#ifndef __INS_GPS_ZC_H__
#define __INS_GPS_ZC_H__

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

template <
  class FloatT, 
  typename Filter = KalmanFilterUD<FloatT>
>
class INS_GPS_ZeroCorrector
  : public INS_GPS<
        FloatT, 
        Filter, 
        Filtered_INS_ZeroCorrector<FloatT, Filter> 
    >{
  public:
    INS_GPS_ZeroCorrector()
      : INS_GPS<
            FloatT, 
            Filter, 
            Filtered_INS_BiasEstimated<FloatT, Filter> 
        >(){}
    
    /**
     * 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_ZeroCorrector(const INS_GPS_ZeroCorrector &orig, const bool deepcopy = false) :
      INS_GPS(orig, deepcopy){
      
    }
    
    ~INS_GPS_ZeroCorrector(){}
};

template <
  class FloatT, 
  typename Filter = KalmanFilterUD<FloatT>
>
class INS_GPS2_ZeroCorrector
  : public INS_GPS2<
        FloatT, 
        Filter, 
        Filtered_INS_ZeroCorrector<FloatT, Filter, Filtered_INS2<FloatT, Filter> > 
    >{
  public:
    INS_GPS2_ZeroCorrector() 
      : INS_GPS2<
            FloatT, 
            Filter, 
            Filtered_INS_ZeroCorrector<FloatT, Filter, Filtered_INS2<FloatT, Filter> > 
        >(){}
    
    /**
     * 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_ZeroCorrector(const INS_GPS2_ZeroCorrector &orig, const bool deepcopy = false) :
      INS_GPS2(orig, deepcopy){
      
    }
    
    ~INS_GPS2_ZeroCorrector(){}
};

#endif /* __INS_GPS_ZC_H__ */