//=================================================================================================
// Copyright (c) 2013, Johannes Meyer and contributors, Technische Universitat Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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//=================================================================================================


#ifndef HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
#define HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H

#include <hector_pose_estimation/system/generic_quaternion_system_model.h>

namespace hector_pose_estimation {

class GroundVehicleModel;

//namespace traits {
//  template <> struct Input<GroundVehicleModel> {
//    enum { Dimension = ImuInput::Dimension };
//    typedef ImuInput Type;
//    typedef ImuInput::Vector Vector;
//    typedef ImuInput::Variance Variance;
//  };
//} // namespace traits

class GroundVehicleModel : public GenericQuaternionSystemModel
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  GroundVehicleModel();
  virtual ~GroundVehicleModel();

  virtual void getPrior(State &state);
  virtual SystemStatus getStatusFlags(const State& state);

  using GenericQuaternionSystemModel::getDerivative;
  virtual void getDerivative(StateVector& x_dot, const State& state);
  using GenericQuaternionSystemModel::getStateJacobian;
  virtual void getStateJacobian(SystemMatrix& A, const State& state, bool init = true);

  virtual bool limitState(State& state);

protected:
  double gain_;
  double base_height_, min_height_, max_height_;
  typename Matrix_<3,3>::type dR3;
};

extern template class System_<GenericQuaternionSystemModel>;

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_GROUND_VEHICLE_MODEL_H
