#ifndef TRACK_ASSO_H
#define TRACK_ASSO_H


#include "data_process_class_dll.h"
#include "parameters.h"
#include "struct.h"
#include <QVector>
#include <QDebug>
using namespace std;



/******************************* 航迹关联类 **************************************************/
class Track_Asso
{
public:
        int track_asso_process(QVector <PointRecv>              *point_recv,                           //点迹文件
                               QVector <Trust_Track>		    *trust_track,                            //航迹文件
                               struct  Track                    Trust_Track_Output[MAX_TRACK_NUM][10],   //更新航迹信息
                               int                              *Trust_track_num_Output,                 //更新航迹数
                               struct  RadarPara                Work_Parameter                             //工作参数
                               );


        Track_Asso();
private:

    //要处理的点迹
    QVector<PointRecv> point_process;


    //IMM
    void model_interaction(QVector <Trust_Track>	*trust_track);               //模型交互


    void model_filter(QVector <Trust_Track>          *trust_track,           //滤波
                      struct  RadarPara              Work_Parameter
                      );

    void model_output(QVector <Trust_Track>         *trust_track );             //模型输出

    void IMM_d_cal(double v_track,
                   double X1[6], double P1[6][6],
                   double X2[6], double P2[6][6],
                   double X3[6], double P3[6][6],
                   double Z[3], double prt,double freq_ind,
                   double delta_T,
                   double *d1,double *d2,double *d3,
                  struct  RadarPara   Work_Parameter);

    void IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], double Q1[6][6], double Q2[6][6], double Q3[6][6],struct  RadarPara   Work_Parameter);

    double Pt[3][3];	//模型转移概率



    //高度维更新
    void track_hight_update(int                                 updata_track_index,                     //更新的航迹号
                            int                                 asso_point_index,                       //点迹号
                            QVector <Trust_Track>               *trust_track                           //航迹
                            );
};
#endif // TRACK_ASSO_H