DeadReckonUsingCompactModelForecast.h

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#ifndef DEADRECKONUSINGCOMPACTMODELFORECAST_H_
#define DEADRECKONUSINGCOMPACTMODELFORECAST_H_

// include parent class
#include "navigationModule/DeadReckoner.h" // should include component/Component.h in turn

// forward declare classes for which this class includes a pointer
class UniversalDataReader;

class DeadReckonUsingCompactModelForecast : public DeadReckoner
{
public:
    DeadReckonUsingCompactModelForecast( const Module* module );
    virtual ~DeadReckonUsingCompactModelForecast();
    void initialize( void );

protected: // TODO: why private vs. protected?
    UniversalDataReader* speedWaterReader_; // TODO: change to vector reader
    UniversalDataReader* uForecastReader_; // TODO: change to vector reader
    UniversalDataReader* vForecastReader_; // TODO: change to vector reader

    // variables specific to DR using compact model forecast
    Point3D velocityRelativeToWaterInVehicleFrame_; // from UniversalURI::PLATFORM_SPEED_WRT_SEA_WATER
    Point3D velocityRelativeToWaterInNavigationFrame_; // rotated into navigation frame
    Point3D velocityOfWaterRelativeToGroundInNavigationFrame_; // from compact model forecast

    // read in velocity required for dead reckoning calculation
    void readVehicleVelocity( void );

    // override deadReckon to include water velocities
    void deadReckon( void );
    // TODO: Consider makeing DeadReckoneWithRespectToSeawater a superclass that can read vehicle velocity and seawater velocity from many different sources.

    // all other parameters and methods are inherited
};

#endif /* DEADRECKONUSINGCOMPACTMODELFORECAST_H_ */