XYModel.hpp

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*  Created on: Feb 25, 2013
*  Author: Dula Nad
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#ifndef XYMODEL_HPP_
#define XYMODEL_HPP_
#include <labust/navigation/SSModel.hpp>

namespace labust
{
  namespace navigation
  {
    class XYModel : 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 {u=0,v,r,xp,yp,psi,xc,yc,b1,b2};
      enum {stateNum = 10};
      enum {inputSize = 3};
      enum {measSize = 3};
      enum {X=0,Y,N};
      enum {x_m=0,y_m,psi_m,psiOnly_m = 0};
        
      XYModel();
      ~XYModel();

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

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

      const output_type& yawUpdate(double yaw);
      const output_type& fullUpdate(double x,
                  double y,
                  double yaw);
      const output_type& positionUpdate(double x,
                  double y);
      void setParameters(const ModelParams& surge,
                  const ModelParams& sway,
                  const ModelParams& yaw)
      {
          this->surge = surge;
          this->sway = sway;
          this->yaw = yaw;
      }

      void calculateXYInovationVariance(const matrix& P, double& xin,double &yin);

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


    protected:
      void derivativeAW();
       void derivativeHV(int num);
      ModelParams surge,sway,yaw;
      output_type measurement;
      double xdot,ydot;
    };
  }
}

/* XYMODEL_HPP_ */
#endif