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AP_Math: Add is_negative and is_positive helpers

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Michael du Breuil 2017-05-18 19:47:56 -07:00 committed by Tom Pittenger
parent a491a393f4
commit 5a15413513
1 changed files with 22 additions and 0 deletions
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22
libraries/AP_Math/AP_Math.h
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@ -42,6 +42,28 @@ inline bool is_zero(const T fVal1) {
return (fabsf(static_cast<float>(fVal1)) < FLT_EPSILON);
}
/*
* @brief: Check whether a float is greater than zero
*/
template <class T>
inline bool is_positive(const T fVal1) {
static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
"Template parameter not of type float");
return (static_cast<float>(fVal1) > FLT_EPSILON);
}
/*
* @brief: Check whether a float is less than zero
*/
template <class T>
inline bool is_negative(const T fVal1) {
static_assert(std::is_floating_point<T>::value || std::is_base_of<T,AP_Float>::value,
"Template parameter not of type float");
return (static_cast<float>(fVal1) < (-1.0 * FLT_EPSILON));
}
/*
* A variant of asin() that checks the input ranges and ensures a valid angle
* as output. If nan is given as input then zero is returned.