RelativeTrackingModel.hpp

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*  Created on: Feb 25, 2013
*  Author: Dula Nad
*
*  Modified on: Jun 04, 2014
*  Modified by: Filip Mandic
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*********************************************************************/
#ifndef RELATIVETRACKINGMODEL_HPP_
#define RELATIVETRACKINGMODEL_HPP_

//#include <>
#include <labust/navigation/SSModel.hpp>

namespace labust{
  namespace navigation{
    class RelativeTrackingModel : public SSModel<double>{

        typedef SSModel<double> Base;
    public:
      typedef vector input_type;
      typedef vector output_type;

      struct ModelParams{
          ModelParams():
                  alpha(1),
                  beta(1),
                  betaa(0){};

          ModelParams(double alpha, double beta, double betaa):
                  alpha(alpha),
                  beta(beta),
                  betaa(betaa){}

          inline double Beta(double val){
                  return beta + betaa*fabs(val);
          }

          double alpha, beta, betaa;
      };

      enum {delta_x = 0,delta_y, delta_z, psi_t, u_t, w_t, r_t, stateNum}; /* State vector - Full */
      enum {d = 0, theta, depth, psi_tm, delta_xm, delta_ym, delta_zm, measSize}; /* Measurement vector */
      enum {x_dot = 0, y_dot, psi, X, Z, N, inputSize}; /* Input vector */

      RelativeTrackingModel();
      ~RelativeTrackingModel();

      void step(const input_type& input);
      void estimate_y(output_type& y);
      void initModel();

      const output_type& update(vector& measurements, vector& newMeas);

      void setParameters(const ModelParams& surge,
                  const ModelParams& sway,
                  const ModelParams& heave,
                  const ModelParams& roll,
                  const ModelParams& pitch,
                  const ModelParams& yaw)
      {
          this->surge = surge;
          this->sway = sway;
          this->heave = heave;
          this->roll = roll;
          this->pitch = pitch;
          this->yaw = yaw;
      }

      void calculateXYInovationVariance(const matrix& P, double& xin,double &yin);
      void calculateUVInovationVariance(const matrix& P, double& uin,double &vin);
      double calculateAltInovationVariance(const matrix& P);

      inline void getNEDSpeed(double& xdot, double& ydot)
      {
        xdot = this->xdot;
        ydot = this->ydot;
      }

      inline void useDvlModel(int flag){this->dvlModel = flag;};

    protected:
      void derivativeAW();
       void derivativeHV(int num);
       void derivativeH();
      ModelParams surge,sway,heave,roll,pitch,yaw;
      output_type measurement;
      double xdot,ydot;
      int dvlModel;
      matrix Hnl;
      vector ynl,y;
    };
  }
}

/* SBMODEL_HPP_ */
#endif