#ifndef FILTER_H
#define FILTER_H

#include <vector>
#include <newmat.h>
#include "ppp.h"
#include "parlist.h"
#include "bnctime.h"
#include "t_prn.h"

namespace BNC {

class t_parlist;
class t_obsPool;
class t_satObs;

class t_filter {
 public:
  t_filter();
  ~t_filter();

  t_irc processEpoch(t_obsPool* obsPool);

  const ColumnVector&    x() const {return _xFlt;}
  const SymmetricMatrix& Q() const {return _QFlt;}

  int    numSat() const {return _numSat;}
  double PDOP() const {return _dop.P;}
  double GDOP() const {return _dop.G;}

 private:
  class t_slip {
   public:
    t_slip() {
      _slip            = false;
      _obsSlipCounter  = -1;
      _biasJumpCounter = -1;
    }
    bool _slip;
    int  _obsSlipCounter;
    int  _biasJumpCounter;
  };

  class t_dop {
   public:
    t_dop() {reset();}
    void reset() {P = T = G = 0.0;}
    double P;
    double T;
    double G;
  };
  t_irc processLC(const std::vector<t_lc::type>& LCs, std::vector<t_satObs*>& obsVector);

  t_irc detectCycleSlips(const std::vector<t_lc::type>& LCs, 
                         const std::vector<t_satObs*>& obsVector);

  t_irc resetAmb(t_prn prn, const std::vector<t_satObs*>& obsVector,
                 SymmetricMatrix* QSav = 0, ColumnVector* xSav = 0);

  void cmpDOP(const std::vector<t_lc::type>& LCs, const Matrix& AA);

  bncTime         _epoTime;
  t_parlist*      _parlist;
  SymmetricMatrix _QFlt;
  ColumnVector    _xFlt;
  ColumnVector    _x0;
  t_slip          _slips[t_prn::MAXPRN+1];
  int             _numSat;
  t_dop           _dop;
};

}

#endif