#pragma once

#include <Eigen/Eigen>


class LSQ_Iteration
{
private:
    /* data */
    int cnt;
    double InitialTime[3]={0.0};
    double InitialClockOffset[3]={0.0};
    int Initial;
    Eigen::Vector3d Estimate_X;
    Eigen::Matrix3d P_old;

public:
    LSQ_Iteration(/* args */);
    ~LSQ_Iteration();
    void InputClockOffset(double Time, double ClockOffset);
    double PredictionClockOffset(double PredictionTime);
};