#pragma once

#include "base/math.hpp"
#include "base/assert.hpp"

#include "std/deque.hpp"
#include "std/array.hpp"
#include "std/cstring.hpp"


namespace math
{
  template <class T, size_t Dim> class AvgVector
  {
    typedef deque<array<T, Dim> > ContT;
    typedef typename ContT::value_type ValueT;

    ContT m_vectors;
    size_t m_count;

    static T Distance(ValueT const & a1, ValueT const & a2)
    {
      T res = 0;
      for (size_t i = 0; i < Dim; ++i)
        res += my::sq(a1[i] - a2[i]);

      return sqrt(res);
    }

    static void Average(ValueT const & a1, ValueT const & a2, T * res)
    {
      for (size_t i = 0; i < Dim; ++i)
        res[i] = (a1[i] + a2[i]) / 2.0;
    }

    void CalcAverage(T * res) const
    {
      T minD = numeric_limits<T>::max();
      size_t I = 0, J = 1;

      size_t const count = m_vectors.size();
      ASSERT_GREATER ( count, 1, () );
      for (size_t i = 0; i < count - 1; ++i)
        for (size_t j = i+1; j < count; ++j)
        {
          T const d = Distance(m_vectors[i], m_vectors[j]);
          if (d < minD)
          {
            I = i;
            J = j;
            minD = d;
          }
        }

      Average(m_vectors[I], m_vectors[J], res);
    }

  public:
    AvgVector(size_t count = 1) : m_count(count)
    {
      static_assert(is_floating_point<T>::value, "");
    }

    void SetCount(size_t count) { m_count = count; }

    /// @param[in]  Next measurement.
    /// @param[out] Average value.
    void Next(T * arr)
    {
      if (m_vectors.size() == m_count)
        m_vectors.pop_front();

      m_vectors.push_back(ValueT());
      memcpy(m_vectors.back().data(), arr, Dim*sizeof(T));

      if (m_vectors.size() > 1)
        CalcAverage(arr);
    }
  };

  // Compass smoothing parameters
  // We're using technique described in
  // http://windowsteamblog.com/windows_phone/b/wpdev/archive/2010/09/08/using-the-accelerometer-on-windows-phone-7.aspx
  // In short it's a combination of low-pass filter to smooth the
  // small orientation changes and a threshold filter to get big changes fast.
  // k in the following formula: O(n) = O(n-1) + k * (I - O(n - 1));
  // smoothed heading angle. doesn't always correspond to the m_headingAngle
  // as we change the heading angle only if the delta between
  // smoothedHeadingRad and new heading value is bigger than smoothingThreshold.
  template <class T, size_t Dim> class LowPassVector
  {
    typedef array<T, Dim> ArrayT;
    ArrayT m_val;
    T m_factor;

  public:
    LowPassVector() : m_factor(0.15)
    {
      m_val.fill(T());
    }
    void SetFactor(T t) { m_factor = t; }

    /// @param[in]  Next measurement.
    /// @param[out] Average value.
    void Next(T * arr)
    {
      for (size_t i = 0; i < Dim; ++i)
      {
        m_val[i] = m_val[i] + m_factor * (arr[i] - m_val[i]);
        arr[i] = m_val[i];
      }
    }
  };
}