DeadReckoner.h

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#ifndef DEADRECKONER_H_
#define DEADRECKONER_H_

// include parent class
#include "navigationModule/Navigator.h"
// forward declare classes for which this class includes a pointer
class ConfigReader;

class DeadReckoner : public Navigator
{
public:

    friend class DeadReckonUsingMultipleVelocitySourcesVector;
    friend class DeadReckonUsingMultipleVelocitySources;
    friend class DeadReckonWithRespectToSeafloor;
    friend class DeadReckonWithRespectToWater;
    friend class DeadReckonUsingDVLWaterTrack;
    friend class DeadReckonUsingCompactModelForecast;

    DeadReckoner( const Str& name, const Module* module );

    virtual ~DeadReckoner();

    void run( void );

protected:

    // TODO: Some of the parameters below may be upgraded to the Navigator superclass.
    double elapsedTime_; // seconds since last computation cycle -- this is the dt used in discrete time integration
    double course_; // direction the vehicle is moving (in the locally-level frame)
    double speed_, speedAccuracy_; // magnitude of vehicle velocity vector in meters per second
    double distance_; // distance traveled during this cycle
    double northing_, easting_; // directional displacements in meters since last computation cycle
    double horizontalDisplacement_; // magnitude of horizontal displacement in meters since last computation cycle

    // perform actual dead reckoning computation
    virtual void deadReckon( void ); // this is a regular virtual, as opposed to a pure virtual -- we still want to be able to override it in subclasses that need to account for water velocity, for example
};

#endif /* DEADRECKONER_H_ */