From e8885c1843d629bd72b9f469bb2d5b561adcbfad Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 15 Jan 2020 16:02:11 +0100
Subject: [PATCH] [C++] waypoint : add size() and == methods
---
include/hpp/bezier-com-traj/utils.hh | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/include/hpp/bezier-com-traj/utils.hh b/include/hpp/bezier-com-traj/utils.hh
index 01239a1..aaf39f4 100644
--- a/include/hpp/bezier-com-traj/utils.hh
+++ b/include/hpp/bezier-com-traj/utils.hh
@@ -33,6 +33,16 @@ struct waypoint_t {
waypoint_t(MatrixXX A, VectorX b) : first(A), second(b) {}
static waypoint_t Zero(size_t dim) { return initwp(dim, dim); }
+
+ size_t size() const{return second.size();}
+
+ bool isApprox(const waypoint_t& other, const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const{
+ return first.isApprox(other.first,prec) && second.isApprox(other.second,prec);
+ }
+
+ bool operator==(const waypoint_t& other) const{ return isApprox(other); }
+
+ bool operator!=(const waypoint_t& other) const{ return !(*this == other); }
};
/**
--
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