DeadReckonUsingMultipleVelocitySources.h

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#ifndef DEADRECKONUSINGMULTIPLEVELOCITYSOURCES_H_
#define DEADRECKONUSINGMULTIPLEVELOCITYSOURCES_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 DeadReckonUsingMultipleVelocitySources : public DeadReckoner
{
public:
    DeadReckonUsingMultipleVelocitySources( const Module* module );
    virtual ~DeadReckonUsingMultipleVelocitySources();
    void initialize( void );

protected: // TODO: why private vs. protected?
    UniversalBlobReader* velocityBottomReader_;
    UniversalBlobReader* velocityWaterReader_;
    UniversalDataReader* speedWaterReader_;
    DataReader* speedCalculatorReader_;
    DataWriter* velocitySourceWriter_;
    DataWriter* cyclesSinceSuccessfulReadWriter_;

    int velocitySource_, cyclesSinceSuccessfulRead_, maxCyclesToUseSameData_;

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

    // all other parameters and methods are inherited
};

#endif /* DEADRECKONUSINGMULTIPLEVELOCITYSOURCES_H_ */