/*
    * 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.calibration;
  
  import com.irurueta.units.AngularSpeed;
  import com.irurueta.units.AngularSpeedConverter;
  import com.irurueta.units.AngularSpeedUnit;
  
  import java.io.Serial;
  
  /**
   * Contains a triad of angular speed measurements.
   */
  public class AngularSpeedTriad extends Triad<AngularSpeedUnit, AngularSpeed, AngularSpeedTriad> implements Cloneable {
  
      /**
       * Default angular speed unit.
       */
      public static final AngularSpeedUnit DEFAULT_UNIT = AngularSpeedUnit.RADIANS_PER_SECOND;
  
      /**
       * Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized
       * instances.
       */
      @Serial
      private static final long serialVersionUID = 0L;
  
      /**
       * Constructor.
       */
      public AngularSpeedTriad() {
          this(DEFAULT_UNIT);
      }
  
      /**
       * Constructor.
       *
       * @param unit angular speed unit for stored values.
       */
      public AngularSpeedTriad(final AngularSpeedUnit unit) {
          super(unit);
      }
  
      /**
       * Constructor.
       *
       * @param valueX x-coordinate of measurement value expressed in default unit.
       * @param valueY y-coordinate of measurement value expressed in default unit.
       * @param valueZ z-coordinate of measurement value expressed in default unit.
       */
      public AngularSpeedTriad(final double valueX, final double valueY, final double valueZ) {
          this(DEFAULT_UNIT, valueX, valueY, valueZ);
      }
  
      /**
       * Constructor.
       *
       * @param unit   angular speed unit for stored values.
       * @param valueX x-coordinate of measurement value expressed in
       *               provided unit.
       * @param valueY y-coordinate of measurement value expressed in
       *               provided unit.
       * @param valueZ z-coordinate of measurement value expressed in
       *               provided unit.
       */
      public AngularSpeedTriad(
              final AngularSpeedUnit unit, final double valueX, final double valueY, final double valueZ) {
          super(unit, valueX, valueY, valueZ);
      }
  
      /**
       * Constructor.
       *
       * @param measurementX x-coordinate of measurement.
       * @param measurementY y-coordinate of measurement.
       * @param measurementZ z-coordinate of measurement.
       */
      public AngularSpeedTriad(
              final AngularSpeed measurementX, final AngularSpeed measurementY, final AngularSpeed measurementZ) {
          super(DEFAULT_UNIT);
          setMeasurementCoordinates(measurementX, measurementY, measurementZ);
      }
  
      /**
       * Copy constructor.
       *
      * @param other instance to copy from.
      */
     public AngularSpeedTriad(final AngularSpeedTriad other) {
         super(other);
     }
 
     /**
      * Gets x coordinate of measurement value.
      *
      * @return x coordinate of measurement value.
      */
     @Override
     public AngularSpeed getMeasurementX() {
         return new AngularSpeed(getValueX(), getUnit());
     }
 
     /**
      * Gets x coordinate of measurement value.
      *
      * @param result instance where x coordinate of measurement value
      *               will be stored.
      */
     @Override
     public void getMeasurementX(final AngularSpeed result) {
         result.setValue(getValueX());
         result.setUnit(getUnit());
     }
 
     /**
      * Sets x coordinate of measurement value.
      *
      * @param measurementX x coordinate of measurement value.
      */
     @Override
     public void setMeasurementX(final AngularSpeed measurementX) {
         setValueX(AngularSpeedConverter.convert(measurementX.getValue(), measurementX.getUnit(),
                 getUnit()).doubleValue());
     }
 
     /**
      * Gets y coordinate of measurement value.
      *
      * @return y coordinate of measurement value.
      */
     @Override
     public AngularSpeed getMeasurementY() {
         return new AngularSpeed(getValueY(), getUnit());
     }
 
     /**
      * Gets y coordinate of measurement value.
      *
      * @param result instance where y coordinate of measurement value
      *               will be stored.
      */
     @Override
     public void getMeasurementY(final AngularSpeed result) {
         result.setValue(getValueY());
         result.setUnit(getUnit());
     }
 
     /**
      * Sets y coordinate of measurement value.
      *
      * @param measurementY y coordinate of measurement value.
      */
     @Override
     public void setMeasurementY(final AngularSpeed measurementY) {
         setValueY(AngularSpeedConverter.convert(measurementY.getValue(), measurementY.getUnit(),
                 getUnit()).doubleValue());
     }
 
     /**
      * Gets z coordinate of measurement value.
      *
      * @return z coordinate of measurement value.
      */
     @Override
     public AngularSpeed getMeasurementZ() {
         return new AngularSpeed(getValueZ(), getUnit());
     }
 
     /**
      * Gets z coordinate of measurement value.
      *
      * @param result instance where z coordinate of measurement value
      *               will be stored.
      */
     @Override
     public void getMeasurementZ(final AngularSpeed result) {
         result.setValue(getValueZ());
         result.setUnit(getUnit());
     }
 
     /**
      * Sets z coordinate of measurement value.
      *
      * @param measurementZ z coordinate of measurement value.
      */
     @Override
     public void setMeasurementZ(final AngularSpeed measurementZ) {
         setValueZ(AngularSpeedConverter.convert(measurementZ.getValue(), measurementZ.getUnit(),
                 getUnit()).doubleValue());
     }
 
     /**
      * Sets measurement coordinates.
      *
      * @param measurementX x coordinate of measurement value.
      * @param measurementY y coordinate of measurement value.
      * @param measurementZ z coordinate of measurement value.
      */
     @Override
     public void setMeasurementCoordinates(
             final AngularSpeed measurementX, final AngularSpeed measurementY, final AngularSpeed measurementZ) {
         setMeasurementX(measurementX);
         setMeasurementY(measurementY);
         setMeasurementZ(measurementZ);
     }
 
     /**
      * Gets norm as an angular speed.
      *
      * @return angular speed containing triad norm.
      */
     @Override
     public AngularSpeed getMeasurementNorm() {
         return new AngularSpeed(getNorm(), getUnit());
     }
 
     /**
      * Creates and returns a new instance having exactly the same contents
      * as this instance.
      *
      * @return a copy of this instance.
      */
     @Override
     public AngularSpeedTriad copy() {
         final var result = new AngularSpeedTriad();
         result.copyFrom(this);
         return result;
     }
 
     /**
      * 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 = (AngularSpeedTriad) super.clone();
         copyTo(result);
         return result;
     }
 }