#ifndef EARTHMAPPING_H
#define EARTHMAPPING_H

#include "Point3.h"
#include "EarthPos.h"

/**
 * mapping between positions on earth and positions within the floorplan
 */
class EarthMapping {

private:

	/** one 3D position within the floorplan */
	Point3 center_map_m;

	/** corresponding 3D position on earth */
	EarthPos center_earth;

	/** rotation [in degrees] to ensure that the map's y-up-axis points towards the north */
	float rotation_deg;

	double m_per_deg_lat;
	double m_per_deg_lon;


public:

	void build() {

		// TODO

	}

	/** convert from map-coordinates to earth-coordinates */
	EarthPos mapToWorld(const Point3 mapPos_m) const {

		Point3 pos = mapPos_m;

		// move to (0,0,0)
		pos -= center_map_m;

		// undo the rotation
		const Point2 xy = pos.xy().rotated(-rotation_deg / 180.0 * (float) M_PI);

		// convert this "delta to (0,0,0)" to lon/lat and move it to the lon/lat-center
		const double lat = cenLat + (xy.y / m_per_deg_lat);
		const double lon = cenLon + (xy.x / m_per_deg_lon);
		const float height = pos.z;

		// done
		return EarthPos(lat, lon, height);

	}

	/** convert from earth-coordinates to map-coordinates */
	Point3 worldToMap(const EarthPos earthPos) const {

		const double y_m = +(lat-cenLat) * m_per_deg_lat;
		const double x_m = +(lon-cenLon) * m_per_deg_lon;

		// rotate (our map is axis aligned)
		Point2 pos(x_m, y_m);
		pos = pos.rotated(rotDeg / 180 * M_PI);

		// apply movement
		pos += mapCenter_m;

		return pos;

	}

};

#endif // EARTHMAPPING_H