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Fix some when building in px4.

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This commit is contained in:
James Goppert 2016-08-16 12:37:41 -04:00
parent 4be23552c5
commit 262a715d90
3 changed files with 8 additions and 9 deletions
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11
matrix/Matrix.hpp
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@ -478,20 +478,19 @@ bool isEqual(const Matrix<Type, M, N> &x,
return equal;
}
bool isEqual(float x,
float y, float eps);
bool isEqual(float x,
float y, float eps=1e-4f) {
template<typename Type>
bool isEqualF(Type x,
Type y, Type eps=1e-4f) {
bool equal = true;
if (fabs(x - y) > eps) {
if (fabsf(x - y) > eps) {
equal = false;
}
if (!equal) {
printf("not equal\nx:\n%g\ny:\n%g\n", x, y);
printf("not equal\nx:\n%g\ny:\n%g\n", double(x), double(y));
}
return equal;
}

2
test/attitude.cpp
View File

@ -277,7 +277,7 @@ int main()
AxisAnglef aa_axis_angle_init(Vector3f(1.0f, 2.0f, 3.0f), 3.0f);
TEST(isEqual(aa_axis_angle_init, Vector3f(0.80178373f, 1.60356745f, 2.40535118f)));
TEST(isEqual(aa_axis_angle_init.axis(), Vector3f(0.26726124f, 0.53452248f, 0.80178373f)));
TEST(isEqual(aa_axis_angle_init.angle(), 3.0f));
TEST(isEqualF(aa_axis_angle_init.angle(), 3.0f));
TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
Quatf(1.0f, 0.0f, 0.0f, 0.0f)));

4
test/helper.cpp
View File

@ -19,8 +19,8 @@ int main()
TEST(!isEqual(a, b));
TEST(isEqual(a, a));
TEST(isEqual(1.0f, 1.0f));
TEST(!isEqual(1.0f, 2.0f));
TEST(isEqualF(1.0f, 1.0f));
TEST(!isEqualF(1.0f, 2.0f));
return 0;
}