From 17170da96e1539cc4b29b30dfdf448e6fdc487d1 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 23 Feb 2012 22:55:59 +1100
Subject: [PATCH] AP_Math: added is_nan() methods to vector3f and matrix3f

---
 libraries/AP_Math/matrix3.h | 4 ++++
 libraries/AP_Math/vector3.h | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index c279728baf..0df2ae7bce 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -124,6 +124,10 @@ public:
 	Matrix3<T> transpose(void)
 	{	return *this = transposed();	}
 
+	// check if any elements are NAN
+	bool is_nan(void)
+		{   return a.is_nan() || b.is_nan() || c.is_nan(); }
+
 };
 
 typedef Matrix3<int16_t>		Matrix3i;
diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index e77cd99f1b..caa1ad5398 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -173,6 +173,10 @@ public:
 	T angle_normalized(const Vector3<T> &v1, const Vector3<T> &v2)
 	{   return (T)acosf(v1*v2);  }
 
+	// check if any elements are NAN
+	bool is_nan(void)
+		{   return isnan(x) || isnan(y) || isnan(z); }
+
 };
 
 typedef Vector3<int16_t>		Vector3i;