frank
ca6fed5371
worked on grid-generation added helper library for nav-meshes started working on nav meshes
82 lines
1.7 KiB
C++
82 lines
1.7 KiB
C++
#ifndef INDOOR_IMU_MAGNETOMETERDATA_H
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#define INDOOR_IMU_MAGNETOMETERDATA_H
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#include <cmath>
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#include <sstream>
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/**
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* data received from a magnetometer sensor
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*/
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struct MagnetometerData {
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float x;
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float y;
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float z;
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MagnetometerData() : x(0), y(0), z(0) {;}
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/** ctor from RADIANS */
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MagnetometerData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
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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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float magnitude() const {
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return std::sqrt( x*x + y*y + z*z );
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}
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MagnetometerData& operator += (const MagnetometerData& 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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MagnetometerData& operator -= (const MagnetometerData& 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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MagnetometerData operator * (const MagnetometerData& o) const {
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return MagnetometerData(x*o.x, y*o.y, z*o.z);
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}
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MagnetometerData operator - (const MagnetometerData& o) const {
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return MagnetometerData(x-o.x, y-o.y, z-o.z);
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}
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MagnetometerData operator / (const float val) const {
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return MagnetometerData(x/val, y/val, z/val);
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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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namespace std {
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inline MagnetometerData sqrt(const MagnetometerData& o) {
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return MagnetometerData(std::sqrt(o.x), std::sqrt(o.y), std::sqrt(o.z));
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}
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}
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#endif // INDOOR_IMU_MAGNETOMETERDATA_H
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