| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2025-2025, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_UTILS_SCALAR_HPP_ | ||
| 10 | #define CROCODDYL_UTILS_SCALAR_HPP_ | ||
| 11 | |||
| 12 | #include <type_traits> | ||
| 13 | |||
| 14 | #include "crocoddyl/core/utils/conversions.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | // Trait to extract base scalar type | ||
| 19 | template <typename Scalar> | ||
| 20 | struct ScalarBaseType { | ||
| 21 | typedef Scalar type; | ||
| 22 | }; | ||
| 23 | |||
| 24 | #ifdef CROCODDYL_WITH_CODEGEN | ||
| 25 | |||
| 26 | template <typename Scalar> | ||
| 27 | struct ScalarBaseType<CppAD::AD<Scalar>> { | ||
| 28 | typedef typename ScalarBaseType<Scalar>::type type; | ||
| 29 | }; | ||
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | struct ScalarBaseType<CppAD::cg::CG<Scalar>> { | ||
| 33 | typedef typename ScalarBaseType<Scalar>::type type; | ||
| 34 | }; | ||
| 35 | |||
| 36 | #endif | ||
| 37 | |||
| 38 | // Main function | ||
| 39 | template <typename Scalar> | ||
| 40 | ✗ | Scalar ScaleNumerics(double base_value, double float_multiplier = 1e4) { | |
| 41 | typedef typename ScalarBaseType<Scalar>::type Base; | ||
| 42 | return std::is_same<Base, float>::value | ||
| 43 | ✗ | ? static_cast<Scalar>(base_value * float_multiplier) | |
| 44 | ✗ | : static_cast<Scalar>(base_value); | |
| 45 | } | ||
| 46 | |||
| 47 | } // namespace crocoddyl | ||
| 48 | |||
| 49 | #endif // CROCODDYL_UTILS_SCALAR_HPP_ | ||
| 50 |