From 1c100498d45717c6221f05f2bbad41e31eedeb2c Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Mon, 6 Jul 2015 11:22:41 -0700 Subject: [PATCH] AP_Math: use is_zero instead of defining our own epsilon --- libraries/AP_Math/AP_Math.h | 1 - libraries/AP_Math/matrix_alg.cpp | 6 +++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h index c97ebac6ef..40d671160f 100644 --- a/libraries/AP_Math/AP_Math.h +++ b/libraries/AP_Math/AP_Math.h @@ -35,7 +35,6 @@ # define M_PI_2 1.570796326794897f #endif //Single precision conversions -#define TINY_FLOAT 1.0e-20f #define DEG_TO_RAD 0.017453292519943295769236907684886f #define RAD_TO_DEG 57.295779513082320876798154814105f diff --git a/libraries/AP_Math/matrix_alg.cpp b/libraries/AP_Math/matrix_alg.cpp index 993e802448..93413a4b61 100644 --- a/libraries/AP_Math/matrix_alg.cpp +++ b/libraries/AP_Math/matrix_alg.cpp @@ -114,7 +114,7 @@ float detnxn(const float C[],const uint8_t n) bool inversenxn(const float x[], float y[], const uint8_t n) { - if(fabsf(detnxn(x,n)) < TINY_FLOAT) { + if (is_zero(detnxn(x,n))) { return false; } @@ -248,7 +248,7 @@ bool inverse3x3(float m[], float invOut[]) float det = m[0] * (m[4] * m[8] - m[7] * m[5]) - m[1] * (m[3] * m[8] - m[5] * m[6]) + m[2] * (m[3] * m[7] - m[4] * m[6]); - if(fabsf(det) < TINY_FLOAT){ + if (is_zero(det)){ return false; } @@ -400,7 +400,7 @@ bool inverse4x4(float m[],float invOut[]) det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12]; - if(fabsf(det) < TINY_FLOAT){ + if (is_zero(det)){ return false; }