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AP_Math: Replace is_zero() with a template function 

This function only makes sense for floating point types. However this
function was also used for ints.
This commit is contained in:
dgrat 2016-05-16 15:14:55 -03:00 committed by Lucas De Marchi
parent ebd993dabb
commit 7ff8004f8f
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_Math/AP_Math.h
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@ -27,9 +27,15 @@ AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
template <class FloatOne, class FloatTwo>
bool is_equal(const FloatOne, const FloatTwo);
// is a float is zero
static inline bool is_zero(const float fVal1) { return fabsf(fVal1) < FLT_EPSILON ? true : false; }
/*
* @brief: Check whether a float is zero
*/
template <class T>
inline bool is_zero(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 fabsf(fVal1) < std::numeric_limits<T>::epsilon() ? true : false;
}
/*
* A variant of asin() that checks the input ranges and ensures a valid angle