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Change double comparison to use epsilon instead of 0.0 #236

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Change double comparison to use epsilon instead of 0.0 #236

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2 changes: 1 addition & 1 deletion src/ActionServer_FJT.c
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Original file line number Diff line number Diff line change
Expand Up @@ -503,7 +503,7 @@ void Ros_ActionServer_FJT_Goal_Complete(GOAL_END_TYPE goal_end_type)
diff = fabs(feedback_FollowJointTrajectory.feedback.desired.positions.data[axis] - feedback_FollowJointTrajectory.feedback.actual.positions.data[axis]);

double posTolerance = g_actionServer_FJT_SendGoal_Request.goal.goal_tolerance.data[axis].position; //user-provided a goal_tolerance
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@gavanderhoorn gavanderhoorn Apr 12, 2024 •
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should we not check whether g_actionServer_FJT_SendGoal_Request.goal.goal_tolerance.data is of the expected/required size? Otherwise we could be trying to read outside the array.

We might already be doing that before we get here, I haven't checked.

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We might already be doing that before we get here, I haven't checked

We're not.

You're correct in that this is another potential issue.

@yai-rosejo mentioned in passing that he's got a branch doing some more thorough checking. I'll let him comment on what he's done.

if (posTolerance == 0.0) //user did NOT provide a tolerance
if (fabs(posTolerance) < EPSILON_TOLERANCE_DOUBLE) //user did NOT provide a tolerance (posTolerance == 0.0)
posTolerance = DEFAULT_FJT_GOAL_POSITION_TOLERANCE;

if (diff > posTolerance)
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