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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2025-2025, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_UTILS_SCALAR_HPP_ |
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#define CROCODDYL_UTILS_SCALAR_HPP_ |
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#include <type_traits> |
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#include "crocoddyl/core/utils/conversions.hpp" |
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namespace crocoddyl { |
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// Trait to extract base scalar type |
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template <typename Scalar> |
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struct ScalarBaseType { |
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typedef Scalar type; |
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}; |
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#ifdef CROCODDYL_WITH_CODEGEN |
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template <typename Scalar> |
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struct ScalarBaseType<CppAD::AD<Scalar>> { |
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typedef typename ScalarBaseType<Scalar>::type type; |
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}; |
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template <typename Scalar> |
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struct ScalarBaseType<CppAD::cg::CG<Scalar>> { |
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typedef typename ScalarBaseType<Scalar>::type type; |
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}; |
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#endif |
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// Main function |
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template <typename Scalar> |
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Scalar ScaleNumerics(double base_value, double float_multiplier = 1e4) { |
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typedef typename ScalarBaseType<Scalar>::type Base; |
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return std::is_same<Base, float>::value |
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? static_cast<Scalar>(base_value * float_multiplier) |
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: static_cast<Scalar>(base_value); |
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} |
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} // namespace crocoddyl |
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#endif // CROCODDYL_UTILS_SCALAR_HPP_ |
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