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AP_Math: inline is_equal, add is_zero

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This commit is contained in:
Randy Mackay 2015-04-28 15:06:13 +09:00
parent 726d7df710
commit 0392292489
2 changed files with 6 additions and 8 deletions
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6
libraries/AP_Math/AP_Math.cpp
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@ -1,12 +1,6 @@
#include "AP_Math.h" #include "AP_Math.h"
#include <float.h> #include <float.h>
// are two floats equal
bool is_equal(const float &fVal1, const float &fVal2)
{
return fabs(fVal1 - fVal2) < FLT_EPSILON ? true : false;
}
// a varient of asin() that checks the input ranges and ensures a // a varient of asin() that checks the input ranges and ensures a
// valid angle as output. If nan is given as input then zero is // valid angle as output. If nan is given as input then zero is
// returned. // returned.

8
libraries/AP_Math/AP_Math.h
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@ -19,12 +19,13 @@
#include "quaternion.h" #include "quaternion.h"
#include "polygon.h" #include "polygon.h"
#include "edc.h" #include "edc.h"
#include "float.h"
#ifndef M_PI_F #ifndef M_PI_F
#define M_PI_F 3.141592653589793f #define M_PI_F 3.141592653589793f
#endif #endif
#ifndef M_2PI_F #ifndef M_2PI_F
#define M_2PI_F 2*M_PI_F #define M_2PI_F (2*M_PI_F)
#endif #endif
#ifndef PI #ifndef PI
# define PI M_PI_F # define PI M_PI_F
@ -75,7 +76,10 @@ AP_PARAMDEFV(Matrix3f, Matrix3f, AP_PARAM_MATRIX3F);
AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F); AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
// are two floats equal // are two floats equal
bool is_equal(const float &fVal1, const float &fVal2); inline bool is_equal(const float fVal1, const float fVal2) { return fabsf(fVal1 - fVal2) < FLT_EPSILON ? true : false; }
// are two floats equal
inline bool is_zero(const float fVal1) { return fabsf(fVal1) < FLT_EPSILON ? true : false; }
// a varient of asin() that always gives a valid answer. // a varient of asin() that always gives a valid answer.
float safe_asin(float v); float safe_asin(float v);