#ifndef INDOOR_IMU_MAGNETOMETERDATA_H
#define INDOOR_IMU_MAGNETOMETERDATA_H


#include <cmath>
#include <sstream>

/**
 * data received from a magnetometer sensor
 */
struct MagnetometerData {

	float x;
	float y;
	float z;

	MagnetometerData() : x(0), y(0), z(0) {;}

	/** ctor from RADIANS */
	MagnetometerData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}

	std::string asString() const {
		std::stringstream ss;
		ss << "(" << x << "," << y << "," << z << ")";
		return ss.str();
	}

	bool isValid() const {
		return (x == x) && (y == y) && (z == z);
	}

	bool operator == (const GyroscopeData& o ) const {
		return	EQ_OR_NAN(x, o.x) &&
				EQ_OR_NAN(y, o.y) &&
				EQ_OR_NAN(z, o.z);
	}

	float magnitude() const {
		return std::sqrt( x*x + y*y + z*z );
	}

	MagnetometerData& operator += (const MagnetometerData& o) {
		this->x += o.x;
		this->y += o.y;
		this->z += o.z;
		return *this;
	}

	MagnetometerData& operator -= (const MagnetometerData& o) {
		this->x -= o.x;
		this->y -= o.y;
		this->z -= o.z;
		return *this;
	}

	MagnetometerData operator * (const MagnetometerData& o) const {
		return MagnetometerData(x*o.x, y*o.y, z*o.z);
	}

	MagnetometerData operator - (const MagnetometerData& o) const {
		return MagnetometerData(x-o.x, y-o.y, z-o.z);
	}

	MagnetometerData operator / (const float val) const {
		return MagnetometerData(x/val, y/val, z/val);
	}


private:

	static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}

};

namespace std {
	MagnetometerData sqrt(const MagnetometerData& o) {
		return MagnetometerData(std::sqrt(o.x), std::sqrt(o.y), std::sqrt(o.z));
	}
}

#endif // INDOOR_IMU_MAGNETOMETERDATA_H