/**
 * @file Euler.hpp
 *
 * Euler angle tait-bryan body 3-2-1
 *
 * @author James Goppert <james.goppert@gmail.com>
 */

#pragma once

#include "math.hpp"

namespace matrix
{

template <typename Type>
class Dcm;

template <typename Type>
class Quaternion;

template<typename Type>
class Euler : public Vector<Type, 3>
{
public:
    virtual ~Euler() {};

    Euler() : Vector<Type, 3>()
    {
    }

    Euler(const Vector<Type, 3> & other) :
        Vector<Type, 3>(other)
    {
    }

    Euler(const Matrix<Type, 3, 1> & other) :
        Vector<Type, 3>(other)
    {
    }

    Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
    {
        phi() = phi_;
        theta() = theta_;
        psi() = psi_;
    }

    Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
    {
        Type psi_val = Type(atan(dcm(1, 0)/ dcm(0, 0)));
        Type theta_val = Type(asin(-dcm(2,0)));
        Type phi_val = Type(atan(dcm(2, 1)/ dcm(2, 2)));

        // protection against NaN if dcm(0,0) or dcm(2,2) == 0
        psi() = 0;
        theta() = 0;
        phi() = 0;
        if (psi() >= -M_PI_2 && psi() <= M_PI_2) {
            psi() = psi_val;
        }
        if (theta() >= -M_PI_2 && theta() <= M_PI_2) {
            theta() = theta_val;
        }
        if (phi() >= -M_PI_2 && phi() <= M_PI_2) {
            phi() = phi_val;
        }
    }

    Euler(const Quaternion<Type> & q) :
        Vector<Type, 3>()
    {
        *this = Euler(Dcm<Type>(q));
    }

    inline Type phi() const {
        return (*this)(0);
    }
    inline Type theta() const {
        return (*this)(1);
    }
    inline Type psi() const {
        return (*this)(2);
    }

    inline Type & phi() {
        return (*this)(0);
    }
    inline Type & theta() {
        return (*this)(1);
    }
    inline Type & psi() {
        return (*this)(2);
    }

};

typedef Euler<float> Eulerf;

}; // namespace matrix

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