/*
    * 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 com.irurueta.algebra.Matrix;
  import com.irurueta.algebra.WrongSizeException;
  import com.irurueta.navigation.inertial.calibration.MagneticFluxDensityTriad;
  import com.irurueta.units.MagneticFluxDensity;
  import com.irurueta.units.MagneticFluxDensityConverter;
  import com.irurueta.units.MagneticFluxDensityUnit;
  
  import java.io.Serial;
  import java.io.Serializable;
  import java.util.Objects;
  
  /**
   * Contains magnetic flux density resolved around body coordinates.
   * Body frame axes are typically defined so that x is the forward axis, pointing in the usual direction
   * of travel, z is the down axis, pointing in the usual direction of gravity, and y is the right axis,
   * completing the orthogonal set.
   */
  public class BodyMagneticFluxDensity implements Serializable, Cloneable {
  
      /**
       * Number of components.
       */
      public static final int COMPONENTS = 3;
  
      /**
       * Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized
       * instances.
       */
      @Serial
      private static final long serialVersionUID = 0L;
  
      /**
       * X component of magnetic flux density expressed in Teslas (T).
       */
      private double bx;
  
      /**
       * Y component of magnetic flux density expressed in Teslas (T).
       */
      private double by;
  
      /**
       * Z component of magnetic flux density expressed in Teslas (T).
       */
      private double bz;
  
      /**
       * Constructor.
       */
      public BodyMagneticFluxDensity() {
      }
  
      /**
       * Constructor.
       *
       * @param bx x component of magnetic flux density expressed in Teslas (T).
       * @param by y component of magnetic flux density expressed in Teslas (T).
       * @param bz z component of magnetic flux density expressed in Teslas (T).
       */
      public BodyMagneticFluxDensity(final double bx, final double by, final double bz) {
          setCoordinates(bx, by, bz);
      }
  
      /**
       * Constructor.
       *
       * @param bx x component of magnetic flux density.
       * @param by y component of magnetic flux density.
       * @param bz z component of magnetic flux density.
       */
      public BodyMagneticFluxDensity(
              final MagneticFluxDensity bx, final MagneticFluxDensity by, final MagneticFluxDensity bz) {
          setCoordinates(bx, by, bz);
      }
  
      /**
       * Constructor.
       *
       * @param triad triad containing magnetic flux density values.
       */
      public BodyMagneticFluxDensity(final MagneticFluxDensityTriad triad) {
          setCoordinates(triad);
     }
 
     /**
      * Constructor.
      *
      * @param input instance to copy data from.
      */
     public BodyMagneticFluxDensity(final BodyMagneticFluxDensity input) {
         copyFrom(input);
     }
 
     /**
      * Gets x component of magnetic flux density expressed in Teslas (T).
      *
      * @return x component of magnetic flux density.
      */
     public double getBx() {
         return bx;
     }
 
     /**
      * Sets x component of magnetic flux density expressed in Teslas (T).
      *
      * @param bx x component of magnetic flux density.
      */
     public void setBx(final double bx) {
         this.bx = bx;
     }
 
     /**
      * Gets x component of magnetic flux density.
      *
      * @return x component of magnetic flux density.
      */
     public MagneticFluxDensity getBxAsMagneticFluxDensity() {
         return new MagneticFluxDensity(bx, MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Gets x component of magnetic flux density.
      *
      * @param result instance where result will be stored.
      */
     public void getBxAsMagneticFluxDensity(final MagneticFluxDensity result) {
         result.setValue(bx);
         result.setUnit(MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Sets x component of magnetic flux density.
      *
      * @param bx x component of magnetic flux density.
      */
     public void setBx(final MagneticFluxDensity bx) {
         this.bx = convertMagneticFluxDensity(bx);
     }
 
     /**
      * Gets y component of magnetic flux density expressed in Teslas (T).
      *
      * @return y component of magnetic flux density.
      */
     public double getBy() {
         return by;
     }
 
     /**
      * Sets y component of magnetic flux density expressed in Teslas (T).
      *
      * @param by y component of magnetic flux density.
      */
     public void setBy(final double by) {
         this.by = by;
     }
 
     /**
      * Gets y component of magnetic flux density.
      *
      * @return y component of magnetic flux density.
      */
     public MagneticFluxDensity getByAsMagneticFluxDensity() {
         return new MagneticFluxDensity(by, MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Gets y component of magnetic flux density.
      *
      * @param result instance where result will be stored.
      */
     public void getByAsMagneticFluxDensity(final MagneticFluxDensity result) {
         result.setValue(by);
         result.setUnit(MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Sets y component of magnetic flux density.
      *
      * @param by y component of magnetic flux density.
      */
     public void setBy(final MagneticFluxDensity by) {
         this.by = convertMagneticFluxDensity(by);
     }
 
     /**
      * Gets z component of magnetic flux density expressed in Teslas (T).
      *
      * @return z component of magnetic flux density.
      */
     public double getBz() {
         return bz;
     }
 
     /**
      * Sets z component of magnetic flux density expressed in Teslas (T).
      *
      * @param bz z component of magnetic flux density.
      */
     public void setBz(final double bz) {
         this.bz = bz;
     }
 
     /**
      * Gets z component of magnetic flux density.
      *
      * @return z component of magnetic flux density.
      */
     public MagneticFluxDensity getBzAsMagneticFluxDensity() {
         return new MagneticFluxDensity(bz, MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Gets z component of magnetic flux density.
      *
      * @param result instance where result will be stored.
      */
     public void getBzAsMagneticFluxDensity(final MagneticFluxDensity result) {
         result.setValue(bz);
         result.setUnit(MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Sets z component of magnetic flux density.
      *
      * @param bz z component of magnetic flux density.
      */
     public void setBz(final MagneticFluxDensity bz) {
         this.bz = convertMagneticFluxDensity(bz);
     }
 
     /**
      * Sets body coordinates of magnetic flux density expressed in Teslas (T).
      *
      * @param bx x component of magnetic flux density.
      * @param by y component of magnetic flux density.
      * @param bz z component of magnetic flux density.
      */
     public void setCoordinates(final double bx, final double by, final double bz) {
         this.bx = bx;
         this.by = by;
         this.bz = bz;
     }
 
     /**
      * Sets body coordinates of magnetic flux density.
      *
      * @param bx x component of magnetic flux density.
      * @param by y component of magnetic flux density.
      * @param bz z component of magnetic flux density.
      */
     public void setCoordinates(
             final MagneticFluxDensity bx, final MagneticFluxDensity by, final MagneticFluxDensity bz) {
         setCoordinates(convertMagneticFluxDensity(bx), convertMagneticFluxDensity(by), convertMagneticFluxDensity(bz));
     }
 
     /**
      * Gets body coordinates of magnetic flux density as a triad.
      *
      * @return body coordinates of magnetic flux density as a triad.
      */
     public MagneticFluxDensityTriad getCoordinatesAsTriad() {
         return new MagneticFluxDensityTriad(MagneticFluxDensityUnit.TESLA, bx, by, bz);
     }
 
     /**
      * Gets body coordinates of magnetic flux density as a triad.
      *
      * @param result instance where result will be stored.
      */
     public void getCoordinatesAsTriad(final MagneticFluxDensityTriad result) {
         result.setValueCoordinatesAndUnit(bx, by, bz, MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Sets body coordinates of magnetic flux density.
      *
      * @param triad triad containing body magnetic flux density values.
      */
     public void setCoordinates(final MagneticFluxDensityTriad triad) {
         final var tmpBx = convertMagneticFluxDensity(triad.getValueX(), triad.getUnit());
         final var tmpBy = convertMagneticFluxDensity(triad.getValueY(), triad.getUnit());
         final var tmpBz = convertMagneticFluxDensity(triad.getValueZ(), triad.getUnit());
         setCoordinates(tmpBx, tmpBy, tmpBz);
     }
 
     /**
      * Gets magnetic flux density magnitude (e.g. norm) expressed in
      * Teslas (T).
      *
      * @return magnetic flux density magnitude.
      */
     public double getNorm() {
         return Math.sqrt(bx * bx + by * by + bz * bz);
     }
 
     /**
      * Gets magnetic flux density magnitude (e.g. norm).
      *
      * @return magnetic flux density magnitude.
      */
     public MagneticFluxDensity getNormAsMagneticFluxDensity() {
         return new MagneticFluxDensity(getNorm(), MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Gets magnetic flux density magnitude (e.g. norm).
      *
      * @param result instance where result will be stored.
      */
     public void getNormAsMagneticFluxDensity(final MagneticFluxDensity result) {
         result.setValue(getNorm());
         result.setUnit(MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Copies this instance data into provided instance.
      *
      * @param output destination instance where data will be copied to.
      */
     public void copyTo(final BodyMagneticFluxDensity output) {
         output.bx = bx;
         output.by = by;
         output.bz = bz;
     }
 
     /**
      * Copies data of provided instance into this instance.
      *
      * @param input instance to copy data from.
      */
     public void copyFrom(final BodyMagneticFluxDensity input) {
         bx = input.bx;
         by = input.by;
         bz = input.bz;
     }
 
     /**
      * Gets magnetic flux density as an array.
      *
      * @param result array instance where magnetic flux density coordinates
      *               will be stored in x,y,z order.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public void asArray(final double[] result) {
         if (result.length != COMPONENTS) {
             throw new IllegalArgumentException();
         }
 
         result[0] = bx;
         result[1] = by;
         result[2] = bz;
     }
 
     /**
      * Gets magnetic flux density as an array.
      *
      * @return array containing magnetic flux density coordinates in x,y,z
      * order.
      */
     public double[] asArray() {
         final var result = new double[COMPONENTS];
         asArray(result);
         return result;
     }
 
     /**
      * Gets magnetic flux density as a column matrix.
      * If provided matrix does not have size 3x1, it will be resized.
      *
      * @param result matrix instance where magnetic flux density coordinates
      *               will be stored in x,y,z order.
      */
     @SuppressWarnings("DuplicatedCode")
     public void asMatrix(final Matrix result) {
         if (result.getColumns() != COMPONENTS || result.getRows() != 1) {
             try {
                 result.resize(COMPONENTS, 1);
             } catch (final WrongSizeException ignore) {
                 // never happens
             }
         }
 
         result.setElementAtIndex(0, bx);
         result.setElementAtIndex(1, by);
         result.setElementAtIndex(2, bz);
     }
 
     /**
      * Gets magnetic flux density as a column matrix.
      *
      * @return a matrix containing magnetic flux density coordinates stored
      * in x,y,z order.
      */
     public Matrix asMatrix() {
         Matrix result;
         try {
             result = new Matrix(COMPONENTS, 1);
             asMatrix(result);
         } catch (final WrongSizeException ignore) {
             // never happens
             result = null;
         }
         return result;
     }
 
     /**
      * Computes and returns hash code for this instance. Hash codes are almost unique
      * values that are useful for fast classification and storage of objects in collections.
      *
      * @return Hash code.
      */
     @Override
     public int hashCode() {
         return Objects.hash(bx, by, bz);
     }
 
     /**
      * Check if provided object is a BodyMagneticFluxDensity 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 (obj == null) {
             return false;
         }
         if (obj == this) {
             return true;
         }
         if (!(obj instanceof BodyMagneticFluxDensity)) {
             return false;
         }
 
         //noinspection PatternVariableCanBeUsed
         final var other = (BodyMagneticFluxDensity) obj;
         return equals(other);
     }
 
     /**
      * 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 BodyMagneticFluxDensity 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 gravity coordinates.
      * @return true if both instances are considered to be equal (up to provided
      * threshold), false otherwise.
      */
     public boolean equals(final BodyMagneticFluxDensity other, final double threshold) {
         if (other == null) {
             return false;
         }
 
         return Math.abs(bx - other.bx) <= threshold && Math.abs(by - other.by) <= threshold
                 && Math.abs(bz - other.bz) <= threshold;
     }
 
     /**
      * Makes a copy of this instance.
      *
      * @return a copy of this instance.
      * @throws CloneNotSupportedException if clone fails for same reason.
      */
     @Override
     protected Object clone() throws CloneNotSupportedException {
         final var result = (BodyMagneticFluxDensity) super.clone();
         copyTo(result);
         return result;
     }
 
     /**
      * Converts magnetic flux density to Teslas.
      *
      * @param b magnetic flux density to be converted.
      * @return converted value.
      */
     private double convertMagneticFluxDensity(final MagneticFluxDensity b) {
         return MagneticFluxDensityConverter.convert(b.getValue().doubleValue(), b.getUnit(),
                 MagneticFluxDensityUnit.TESLA);
     }
 
     /**
      * Converts magnetic flux density to Teslas.
      *
      * @param value value to be converted.
      * @param unit  unit of value to be converted
      * @return converted value.
      */
     private double convertMagneticFluxDensity(final double value, final MagneticFluxDensityUnit unit) {
         return MagneticFluxDensityConverter.convert(value, unit, MagneticFluxDensityUnit.TESLA);
     }
 }