/home/travis/build/lis-epfl/MAVRIC_Library/simulation/dynamic_model.hpp

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/*******************************************************************************
 * \file dynamic_model.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Abstract class for simulation's dynamic model
 *
 ******************************************************************************/


#ifndef DYNAMIC_MODEL_HPP_
#define DYNAMIC_MODEL_HPP_


#include <array>
#include "sensing/imu.hpp"
#include "util/coord_conventions.hpp"


class Dynamic_model
{
public:
    virtual bool update(void) = 0;


    virtual const float& last_update_us(void) const = 0;


    virtual const std::array<float, 3>& acceleration_bf(void) const = 0;


    virtual const std::array<float, 3>& velocity_lf(void) const = 0;


    virtual const std::array<float, 3>& position_lf(void) const = 0;


    virtual const global_position_t& position_gf(void) const = 0;


    virtual const std::array<float, 3>& angular_velocity_bf(void) const = 0;


    virtual const quat_t& attitude(void) const = 0;
};


#endif /* DYNAMIC_MODEL_HPP_ */