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#include "qrotationsensor.h"

#include "qrotationsensor_p.h"

QTM_BEGIN_NAMESPACE

IMPLEMENT_READING(QRotationReading)

/*!

    \class QRotationReading

    \ingroup sensors_reading

    \brief The QRotationReading class represents one reading from the

           rotation sensor.

    \section2 QRotationReading Units

    The rotation reading contains 3 angles, measured in degrees that define

    the orientation of the device in three-dimensional space. These angles

    are similar to yaw, pitch and roll but are defined using only right hand

    rotation with axes as defined by the right hand cartesian coordinate system.

    \image sensors-rotation.jpg

    The three angles are applied to the device in the following order.

    \list

    \o Right-handed rotation z (-180, 180]. Starting from the y-axis and

     incrementing in the counter-clockwise direction.

    \o Right-handed rotation x [-90, 90]. Starting from the new

     (once-rotated) y-axis and incrementing towards the z-axis.

    \o Right-handed rotation y (-180, 180]. Starting from the new

     (twice-rotated) z-axis and incrementing towards the x-axis.

    \endlist

    Here is a visualisation showing the order in which angles are applied.

    \image sensors-rotation-anim.gif

    The 0 point for the z angle is defined as a fixed, external entity and

    is device-specific. While magnetic North is typically used as this

    reference point it may not be. Do not attempt to compare values

    for the z angle between devices or even on the same device if it has

    moved a significant distance.

    If the device cannot detect a fixed, external entity the z angle will

    always be 0 and the QRotationSensor::hasZ property will be set to false.

    The 0 point for the x and y angles are defined as when the x and y axes

    of the device are oriented towards the horizon. Here is an example of

    how the x value will change with device movement.

    \image sensors-rotation2.jpg

    Here is an example of how the y value will change with device movement.

    \image sensors-rotation3.jpg

    Note that when x is 90 or -90, values for z and y achieve rotation around

    the same axis (due to the order of operations). In this case the y

    rotation will be 0.

*/

/*!

    \property QRotationReading::x

    \brief the rotation around the x axis.

    Measured as degrees.

    \sa {QRotationReading Units}

*/

qreal QRotationReading::x() const

{

    return d->x;

}

/*!

    Sets the rotation around the x axis to \a x.

*/

void QRotationReading::setX(qreal x)

{

    d->x = x;

}

/*!

    \property QRotationReading::y

    \brief the rotation around the y axis.

    Measured as degrees.

    \sa {QRotationReading Units}

*/

qreal QRotationReading::y() const

{

    return d->y;

}

/*!

    Sets the rotation around the y axis to \a y.

*/

void QRotationReading::setY(qreal y)

{

    d->y = y;

}

/*!

    \property QRotationReading::z

    \brief the rotation around the z axis.

    Measured as degrees.

    \sa {QRotationReading Units}

*/

qreal QRotationReading::z() const

{

    return d->z;

}

/*!

    Sets the rotation around the z axis to \a z.

*/

void QRotationReading::setZ(qreal z)

{

    d->z = z;

}

// =====================================================================

/*!

    \class QRotationFilter

    \ingroup sensors_filter

    \brief The QRotationFilter class is a convenience wrapper around QSensorFilter.

    The only difference is that the filter() method features a pointer to QRotationReading

    instead of QSensorReading.

*/

/*!

    \fn QRotationFilter::filter(QRotationReading *reading)

    Called when \a reading changes. Returns false to prevent the reading from propagating.

    \sa QSensorFilter::filter()

*/

char const * const QRotationSensor::type("QRotationSensor");

/*!

    \class QRotationSensor

    \ingroup sensors_type

    \brief The QRotationSensor class is a convenience wrapper around QSensor.

    The only behavioural difference is that this class sets the type properly.

    This class also features a reading() function that returns a QRotationReading instead of a QSensorReading.

    For details about how the sensor works, see \l QRotationReading.

    \sa QRotationReading

*/

/*!

    \fn QRotationSensor::QRotationSensor(QObject *parent)

    Construct the sensor as a child of \a parent.

*/

/*!

    \fn QRotationSensor::~QRotationSensor()

    Destroy the sensor. Stops the sensor if it has not already been stopped.

*/

/*!

    \fn QRotationSensor::reading() const

    Returns the reading class for this sensor.

    \sa QSensor::reading()

*/

/*!

    \property QRotationSensor::hasZ

    \brief a value indicating if the z angle is available.

    Returns true if z is available.

    Returns false if z is not available.

*/

#include "moc_qrotationsensor.cpp"

QTM_END_NAMESPACE