scalar.hpp

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