upd_const_acc.hpp

#ifndef DDF_UPD_CONST_ACC_HPP
#define DDF_UPD_CONST_ACC_HPP


#include "ddf/upd_lin_pred.hpp"
#include "ddfsimu/accelmotion.hpp"
#include "ddf/ctime.hpp"

namespace jafar
{
  namespace ddfsimu
  {

    class CstAccPredParams : public ParametersGeneric
    {
      int other_params;
    };

    class Upd_const_acc : public Upd_lin_pred_model<ParametersGeneric>
    {
   
    protected:
   
      typedef ParametersGeneric PARAMS;
      unsigned short m_dim;
      bool   m_use_bias;
   
    public:
   
      Upd_const_acc(unsigned short dim, unsigned short sv_size, unsigned short q_size, VEC const& var, bool use_bias);
      virtual ~Upd_const_acc();

      void UpdateG(PARAMS &params);
      void UpdateF(PARAMS &params);
      void SetModelParams(time const& from, time const& horizon);
      void SetModelParams(time const& h);
      void Updateq(PARAMS &params) { JFR_DEBUG("Update q not yet implemented"); }
      void Updateq(VEC const& pnoise) { q = pnoise; }

    private:
      void Init(VEC const& var);
    };

  } // namespace ddfsimu
} // namespace jafar
#endif