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
49 lines
901 B
C++
49 lines
901 B
C++
#ifndef GYROSCOPEDATA_H
|
|
#define GYROSCOPEDATA_H
|
|
|
|
#include <cmath>
|
|
#include <sstream>
|
|
|
|
/**
|
|
* data received from a gyroscope sensor
|
|
* IN RADIANS!
|
|
*/
|
|
struct GyroscopeData {
|
|
|
|
float x;
|
|
float y;
|
|
float z;
|
|
|
|
GyroscopeData() : x(0), y(0), z(0) {;}
|
|
|
|
/** ctor from RADIANS */
|
|
GyroscopeData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
|
|
|
|
float magnitude() const {
|
|
return std::sqrt( x*x + y*y + z*z );
|
|
}
|
|
|
|
std::string asString() const {
|
|
std::stringstream ss;
|
|
ss << "(" << x << "," << y << "," << z << ")";
|
|
return ss.str();
|
|
}
|
|
|
|
bool isValid() const {
|
|
return (x == x) && (y == y) && (z == z);
|
|
}
|
|
|
|
bool operator == (const GyroscopeData& o ) const {
|
|
return EQ_OR_NAN(x, o.x) &&
|
|
EQ_OR_NAN(y, o.y) &&
|
|
EQ_OR_NAN(z, o.z);
|
|
}
|
|
|
|
private:
|
|
|
|
static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}
|
|
|
|
};
|
|
|
|
#endif // GYROSCOPEDATA_H
|