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Generalized isfinite() in similar form as done in ekf.cpp https://github.com/PX4/ecl/blob/e3b9800cac459e7c279395c18191a872f465f848/EKF/ekf.cpp#L45-L52

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waltjohnson
2016-05-19 10:34:16 -06:00
parent 6eaa00e3f9
commit a9ca8c294c
1 changed files with 13 additions and 4 deletions
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EKF/geo.cpp
+13 -4
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@@ -50,6 +50,15 @@
#include <string.h> #include <string.h>
#include <float.h> #include <float.h>
#ifndef __PX4_QURT
#if defined(__cplusplus) && !defined(__PX4_NUTTX)
#include <cmath>
#define ISFINITE(x) std::isfinite(x)
#else
#define ISFINITE(x) isfinite(x)
#endif
#endif
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved. * Copyright (c) 2014 MAV GEO Library (MAVGEO). All rights reserved.
@@ -709,7 +718,7 @@ float mavlink_wpm_distance_to_point_local(float x_now, float y_now, float z_now,
float _wrap_pi(float bearing) float _wrap_pi(float bearing)
{ {
/* value is inf or NaN */ /* value is inf or NaN */
if (!isfinite(bearing)) { if (!ISFINITE(bearing)) {
return bearing; return bearing;
} }
@@ -739,7 +748,7 @@ float _wrap_pi(float bearing)
float _wrap_2pi(float bearing) float _wrap_2pi(float bearing)
{ {
/* value is inf or NaN */ /* value is inf or NaN */
if (!isfinite(bearing)) { if (!ISFINITE(bearing)) {
return bearing; return bearing;
} }
@@ -769,7 +778,7 @@ float _wrap_2pi(float bearing)
float _wrap_180(float bearing) float _wrap_180(float bearing)
{ {
/* value is inf or NaN */ /* value is inf or NaN */
if (!isfinite(bearing)) { if (!ISFINITE(bearing)) {
return bearing; return bearing;
} }
@@ -799,7 +808,7 @@ float _wrap_180(float bearing)
float _wrap_360(float bearing) float _wrap_360(float bearing)
{ {
/* value is inf or NaN */ /* value is inf or NaN */
if (!isfinite(bearing)) { if (!ISFINITE(bearing)) {
return bearing; return bearing;
} }