kazu
bb43e7f0fe
added equality checks to sensor-data classes more robust sensor reader [fixed some issues] added support for gps added support for compass added sensor-data-writer added test-cases minor changes
57 lines
1.1 KiB
C++
57 lines
1.1 KiB
C++
#ifndef COMPASSDATA_H
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#define COMPASSDATA_H
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#include <cmath>
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#include <sstream>
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/** data received from a compass sensor */
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struct CompassData {
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/** azimuth angle. NAN if not available */
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float azimuth = NAN;
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/** describes the sensor's quality */
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float quality01 = 0;
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/** empty ctor */
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CompassData() : azimuth(NAN) {;}
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/** data ctor */
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CompassData(const float azimuth) : azimuth(azimuth), quality01(0) {;}
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/** data ctor */
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CompassData(const float azimuth, const float quality01) : azimuth(azimuth), quality01(quality01) {;}
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/** get an instance describing invalid data */
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static CompassData INVALID() {
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return CompassData(NAN);
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}
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/** convert to string */
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std::string asString() const {
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std::stringstream ss;
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ss << "(" << azimuth << ")";
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return ss.str();
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}
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/** is the compass data valid? [compass present] */
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bool isValid() const {
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return azimuth == azimuth;
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}
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bool operator == (const CompassData& o) const {
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return EQ_OR_NAN(azimuth, o.azimuth) &&
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EQ_OR_NAN(quality01, o.quality01);
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}
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private:
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static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}
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};
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#endif // COMPASSDATA_H
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