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AP_Math: avoid double maths when not needed

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This commit is contained in:
Andrew Tridgell 2018-05-05 08:10:30 +10:00
parent c4fafa490f
commit d4d7d1f734
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_Math/AP_Math.cpp
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@ -23,11 +23,13 @@ template <typename Arithmetic1, typename Arithmetic2>
typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type
is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2) is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
{ {
#ifdef ALLOW_DOUBLE_MATH_FUNCTIONS
typedef typename std::common_type<Arithmetic1, Arithmetic2>::type common_type; typedef typename std::common_type<Arithmetic1, Arithmetic2>::type common_type;
typedef typename std::remove_cv<common_type>::type common_type_nonconst; typedef typename std::remove_cv<common_type>::type common_type_nonconst;
if (std::is_same<double, common_type_nonconst>::value) { if (std::is_same<double, common_type_nonconst>::value) {
return fabs(v_1 - v_2) < std::numeric_limits<double>::epsilon(); return fabs(v_1 - v_2) < std::numeric_limits<double>::epsilon();
} }
#endif
return fabsf(v_1 - v_2) < std::numeric_limits<float>::epsilon(); return fabsf(v_1 - v_2) < std::numeric_limits<float>::epsilon();
} }