#ifndef MODEL_H

#define MODEL_H

#include <ddp-actuator-solver/dynamicmodel.hh>

class ModelLinear : public DynamicModel<double, 2, 1> {

 public:

  ModelLinear(double& mydt, bool noiseOnParameters = 0);

 private:

 protected:

  // attributes //

 public:

 private:

  double dt;

  double l;

  double M;

  double m;

  double g;

 private:

  stateVec_t Xreal, dX;

  stateVec_t x_next, k1, k2, k3, k4;

  stateMat_t Id;

  stateMat_t QxxCont;

  commandMat_t QuuCont;

  commandR_stateC_t QuxCont;

 protected:

  // methods //

 public:

  stateVec_t computeDeriv(double& dt, const stateVec_t& X,

                          const commandVec_t& U);

  stateVec_t computeNextState(double& dt, const stateVec_t& X,

                              const commandVec_t& U);

  void computeModelDeriv(double& dt, const stateVec_t& X,

                         const commandVec_t& U);

  stateMat_t computeTensorContxx(const stateVec_t& nextVx);

  commandMat_t computeTensorContuu(const stateVec_t& nextVx);

  commandR_stateC_t computeTensorContux(const stateVec_t& nextVx);

 private:

 protected:

  // accessors //

 public:

};

#endif  // MODEL_H