#ifndef MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
#define MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_

#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>

#include <cmath>
#include <iostream>

class AttitudeEstimation {
 public:
  AttitudeEstimation(AcsParameters *acsParameters_);
  virtual ~AttitudeEstimation();
  ;

  void Quest(const double susB[3], const bool susBvalid, const double susI[3], const bool susIvalid,
             const double mgmB[3], const bool mgmBvalid, const double mgmI[3], const bool mgmIvalid,
             double qBI[4]);

 protected:
 private:
  AcsParameters *acsParameters;

  void Triad(double susB[3], double susI[3], double mgmB[3], double mgmI[3]);
};

#endif /* MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ */