FloatCondition.h

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#include "Common.h"
#include "FPCompare.h"
namespace BehaviorTree
{

    enum FLOAT_TEST {LESS_THAN_FP,GREATER_THAN_FP,LESS_OR_CLOSE,GREATER_OR_CLOSE,CLOSE,NOT_CLOSE};

    template <class T = NoClass>

    class FloatCondition: public BehaviorTreeNode
    {
    public:
        BEHAVIOR_STATUS execute(void* agent)
        {
            float objVal = getObjVal(agent);
            bool status;
            switch (test)
            {
            case LESS_THAN_FP:      status = (objVal < val) && !AlmostEqual2sComplement(objVal,val,ulps); break;
            case GREATER_THAN_FP:   status = (objVal > val) && !AlmostEqual2sComplement(objVal,val,ulps); break;
            case LESS_OR_CLOSE:     status = (objVal <= val)|| AlmostEqual2sComplement(objVal,val,ulps); break;
            case GREATER_OR_CLOSE:  status = (objVal >= val)|| AlmostEqual2sComplement(objVal,val,ulps); break;
            case CLOSE:             status = AlmostEqual2sComplement(objVal,val,ulps); break;
            case NOT_CLOSE:         status = !AlmostEqual2sComplement(objVal,val,ulps); break;
            }

            if (status)
                return BT_SUCCESS;
            else
                return BT_FAILURE;
        };

        void init(void* agent)
        {
        };

        FloatCondition(float(T::* const _func)() const, FLOAT_TEST _test, float _val,int _ulps = 2^22) : func(reinterpret_cast<float(T::* const)()>(_func)), func2(NULL)
        {
            test = _test;
            val = _val;
            ulps = _ulps;
        }

        FloatCondition(float(T::*_func)(), FLOAT_TEST _test, float _val,int _ulps = 2^22): func(_func), func2(NULL)
        {
            test = _test;
            val = _val;
            ulps = _ulps;

        }
        FloatCondition(float(*_func)(), FLOAT_TEST _test, float _val,int _ulps = 2^22) : func2(_func), func(NULL)
        {
            test = _test;
            val = _val;
            ulps = _ulps;
        }

        
    private:
        float (T::* const func)();
        float (* const func2)();
        FLOAT_TEST test;
        float val;
        int ulps;
        float getObjVal(void* agent)
        {
            T* obj = (T*) agent;
            return (obj->*func)();
        }
    };
}