 private:
   std::vector<std::vector<ConfOrRel>> History;
   std::size_t HistoryMaxSize;
   std::vector<ConfOrRel> ValuesFromMaster;
 
   SensorValueType previousSensorValue;
   unsigned int valueSetCounter;
   std::vector<StateType> States;
   bool PreviousSensorValueExists = false;
 
   std::unique_ptr<RangeConfidence<ReliabilityType, StateType, 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
   ReliabilityType (*InputReliabilityCombinator)(
       ReliabilityType, ReliabilityType) = combinationMin;
 
   std::vector<ConfOrRel> (*PossibleScoreCombinationMethod)(
       std::vector<ConfOrRel>,
       ReliabilityType) = PossibleScoreCombinationMethodMin;
 
   std::vector<ConfOrRel> (*FeedbackCombinatorMethod)(std::vector<ConfOrRel>,
                                                      std::vector<ConfOrRel>) =
       FeedbackCombinatorMethodAverage;
 
   ReliabilityType (*HistoryCombinatorMethod)(ReliabilityType, ReliabilityType) =
       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 Scores 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 Scores.
   std::vector<ConfOrRel> getAllPossibleScoresBasedOnHistory() {
     // iterate through all history entries
     std::size_t posInHistory = 0;
     std::vector<ConfOrRel> possibleScores;
     for (auto pShE = History.begin(); pShE < History.end();
          pShE++, posInHistory++) {
 
       // iterate through all possible scores of each history entry
       for (ConfOrRel &pSh : *pShE) {
 
         StateType historyScore = pSh.score;
         ReliabilityType historyConf = pSh.Reliability;
 
         historyConf = historyConf * TimeConfidence->operator()(posInHistory);
 
         bool foundScore = false;
         for (ConfOrRel &pS : possibleScores) {
 
           if (pS.score == historyScore) {
 
             pS.Reliability =
                 HistoryCombinatorMethod(pS.Reliability, historyConf);
 
             foundScore = true;
           }
         }
 
         if (foundScore == false) {
 
           ConfOrRel possibleScore;
           possibleScore.score = historyScore;
           possibleScore.Reliability = historyConf;
 
           possibleScores.push_back(possibleScore);
         }
       }
     }
 
     return possibleScores;
   }
 
   /// saves the Scores in the History
   /// \brief It checks the incoming scores 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 actualPossibleScores The Scores 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> actualPossibleScores) {
 
     // check if the reliability of at least one possible score is high enough
     bool atLeastOneRelIsHigh = false;
     for (ConfOrRel pS : actualPossibleScores) {
       if (pS.Reliability > 0.5) {
         atLeastOneRelIsHigh = true;
       }
     }
     // save possible scores if at least one possible score is high enough (or if
     // the history is empty)
     if (History.size() < 1 || atLeastOneRelIsHigh == true) {
       History.insert(History.begin(), actualPossibleScores);
 
       // if history size is higher than allowed, save oldest element
       while (History.size() > HistoryMaxSize) {
         // delete possibleScoreHistory.back();
         History.pop_back();
       }
     }
   }
 };
 
 } // namespace agent
 } // namespace rosa
 #endif // !ROSA_AGENT_RELIABILITY_H