81 lines
1.8 KiB
C++
81 lines
1.8 KiB
C++
#ifndef ACCELEROMETERDATA_H
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#define ACCELEROMETERDATA_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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/** data received from an accelerometer sensor */
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struct AccelerometerData {
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FPDefault x;
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FPDefault y;
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FPDefault z;
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AccelerometerData() : x(0), y(0), z(0) {;}
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AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
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//AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
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FPDefault magnitude() const {
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return std::sqrt( x*x + y*y + z*z );
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}
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AccelerometerData& operator += (const AccelerometerData& o) {
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this->x += o.x;
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this->y += o.y;
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this->z += o.z;
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return *this;
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}
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AccelerometerData& operator -= (const AccelerometerData& o) {
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this->x -= o.x;
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this->y -= o.y;
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this->z -= o.z;
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return *this;
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}
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AccelerometerData operator + (const AccelerometerData o) const {
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return AccelerometerData(x+o.x, y+o.y, z+o.z);
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}
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AccelerometerData operator - (const AccelerometerData& o) const {
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return AccelerometerData(x-o.x, y-o.y, z-o.z);
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}
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AccelerometerData operator * (const float val) const {
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return AccelerometerData(x*val, y*val, z*val);
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}
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AccelerometerData operator / (const float val) const {
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return AccelerometerData(x/val, y/val, z/val);
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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 AccelerometerData& 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 // ACCELEROMETERDATA_H
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