/* * assertions.hpp * * Created on: Aug 6, 2009 * Author: Jonathan Brandmeyer * * This file is part of libeknav, imported into the OpenPilot * project by Jonathan Brandmeyer. * * Libeknav is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, version 3. * * Libeknav is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * You should have received a copy of the GNU General Public License * along with libeknav. If not, see . * */ #ifndef AHRS_ASSERTIONS_HPP #define AHRS_ASSERTIONS_HPP #include #include template bool hasNaN(const MatrixBase& expr); template bool hasInf(const MatrixBase& expr); template bool perpendicular(const MatrixBase& expl, const MatrixBase& expr); template bool hasNaN(const MatrixBase& expr) { for (int j = 0; j != expr.cols(); ++j) { for (int i = 0; i != expr.rows(); ++i) { if (std::isnan(expr.coeff(i, j))) return true; } } return false; } template bool hasInf(const MatrixBase& expr) { for (int i = 0; i != expr.cols(); ++i) { for (int j = 0; j != expr.rows(); ++j) { if (std::isinf(expr.coeff(j, i))) return true; } } return false; } template bool isReal(const MatrixBase& exp) { return !hasNaN(exp) && ! hasInf(exp); } template bool perpendicular(const MatrixBase& lhs, const MatrixBase& rhs) { // A really weak check for "almost perpendicular". Use it for debugging // purposes only. return fabs(rhs.dot(lhs)) < 0.0001; } #endif /* ASSERTIONS_HPP_ */