#ifndef ACCELEROMETERDATA_H
#define ACCELEROMETERDATA_H

#include <cmath>
#include <sstream>
#include "../../math/Floatingpoint.h"


/** data received from an accelerometer sensor */
struct AccelerometerData {

	FPDefault x;
	FPDefault y;
	FPDefault z;

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

	AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}

	//AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}

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

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

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


	AccelerometerData operator + (const AccelerometerData o) const {
		return AccelerometerData(x+o.x, y+o.y, z+o.z);
	}

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

	AccelerometerData operator * (const float val) const {
		return AccelerometerData(x*val, y*val, z*val);
	}

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


	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 AccelerometerData& o ) const {
		return	EQ_OR_NAN(x, o.x) &&
				EQ_OR_NAN(y, o.y) &&
				EQ_OR_NAN(z, o.z);
	}

private:

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

};

#endif // ACCELEROMETERDATA_H