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  // Author: Mohamed Aladem
  
  #ifndef LVT_MOTION_MODEL_H__
  #define LVT_MOTION_MODEL_H__
  
  #include "lvt_pose.h"
  #include <Eigen/Dense>
  
  class lvt_motion_model
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
      lvt_motion_model();
      void reset();
      lvt_pose predict_next_pose(const lvt_pose &current_pose);
  
    private:
      lvt_quaternion m_last_q;
      lvt_quaternion m_angular_velocity;
      lvt_vector3 m_last_position;
      lvt_vector3 m_linear_velocity;
  };
  
  #endif //LVT_MOTION_MODEL_H__
  