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#ifndef KINEMATICMODEL_HPP_
#define KINEMATICMODEL_HPP_

#include <labust/navigation/SSModel.hpp>

#include <labust/xml/XMLReader.hpp>

namespace labust
{
  namespace navigation
  {
    /**
     * This class implements a basic kinematic model for the EKF filter.
     * The model is taken from:
     * A. Alcocer, P. Oliveira, A. Pascoal
     *  "Study and implementation of an EKF GIB based underwater positioning system"
     *
     * We ignore the existence of currents.
     */
    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,size = 5};

      /**
       * The main constructor.
       */
      KinematicModel(const labust::xml::ReaderPtr reader);
      /**
       * Generic destructor.
       */
      ~KinematicModel();

    protected:
      /**
       * Configure the model based on the XML supplied.
       */
      void configure(const labust::xml::ReaderPtr reader);
      /**
       * Perform a prediction step based on the system input.
       *
       * \param u System input.
       */
      void step(const input_type& input);
      /**
       * Calculates the estimated output of the model.
       *
       * \param y Inserts the estimated output values here.
       */
      void estimate_y(output_type& y);
      /**
       * Initialize the model to default values
       */
      void initModel();
      /**
       * Calculate the Jacobian matrices
       */
      void calculateJacobian();
    };
  }
}


#endif /* KINEMATICMODEL_HPP_ */
