Function constrain_value

libraries/AP_Math/AP_Math.cpp:294–315

template <typename T>
T constrain_value(const T amt, const T low, const T high)
{
    // the check for NaN as a float prevents propagation of floating point
    // errors through any function that uses constrain_value(). The normal
    // float semantics already handle -Inf and +Inf
    if (std::is_floating_point<T>::value) {
        if (isnan(amt)) {
            INTERNAL_ERROR(AP_InternalError::error_t::constraining_nan);
            return (low + high) / 2;
        }
    }

    if (amt < low) {
        return low;
    }

    if (amt > high) {
        return high;
    }

    return amt;
}

template int constrain_value<int>(const int amt, const int low, const int high);
template unsigned int constrain_value<unsigned int>(const unsigned int amt, const unsigned int low, const unsigned int high);