#ifndef __INS_GPS_BE_H__
#define __INS_GPS_BE_H__

#include "algorithm/kalman.h"
#include "Filtered_INS_BE.h"
#include "INS_GPS.h"
#include "INS_GPS2.h"

template <
  class FloatT, 
  typename Filter = KalmanFilterUD<FloatT>,
  typename FINS = Filtered_INS<FloatT, Filter>
>
class INS_GPS_BiasEstimated
  : public INS_GPS<
        FloatT, 
        Filter, 
        Filtered_INS_BiasEstimated<FloatT, Filter, FINS> >{
  public:
    INS_GPS_BiasEstimated() 
      : INS_GPS<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(){}
    
    /**
     * コピーコンストラクタ
     * 
     * @param orig コピー元
     * @param deepcopy ディープコピーを作成するかどうか
     */
    INS_GPS_BiasEstimated(const INS_GPS_BiasEstimated &orig, const bool deepcopy = false) :
      INS_GPS<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(orig, deepcopy){
      
    }

    ~INS_GPS_BiasEstimated(){}
};

template <
  class FloatT, 
  typename Filter = KalmanFilterUD<FloatT>,
  typename FINS = Filtered_INS2<FloatT, Filter>
>
class INS_GPS2_BiasEstimated
  : public INS_GPS2<
        FloatT, 
        Filter, 
        Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
    >{
  public:
    INS_GPS2_BiasEstimated() 
      : INS_GPS2<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(){}
    
    /**
     * コピーコンストラクタ
     * 
     * @param orig コピー元
     * @param deepcopy ディープコピーを作成するかどうか
     */
    INS_GPS2_BiasEstimated(const INS_GPS2_BiasEstimated &orig, const bool deepcopy = false) :
      INS_GPS2<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(orig, deepcopy){
      
    }
    
    ~INS_GPS2_BiasEstimated(){}
};

template <
  class FloatT, 
  typename Filter = KalmanFilterUD<FloatT>,
  typename FINS = Filtered_INS2A<FloatT, Filter>
>
class INS_GPS2A_BiasEstimated
  : public INS_GPS2A<
        FloatT, 
        Filter, 
        Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
    >{
  public:
    INS_GPS2A_BiasEstimated() 
      : INS_GPS2A<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(){}
    
    /**
     * コピーコンストラクタ
     * 
     * @param orig コピー元
     * @param deepcopy ディープコピーを作成するかどうか
     */
    INS_GPS2A_BiasEstimated(const INS_GPS2A_BiasEstimated &orig, const bool deepcopy = false) :
      INS_GPS2A<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter, FINS> 
        >(orig, deepcopy){
      
    }
    
    ~INS_GPS2A_BiasEstimated(){}
};

#endif /* __INS_GPS_BE_H__ */