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Minor code cleanups.

This commit is contained in:
Kyle Isom 2023-10-20 16:13:49 -07:00
parent 2fceae91fd
commit 68ed5e0aca
2 changed files with 2 additions and 5 deletions
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5
include/scmp/filter/Madgwick.h
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@ -136,10 +136,7 @@ public:
UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta) UpdateAngularOrientation(const scmp::geom::Vector<T, 3> &gyro, T delta)
{ {
// Ensure the delta isn't zero within a 100 μs // Ensure the delta isn't zero within a 100 μs
// tolerance. The assert helps to catch bugs in // tolerance.
// testing, but otherwise we should refused to do
// anything.
assert(!scmp::WithinTolerance<T>(delta, 0.0, 0.0001));
if (scmp::WithinTolerance<T>(delta, 0.0, 0.00001)) { if (scmp::WithinTolerance<T>(delta, 0.0, 0.00001)) {
return; return;
} }

2
src/scmp/Math.cc
View File

@ -55,7 +55,7 @@ BestDie(int k, int m, int n)
auto dice = Die(m, n); auto dice = Die(m, n);
if (k < m) { if (k < m) {
std::sort(dice.begin(), dice.end(), std::greater<int>()); std::sort(dice.begin(), dice.end(), std::greater<>());
dice.resize(static_cast<size_t>(k)); dice.resize(static_cast<size_t>(k));
} }