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

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/*******************************************************************************
 * \file flow_sim.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Simulated Optic Flow sensors
 *
 ******************************************************************************/

#ifndef FLOW_SIM_HPP_
#define FLOW_SIM_HPP_

#include "simulation/flow_dense.hpp"
#include "util/raytracing.hpp"
#include "util/matrix.hpp"
#include "simulation/dynamic_model.hpp"

class  Flow_sim: public Flow_dense
{
    static const uint32_t ray_count_ = 90;
public:
    Flow_sim(Dynamic_model& dynamic_model_, raytracing::World& world, float orientation_azimuth = 0.0f);

    bool update(void);

    // flow_data_t of;               ///< Optic flow vectors
    // uint8_t     of_count;         ///< Number of optic flow vectors
    // flow_data_t of_loc;           ///< Location of optic flow vectors
    // uint32_t    last_update_us;   ///< Last update time in microseconds

private:
    Dynamic_model&      dynamic_model_;
    raytracing::World&  world_;

    raytracing::Ray     rays_[ray_count_];
    Mat<2,3>            jacob_[ray_count_];
};

#endif /* FLOW_SIM_HPP_ */