/*
    * Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *         http://www.apache.org/licenses/LICENSE-2.0
    *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.irurueta.navigation.inertial;
  
  import java.io.Serial;
  import java.io.Serializable;
  import java.util.Objects;
  
  /**
   * Contains body kinematics describing the forces and angular rate applied to a body,
   * along with the sensed magnetic flux density resolved around body coordinates.
   */
  public class BodyKinematicsAndMagneticFluxDensity implements Serializable, Cloneable {
  
      /**
       * Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized
       * instances.
       */
      @Serial
      private static final long serialVersionUID = 0L;
  
      /**
       * Body kinematics containing sensed specific force and angular rate.
       */
      private BodyKinematics kinematics;
  
      /**
       * Body magnetic flux density.
       */
      private BodyMagneticFluxDensity magneticFluxDensity;
  
      /**
       * Constructor.
       */
      public BodyKinematicsAndMagneticFluxDensity() {
      }
  
      /**
       * Constructor.
       *
       * @param kinematics body kinematics containing sensed specific force
       *                   and angular rate.
       */
      public BodyKinematicsAndMagneticFluxDensity(final BodyKinematics kinematics) {
          this.kinematics = kinematics;
      }
  
      /**
       * Constructor.
       *
       * @param magneticFluxDensity body magnetic flux density.
       */
      public BodyKinematicsAndMagneticFluxDensity(final BodyMagneticFluxDensity magneticFluxDensity) {
          this.magneticFluxDensity = magneticFluxDensity;
      }
  
      /**
       * Constructor.
       *
       * @param kinematics          body kinematics containing sensed specific force
       *                            and angular rate.
       * @param magneticFluxDensity body magnetic flux density.
       */
      public BodyKinematicsAndMagneticFluxDensity(
              final BodyKinematics kinematics, final BodyMagneticFluxDensity magneticFluxDensity) {
          this.kinematics = kinematics;
          this.magneticFluxDensity = magneticFluxDensity;
      }
  
      /**
       * Constructor.
       *
       * @param input instance to copy data from.
       */
      public BodyKinematicsAndMagneticFluxDensity(final BodyKinematicsAndMagneticFluxDensity input) {
          copyFrom(input);
      }
  
      /**
       * Gets body kinematics containing sensed specific force and angular rate.
       *
       * @return body kinematics containing sensed specific force and angular rate.
       */
      public BodyKinematics getKinematics() {
          return kinematics;
      }
 
     /**
      * Sets body kinematics containing sensed specific force and angular rate.
      *
      * @param kinematics body kinematics containing sensed specific force and
      *                   angular rate.
      */
     public void setKinematics(final BodyKinematics kinematics) {
         this.kinematics = kinematics;
     }
 
     /**
      * Gets body magnetic flux density.
      *
      * @return body magnetic flux density.
      */
     public BodyMagneticFluxDensity getMagneticFluxDensity() {
         return magneticFluxDensity;
     }
 
     /**
      * Sets body magnetic flux density.
      *
      * @param magneticFluxDensity body magnetic flux density.
      */
     public void setMagneticFluxDensity(final BodyMagneticFluxDensity magneticFluxDensity) {
         this.magneticFluxDensity = magneticFluxDensity;
     }
 
     /**
      * Copies data of provided instance into this instance.
      *
      * @param input instance to copy data from.
      */
     public void copyFrom(final BodyKinematicsAndMagneticFluxDensity input) {
         if (input.kinematics != null) {
             if (kinematics == null) {
                 kinematics = new BodyKinematics(input.kinematics);
             } else {
                 kinematics.copyFrom(input.kinematics);
             }
         } else {
             kinematics = null;
         }
 
         if (input.magneticFluxDensity != null) {
             if (magneticFluxDensity == null) {
                 magneticFluxDensity = new BodyMagneticFluxDensity(input.magneticFluxDensity);
             } else {
                 magneticFluxDensity.copyFrom(input.magneticFluxDensity);
             }
         } else {
             magneticFluxDensity = null;
         }
     }
 
     /**
      * Copies this instance data into provided instance.
      *
      * @param output destination instance where data will be copied to.
      */
     public void copyTo(final BodyKinematicsAndMagneticFluxDensity output) {
         output.copyFrom(this);
     }
 
     /**
      * Computes and returns hash code for this instance. Hash codes are almost unique
      * values that are useful for fas classification and storage of objects in
      * collections.
      *
      * @return Hash code.
      */
     @Override
     public int hashCode() {
         return Objects.hash(kinematics, magneticFluxDensity);
     }
 
     /**
      * Checks if provided instance has exactly the same contents as this instance.
      *
      * @param other instance to be compared.
      * @return true if both instances are considered to be equal, false otherwise.
      */
     public boolean equals(final BodyKinematicsAndMagneticFluxDensity other) {
         return equals(other, 0.0);
     }
 
     /**
      * Checks if provided instance has contents similar to this instance up to provided
      * threshold value.
      *
      * @param other     instance to be compared.
      * @param threshold maximum allowed difference between contents.
      * @return true if both instances are considered to be equal (up to provided
      * threshold), false otherwise.
      */
     public boolean equals(final BodyKinematicsAndMagneticFluxDensity other, final double threshold) {
         if (other == null) {
             return false;
         }
 
         return ((other.kinematics == null && kinematics == null)
                 || (kinematics != null && kinematics.equals(other.kinematics, threshold)))
                 && ((other.magneticFluxDensity == null && magneticFluxDensity == null)
                 || (magneticFluxDensity != null && magneticFluxDensity.equals(other.magneticFluxDensity, threshold)));
     }
 
     /**
      * Checks if provided object is a BodyKinematicsAndMagneticFluxDensity instance
      * having exactly the same contents as this instance.
      *
      * @param obj object to be compared.
      * @return true if both objects are considered to be equal, false otherwise.
      */
     @Override
     public boolean equals(final Object obj) {
         if (this == obj) {
             return true;
         }
 
         if (obj == null || getClass() != obj.getClass()) {
             return false;
         }
 
         final var other = (BodyKinematicsAndMagneticFluxDensity) obj;
         return equals(other);
     }
 
     /**
      * Makes a copy of this instance.
      *
      * @return a copy of this instance.
      * @throws CloneNotSupportedException if clone fails for some reason.
      */
     @Override
     protected Object clone() throws CloneNotSupportedException {
         final var result = (BodyKinematicsAndMagneticFluxDensity) super.clone();
         copyTo(result);
         return result;
     }
 }