identifier/adaptiveIdentifier.h

#ifndef INCLUDE_NAVLIB_ADAPTIVEIDENTIFIER
#define INCLUDE_NAVLIB_ADAPTIVEIDENTIFIER

#include "identifier.h"

namespace navlib
{
        class AdaptiveIdentifier : public Identifier
        {
        public:
                typedef ublas::vector<double> vector;

        public:
                AdaptiveIdentifier(boost::shared_ptr<DynamicsModel> dynamics, 
                        vector gamma);
                boost::shared_ptr<DynamicsModel> getModel() const;
                void update(vector xf, vector u, const double& dt);

        private:
                boost::shared_ptr<DynamicsModel> _dynamics;
                vector _gamma;
        };
}

#endif

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