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ControlMath: add addIfNotNan helper functions

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This commit is contained in:
Matthias Grob
2020-01-30 07:28:18 -05:00
committed by Kabir Mohammed
parent eb50e89d87
commit e53ae45188
3 changed files with 66 additions and 0 deletions
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src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
+18
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@@ -177,3 +177,21 @@ TEST(ControlMathTest, CrossSphereLine)
EXPECT_FALSE(retval);
EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
}
TEST(ControlMathTest, addIfNotNan)
{
float v = 1.f;
// regular addition
ControlMath::addIfNotNan(v, 2.f);
EXPECT_EQ(v, 3.f);
// addition is NAN and has no influence
ControlMath::addIfNotNan(v, NAN);
EXPECT_EQ(v, 3.f);
v = NAN;
// both summands are NAN
ControlMath::addIfNotNan(v, NAN);
EXPECT_TRUE(isnan(v));
// regular value gets added to NAN and overwrites it
ControlMath::addIfNotNan(v, 3.f);
EXPECT_EQ(v, 3.f);
}