#ifndef DCTEMP_H

#define DCTEMP_H

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

class DCTemp : public DynamicModel<double, 5, 1> {

 public:

  DCTemp(bool noiseOnParameters = 0);

 private:

 protected:

  // attributes //

 public:

 private:

  double dt_;

 private:

  double J_;

  double K_M_;

  double f_VL_;

  double R_th_;

  double tau_th_;

 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  // DCTEMP_H