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AP_Math: is_equal correct comparison for integer as epsilon doesn't exist.

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Credit to Kwikius for the right solution
This commit is contained in:
Pierre Kancir 2016-12-17 19:16:39 +01:00 committed by Francisco Ferreira
parent dbbf6cae5c
commit da49149d19
2 changed files with 18 additions and 6 deletions
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15
libraries/AP_Math/AP_Math.cpp
View File

@ -1,11 +1,18 @@
#include "AP_Math.h"
#include <float.h>
template <class FloatOne, class FloatTwo>
bool is_equal(const FloatOne v_1, const FloatTwo v_2)
template <class Arithmetic1, class Arithmetic2>
typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2)
{
typedef typename std::common_type<Arithmetic1, Arithmetic2>::type common_type;
return static_cast<common_type>(v_1) == static_cast<common_type>(v_2);
}
template <class Arithmetic1, class Arithmetic2>
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)
{
static_assert(std::is_arithmetic<FloatOne>::value, "template parameter not of type float or int");
static_assert(std::is_arithmetic<FloatTwo>::value, "template parameter not of type float or int");
return fabsf(v_1 - v_2) < std::numeric_limits<decltype(v_1 - v_2)>::epsilon();
}

9
libraries/AP_Math/AP_Math.h
View File

@ -24,8 +24,13 @@ AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);
/*
* Check whether two floats are equal
*/
template <class FloatOne, class FloatTwo>
bool is_equal(const FloatOne, const FloatTwo);
template <class Arithmetic1, class Arithmetic2>
typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);
template <class Arithmetic1, class Arithmetic2>
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);
/*
* @brief: Check whether a float is zero