60 lines
1.3 KiB
C++
60 lines
1.3 KiB
C++
/*
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* © Copyright 2014 – Urheberrechtshinweis
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* Alle Rechte vorbehalten / All Rights Reserved
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*
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* Programmcode ist urheberrechtlich geschuetzt.
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* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
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* Keine Verwendung ohne explizite Genehmigung.
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* (vgl. § 106 ff UrhG / § 97 UrhG)
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*/
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#ifndef GYROSCOPEDATA_H
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#define GYROSCOPEDATA_H
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#include <cmath>
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#include <sstream>
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#include "../../math/Floatingpoint.h"
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/**
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* data received from a gyroscope sensor
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* IN RADIANS!
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*/
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struct GyroscopeData {
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FPDefault x;
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FPDefault y;
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FPDefault z;
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GyroscopeData() : x(0), y(0), z(0) {;}
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/** ctor from RADIANS */
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GyroscopeData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
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float magnitude() const {
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return std::sqrt( x*x + y*y + z*z );
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}
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std::string asString() const {
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std::stringstream ss;
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ss << "(" << x << "," << y << "," << z << ")";
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return ss.str();
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}
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bool isValid() const {
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return (x == x) && (y == y) && (z == z);
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}
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bool operator == (const GyroscopeData& o ) const {
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return EQ_OR_NAN(x, o.x) &&
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EQ_OR_NAN(y, o.y) &&
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EQ_OR_NAN(z, o.z);
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}
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private:
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static inline bool EQ_OR_NAN(const FPDefault a, const FPDefault b) {return (a==b) || ( (a!=a) && (b!=b) );}
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};
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#endif // GYROSCOPEDATA_H
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