moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83

3rdParty/include/cppunit/portability/FloatingPoint.h

@@ -0,0 +1,54 @@
+#ifndef CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED
+#define CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED
+
+#include <cppunit/Portability.h>
+#include <math.h>
+
+CPPUNIT_NS_BEGIN
+
+/// \brief Tests if a floating-point is a NaN.
+// According to IEEE-754 floating point standard, 
+// (see e.g. page 8 of
+// http://www.cs.berkeley.edu/~wkahan/ieee754status/ieee754.ps) 
+// all comparisons with NaN are false except "x != x", which is true.
+//
+// At least Microsoft Visual Studio 6 is known not to implement this test correctly.
+// It emits the following code to test equality:
+//  fcomp       qword ptr [nan]
+//  fnstsw      ax                        // copie fp (floating-point) status register to ax
+//  test        ah,40h                    // test bit 14 of ax (0x4000) => C3 of fp status register
+// According to the following documentation on the x86 floating point status register,
+// the C2 bit should be tested to test for NaN value. 
+// http://webster.cs.ucr.edu/AoA/Windows/HTML/RealArithmetic.html#1000117
+// In Microsoft Visual Studio 2003 & 2005, the test is implemented with:
+//  test        ah,44h         // Visual Studio 2005 test both C2 & C3...
+//
+// To work around this, a NaN is assumed to be detected if no strict ordering is found.
+inline bool floatingPointIsUnordered( double x )
+{
+   // x != x will detect a NaN on conformant platform
+   // (2.0 < x  &&  x < 1.0) will detect a NaN on non conformant platform:
+   // => no ordering can be found for x.
+   return  (x != x) ||  (2.0 < x  &&  x < 1.0);
+}
+
+
+/// \brief Tests if a floating-point is finite.
+/// @return \c true if x is neither a NaN, nor +inf, nor -inf, \c false otherwise.
+inline int floatingPointIsFinite( double x )
+{
+#if defined(CPPUNIT_HAVE_ISFINITE)
+   return isfinite( x );
+#elif defined(CPPUNIT_HAVE_FINITE)
+   return finite( x );
+#elif defined(CPPUNIT_HAVE__FINITE)
+   return _finite(x);
+#else
+   double testInf = x * 0.0;  // Produce 0.0 if x is finite, a NaN otherwise.
+   return testInf == 0.0  &&  !floatingPointIsUnordered(testInf);
+#endif
+}
+
+CPPUNIT_NS_END
+
+#endif // CPPUNIT_PORTABILITY_FLOATINGPOINT_H_INCLUDED