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#include <matrix/math.hpp>

namespace ObstacleMath
{

enum SensorOrientation {
	ROTATION_YAW_0   = 0,     // MAV_SENSOR_ROTATION_NONE
	ROTATION_YAW_45  = 1,	  // MAV_SENSOR_ROTATION_YAW_45
	ROTATION_YAW_90  = 2,	  // MAV_SENSOR_ROTATION_YAW_90
	ROTATION_YAW_135 = 3,	  // MAV_SENSOR_ROTATION_YAW_135
	ROTATION_YAW_180 = 4,	  // MAV_SENSOR_ROTATION_YAW_180
	ROTATION_YAW_225 = 5,	  // MAV_SENSOR_ROTATION_YAW_225
	ROTATION_YAW_270 = 6,	  // MAV_SENSOR_ROTATION_YAW_270
	ROTATION_YAW_315 = 7,	  // MAV_SENSOR_ROTATION_YAW_315
	ROTATION_CUSTOM  = 100,	  // MAV_SENSOR_ROTATION_CUSTOM

	ROTATION_FORWARD_FACING  = 0, // MAV_SENSOR_ROTATION_NONE
	ROTATION_RIGHT_FACING    = 2, // MAV_SENSOR_ROTATION_YAW_90
	ROTATION_BACKWARD_FACING = 4, // MAV_SENSOR_ROTATION_YAW_180
	ROTATION_LEFT_FACING     = 6  // MAV_SENSOR_ROTATION_YAW_270
};

/**
 * Converts a sensor orientation to a yaw offset
 * @param orientation sensor orientation
 */
float sensor_orientation_to_yaw_offset(const SensorOrientation orientation, const float q[4] = nullptr);

/**
 * Scales a distance measurement taken in the vehicle body horizontal plane onto the world horizontal plane
 * @param distance measurement which is scaled down
 * @param yaw orientation of the measurement on the body horizontal plane
 * @param q_world_vehicle vehicle attitude quaternion
 */
void project_distance_on_horizontal_plane(float &distance, const float yaw, const matrix::Quatf &q_world_vehicle);

/**
 * Returns bin index at a given angle from the 0th bin
 * @param bin_width width of a bin in degrees
 * @param angle clockwise angle from start bin in degrees
 */
int get_bin_at_angle(float bin_width, float angle);

/**
 * Returns lower bound angle of a bin
 * @param bin bin index
 * @param bin_width width of a bin in degrees
 * @param angle_offset clockwise angle offset in degrees
 */
float get_lower_bound_angle(int bin, float bin_width, float angle_offset);

/**
 * Returns bin index for the current bin after an angle offset
 * @param bin current bin index
 * @param bin_width width of a bin in degrees
 * @param angle_offset clockwise angle offset in degrees
 */
int get_offset_bin_index(int bin, float bin_width, float angle_offset);

/**
 * Wraps a bin index to the range [0, bin_count)
 * @param bin bin index
 * @param bin_count number of bins
 */
int wrap_bin(int bin, int bin_count);

/**
 * Wraps an angle to the range [0, 360)
 * @param angle angle in degrees
 */
float wrap_360(const float angle);


} // ObstacleMath