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AP_Math: use is_zero instead of defining our own epsilon

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Jonathan Challinger 2015-07-06 11:22:41 -07:00 committed by Andrew Tridgell
parent 1dc373fa20
commit 1c100498d4
2 changed files with 3 additions and 4 deletions
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1
libraries/AP_Math/AP_Math.h
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@ -35,7 +35,6 @@
# define M_PI_2 1.570796326794897f # define M_PI_2 1.570796326794897f
#endif #endif
//Single precision conversions //Single precision conversions
#define TINY_FLOAT 1.0e-20f
#define DEG_TO_RAD 0.017453292519943295769236907684886f #define DEG_TO_RAD 0.017453292519943295769236907684886f
#define RAD_TO_DEG 57.295779513082320876798154814105f #define RAD_TO_DEG 57.295779513082320876798154814105f

6
libraries/AP_Math/matrix_alg.cpp
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@ -114,7 +114,7 @@ float detnxn(const float C[],const uint8_t n)
bool inversenxn(const float x[], float y[], 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; return false;
} }
@ -248,7 +248,7 @@ bool inverse3x3(float m[], float invOut[])
float det = m[0] * (m[4] * m[8] - m[7] * m[5]) - float det = m[0] * (m[4] * m[8] - m[7] * m[5]) -
m[1] * (m[3] * m[8] - m[5] * m[6]) + m[1] * (m[3] * m[8] - m[5] * m[6]) +
m[2] * (m[3] * m[7] - m[4] * m[6]); m[2] * (m[3] * m[7] - m[4] * m[6]);
if(fabsf(det) < TINY_FLOAT){ if (is_zero(det)){
return false; 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]; 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; return false;
} }