#ifndef ROMEOSIMPLEACTUATOR_H

#define ROMEOSIMPLEACTUATOR_H

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

class RomeoSimpleActuator : public DynamicModel<double, 4, 1> {

 public:

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

 private:

 protected:

  // attributes //

 public:

 private:

  double dt;

 private:

  double k;

  double R;

  double Jm;

  double Jl;

  double fvm;

  double fvl;

  double Kt;

  double mu;

  double Cf0;

  double a;

 private:

  stateVec_t Xreal;

  stateMat_t Id;

  stateMat_t A;

  stateMat_t Ad;

  stateR_commandC_t B;

  stateR_commandC_t Bd;

  double A13atan;

  double A33atan;

  stateMat_t fxBase;

  stateR_commandC_t fuBase;

  stateMat_t QxxCont;

  commandMat_t QuuCont;

  commandR_stateC_t QuxCont;

 protected:

  // methods //

 public:

  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  // ROMEOSIMPLEACTUATOR_H