helpers.hpp

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#pragma once
#include <math.h>
#include <stdexcept>
#include <wiring.h>
#include <iostream>
#include <optional>
 
bool float_close_compare(float a, float b, float tol = 1e-6)
{
    return std::abs(a - b) < tol;
}
 
template <typename T>
T limit(T input, const T max_value, const std::optional<T>(min_value) = std::nullopt)
{
    return std::min(std::max(input, min_value.value_or(-1.0 * max_value)), max_value);
}
 
template <typename T>
struct Limits
{
    T lower;
    T upper;
 
    T over_limits(T compare) const
    {
        if (compare > upper)
        {
            return compare - upper;
        }
        if (compare < lower)
        {
            return compare - lower;
        }
        return 0.0;
    }
};
 
template <typename T>
T limit(T input, Limits<T> limits)
{
    return limit<T>(input, limits.upper, limits.lower);
}