to compare double replaced == by isApprox

include/curves/bezier_curve.h

@@ -148,8 +148,8 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const bezier_curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    bool equal = T_min_ == other.min()
-        && T_max_ == other.max()
+    bool equal = curves::isApprox<num_t> (T_min_, other.min())
+        && curves::isApprox<num_t> (T_max_, other.max())
         && dim_ == other.dim()
         && degree_ == other.degree()
         && size_ == other.size_

include/curves/cubic_hermite_spline.h

@@ -111,8 +111,8 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const cubic_hermite_spline_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    bool equal =  T_min_ == other.min()
-        && T_max_ == other.max()
+    bool equal =  curves::isApprox<num_t> (T_min_, other.min())
+        && curves::isApprox<num_t> (T_max_, other.max())
         && dim_ == other.dim()
         && degree_ == other.degree()
         && size_ == other.size()

include/curves/curve_abc.h

@@ -20,6 +20,13 @@
 #include <functional>
 
 namespace curves {
+
+template <typename T>
+bool isApprox(const T a, const T b, const T eps = 1e-6)
+{
+    return fabs(a - b) < eps;
+}
+
 /// \struct curve_abc.
 /// \brief Represents a curve of dimension Dim.
 /// If value of parameter Safe is false, no verification is made on the evaluation of the curve.
@@ -29,6 +36,7 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
   typedef Point point_t;
   typedef Point_derivate point_derivate_t;
   typedef Time time_t;
+  typedef Numeric num_t;
   typedef curve_abc<Time, Numeric, Safe, point_t,point_derivate_t> curve_t; // parent class
   typedef boost::shared_ptr<curve_t> curve_ptr_t;
 
@@ -68,19 +76,20 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
    * @return true is the two curves are approximately equals
    */
   bool isEquivalent(const curve_t* other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
-    bool equal = (min() == other->min())
-               && (max() == other->max())
+    bool equal  = curves::isApprox<num_t> (min(), other->min())
+               && curves::isApprox<num_t> (max(), other->max())
                && (dim() == other->dim());
     if(!equal){
       return false;
     }
+    time_t inc = (max() - min()) / 10.; // FIXME : define this step somewhere ??
     // check the value along the two curves
-    Numeric t = min();
+    time_t t = min();
     while(t<= max()){
       if(!(*this)(t).isApprox(other->operator()(t),prec)){
         return false;
       }
-      t += 0.01; // FIXME : define this step somewhere ??
+      t += inc;
     }
     //  check if the derivatives are equals
     for(size_t n = 1 ; n <= order ; ++n){
@@ -89,7 +98,7 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
         if(!derivate(t,n).isApprox(other->derivate(t,n),prec)){
           return false;
         }
-        t += 0.01; // FIXME : define this step somewhere ??
+        t += inc;
       }
     }
     return true;

include/curves/helpers/effector_spline_rotation.h

@@ -80,8 +80,8 @@ class rotation_spline : public curve_abc_quat_t {
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const rotation_spline& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    return min_ == other.min_
-        && max_ == other.max_
+    return curves::isApprox<Numeric> (min_, other.min_)
+        && curves::isApprox<Numeric> (max_, other.max_)
         && dim_ == other.dim_
         && quat_from_.isApprox(other.quat_from_,prec)
         && quat_to_.isApprox(other.quat_to_,prec)

include/curves/polynomial.h

@@ -262,8 +262,8 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const polynomial_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    return T_min_ == other.min()
-        && T_max_ == other.max()
+    return curves::isApprox<num_t> (T_min_, other.min())
+        && curves::isApprox<num_t> (T_max_, other.max())
         && dim_ == other.dim()
         && degree_ == other.degree()
         && coefficients_.isApprox(other.coefficients_,prec);

include/curves/se3_curve.h

@@ -158,8 +158,8 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const SE3Curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    return T_min_ == other.min()
-        && T_max_ == other.max()
+    return curves::isApprox<Numeric> (T_min_, other.min())
+        && curves::isApprox<Numeric> (T_max_, other.max())
         && (translation_curve_ == other.translation_curve_ || translation_curve_->isApprox(other.translation_curve_.get(),prec))
         && (rotation_curve_ == other.rotation_curve_ || rotation_curve_->isApprox(other.rotation_curve_.get(),prec));
   }

include/curves/so3_linear.h

@@ -115,8 +115,8 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric,
    * @return true is the two curves are approximately equals
    */
   bool isApprox(const SO3Linear_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
-    return  T_min_ == other.min()
-        && T_max_ == other.max()
+    return  curves::isApprox<Numeric> (T_min_, other.min())
+        && curves::isApprox<Numeric> (T_max_, other.max())
         && dim_ == other.dim()
         && init_rot_.toRotationMatrix().isApprox(other.init_rot_.toRotationMatrix(),prec)
         && end_rot_.toRotationMatrix().isApprox(other.end_rot_.toRotationMatrix(),prec);