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AP_Math: matrix_alg: protect inverseixi() against overflow

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Fail on inverse3x3() and inverse4x4() if there's float overflow during the
determinant calculation.
This commit is contained in:
Gustavo Jose de Sousa 2016-05-09 14:48:08 -03:00 committed by Andrew Tridgell
parent 39f72610e2
commit a7543d369f
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Math/matrix_alg.cpp
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@ -242,7 +242,7 @@ 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 (is_zero(det)){ if (is_zero(det) || isinf(det)) {
return false; return false;
} }
@ -393,7 +393,7 @@ 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 (is_zero(det)){ if (is_zero(det) || isinf(det)){
return false; return false;
} }