rccar1.h

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#ifndef GCOP_RCCAR1_H
#define GCOP_RCCAR1_H

#include "system.h"
#include "rccar.h"
#include <limits>

namespace gcop {
  
  using namespace std;
  using namespace Eigen;

  typedef Matrix<double, 4, 2> Matrix42d;
  typedef Matrix<double, 4, Dynamic> Matrix4pd;
  //typedef Matrix<double, 6, 1> Vector6d;

  class Rccar1 : public Rccar
  {
  public:
    Rccar1();
    
    double Step(Vector4d &xb, double t, const Vector4d &xa,
                const Vector2d &u, double h, const VectorXd *p,
                Matrix4d *A = 0, Matrix42d *B = 0, Matrix4pd *C = 0);
    inline double bind(const double &input, int index)
    {
      return (input > U.ub[index]? U.ub[index]:(input < U.lb[index])?U.lb[index]:input);
    }

    double msteer, csteer;
    double mdrive, cdrive;
    double ktorque;
  };
}


#endif