util.hpp

Go to the documentation of this file.

#ifndef AIKIDO_COMMON_UTIL_HPP_
#define AIKIDO_COMMON_UTIL_HPP_
 
#include <cmath>
#include <future>
 
namespace aikido {
namespace common {
 
template <typename T>
inline std::future<T> make_exceptional_future(std::string error_message)
{
  auto promise = std::promise<T>();
  promise.set_exception(
      std::make_exception_ptr(std::runtime_error(error_message)));
  return promise.get_future();
}
 
template <typename T>
inline std::future<T> make_ready_future(T obj)
{
  auto promise = std::promise<T>();
  promise.set_value(obj);
  return promise.get_future();
}
 
inline std::future<void> make_ready_future()
{
  auto promise = std::promise<void>();
  promise.set_value();
  return promise.get_future();
}
 
#ifndef AIKIDO_COMMON_NEARZERO
#define AIKIDO_COMMON_NEARZERO 1E-8
#endif
 
inline bool FuzzyZero(double value, double tol = AIKIDO_COMMON_NEARZERO)
{
  return (abs(value) <= tol);
}
 
} // namespace common
} // namespace aikido
 
#endif // AIKIDO_COMMON_UTIL_HPP_