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

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/*******************************************************************************
 * \file ins_ahrs_groundtruth.hpp
 *
 * \author MAV'RIC Team
 * \author Basil Huber

 * \brief   Mockup Inertial Navigation System (INS) and Attitude Heading Reference System (AHRS) providing groundtruth
 *          for position and velocity, attitude, acceleration and rates, obtained from the dynamic model
 *
 ******************************************************************************/



#ifndef INS_AHRS_GROUNDTRUTH_HPP_
#define INS_AHRS_GROUNDTRUTH_HPP_

#include "sensing/ins.hpp"
#include "sensing/ahrs.hpp"
#include "simulation/dynamic_model.hpp"

class INS_AHRS_groundtruth : public INS, public AHRS
{
public:

    struct conf_t
    {
        global_position_t origin;   
    };

    INS_AHRS_groundtruth(Dynamic_model& model, const conf_t& config = default_config());

    virtual bool update(void);


    virtual inline float last_update_s(void) const;


    virtual inline local_position_t position_lf(void) const {return position_lf_;};


    virtual inline std::array<float,3> velocity_lf(void) const {return velocity_lf_;};


    virtual inline float absolute_altitude(void) const {return absolute_altitude_;};


    virtual inline bool is_healthy(INS::healthy_t type) const
    {
        (void) type; // unused
        return true;
    };


    virtual inline bool is_healthy(void) const
    {
        return true;
    };


    quat_t attitude(void) const;


    std::array<float,3> angular_speed(void) const;


    std::array<float,3> linear_acceleration(void) const;


    static inline conf_t default_config();

protected:
    Dynamic_model& model_;              

    local_position_t position_lf_;      
    std::array<float,3> velocity_lf_;   
    float absolute_altitude_;           

    quat_t              attitude_;              
    std::array<float,3> angular_speed_;         
    std::array<float,3> linear_acc_;            
    float last_update_s_;               
};



INS_AHRS_groundtruth::conf_t INS_AHRS_groundtruth::default_config()
{
    conf_t conf;
    conf.origin = ORIGIN_EPFL;
    return conf;
}

#endif /* INS_AHRS_GROUNDTRUTH_HPP_ */