LDTravModelExtended.hpp

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

namespace labust
{
  namespace navigation
  {
    class LDTravModel : 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,w,p,q,r,xp,yp,zp,phi,theta,psi,xc,yc,b,buoyancy,roll_restore,pitch_restore,altitude, stateNum};
      //enum {stateNum = 12};
      enum {inputSize = 6};
      enum {measSize = 7};
      //\todo See how to deal with K_roll
      enum {X=0,Y,Z,Kroll,M,N};
        
      LDTravModel();
      ~LDTravModel();

      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;};

      inline void setDVLRotationTrustFactor(double trustf){this->trustf = trustf;};

      inline void setSwayCorrection(double kvr){this->kvr = kvr;};

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

/* LDTRAVMODELEXTENDED_HPP_ */
#endif