KinematicModel.hpp

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*  Author: Đula Nađ
*  Created: 01.09.2011.
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#ifndef KINEMATICMODEL_HPP_
#define KINEMATICMODEL_HPP_
#include <labust/navigation/SSModel.hpp>

namespace labust
{
  namespace navigation
  {
    class KinematicModel : public SSModel<double>
    {
        typedef SSModel<double> Base;
    public:
      typedef vector input_type;
      typedef vector output_type;

      enum {xp=0,yp,Vv,psi,r};
      enum {stateNum = 5};
      enum {inputSize = 2};
        
      KinematicModel();
      ~KinematicModel();

      void step(const input_type& input);
      void estimate_y(output_type& y);
      void initModel();
      void calculateXYInovationVariance(const matrix& P,
                double& xin,double &yin);
     
    protected:
      void calculateJacobian();
    };
  }
}


#endif /* KINEMATICMODEL_HPP_ */