#ifndef GYROSCOPEDATA_H
#define GYROSCOPEDATA_H

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

/**
 * data received from a gyroscope sensor
 * IN RADIANS!
 */
struct GyroscopeData {

	FPDefault x;
	FPDefault y;
	FPDefault z;

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

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

	float magnitude() const {
		return std::sqrt( 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);
	}

private:

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

};

#endif // GYROSCOPEDATA_H