Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 10:46:33 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

Matrix: min max comments and test style

Browse Source
This commit is contained in:
Matthias Grob
2020-03-21 15:22:49 +01:00
committed by Julian Kent
parent fa7153ecfb
commit 976ada411b
2 changed files with 16 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matrix/Matrix.hpp
+4 -2
View File
@@ -615,7 +615,7 @@ template<typename Type>
Type min(const Type x, const Type y) { Type min(const Type x, const Type y) {
bool x_is_nan = isnan(x); bool x_is_nan = isnan(x);
bool y_is_nan = isnan(y); bool y_is_nan = isnan(y);
// z > nan for z != nan is required by C the standard // take the non-nan value if there is one
if (x_is_nan || y_is_nan) { if (x_is_nan || y_is_nan) {
if (x_is_nan && !y_is_nan) { if (x_is_nan && !y_is_nan) {
return y; return y;
@@ -625,11 +625,12 @@ Type min(const Type x, const Type y) {
} }
return (x < y) ? x : y; return (x < y) ? x : y;
} }
template<typename Type> template<typename Type>
Type max(const Type x, const Type y) { Type max(const Type x, const Type y) {
bool x_is_nan = isnan(x); bool x_is_nan = isnan(x);
bool y_is_nan = isnan(y); bool y_is_nan = isnan(y);
// z > nan for z != nan is required by C the standard // take the non-nan value if there is one
if (x_is_nan || y_is_nan) { if (x_is_nan || y_is_nan) {
if (x_is_nan && !y_is_nan) { if (x_is_nan && !y_is_nan) {
return y; return y;
@@ -639,6 +640,7 @@ Type max(const Type x, const Type y) {
} }
return (x > y) ? x : y; return (x > y) ? x : y;
} }
template<typename Type> template<typename Type>
Type constrain(const Type x, const Type lower_bound, const Type upper_bound) { Type constrain(const Type x, const Type lower_bound, const Type upper_bound) {
if (lower_bound > upper_bound) { if (lower_bound > upper_bound) {
test/matrixAssignment.cpp
+12 -12
View File
@@ -194,20 +194,20 @@ int main()
TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref)); TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref));
// min, max, constrain with NAN // min, max, constrain with NAN
TEST(isEqualF(matrix::typeFunction::min(5.0f,NAN), 5.0f)); TEST(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
TEST(isEqualF(matrix::typeFunction::min(NAN,5.0f), 5.0f)); TEST(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
TEST(isEqualF(matrix::typeFunction::min(NAN,NAN), NAN)); TEST(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
TEST(isEqualF(matrix::typeFunction::max(5.0f,NAN), 5.0f)); TEST(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
TEST(isEqualF(matrix::typeFunction::max(NAN,5.0f), 5.0f)); TEST(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
TEST(isEqualF(matrix::typeFunction::max(NAN,NAN), NAN)); TEST(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
TEST(isEqualF(matrix::typeFunction::constrain(NAN,5.0f,6.0f), NAN)); TEST(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
TEST(isEqualF(matrix::typeFunction::constrain(1.0f,5.0f,4.0f), NAN)); TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
TEST(isEqualF(matrix::typeFunction::constrain(6.0f,NAN,5.0f), 5.0f)); TEST(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
TEST(isEqualF(matrix::typeFunction::constrain(1.0f,5.0f,NAN), 5.0f)); TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
Vector2f v1{NAN, 5.0f}; Vector2f v1{NAN, 5.0f};
Vector2f v1_min = min(v1,1.0f); Vector2f v1_min = min(v1, 1.f);
Matrix3f m11 = min(m10_constrained_ref,NAN); Matrix3f m11 = min(m10_constrained_ref,NAN);
TEST(isEqualF(fmin(NAN,1.0f), float(v1_min(0)))); TEST(isEqualF(fmin(NAN, 1.f), float(v1_min(0))));
TEST(isEqual(m11, m10_constrained_ref)); TEST(isEqual(m11, m10_constrained_ref));
// check write_string() // check write_string()