#ifndef TRACK_H
#define TRACK_H

#include "../encoder_tools/dataType.h"

#include "kalmfilter.h"
#include "../encoder_tools/model.h"
#include "time.h"
#include "stdio.h"
#include "stdlib.h"
#include <iostream>
#include<sys/time.h>

class Track
{

    enum TrackState {Tentative = 1, Confirmed, Deleted};

public:
    Track();
    ~Track();
    Track(KAL_MEAN& mean, KAL_COVA& covariance, int track_id,
          int n_init, int max_age, const FEATURE& feature);
    void predit(KalmFilter *kf);
    void update(KalmFilter * const kf, const DETECTION_ROW &detection);
    bool mark_missed();
    bool is_confirmed();
    bool is_deleted();
    bool is_tentative();
    DETECTBOX to_tlwh();
    int time_since_update;
    int track_id;
    FEATURESS features;
    KAL_MEAN mean;
    KAL_COVA covariance;

    int hits;
    int age;
    int _n_init;
    int _max_age;
    TrackState state;

private:
    struct timeval start,stop,diff;
    double sum_timer;
    bool init_t;
    void init_track_time();
    void featuresAppendOne(const FEATURE& f);
    int time_substract(struct timeval *result, struct timeval *begin,struct timeval *end);
};

#endif // TRACK_H