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// |
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// Copyright (c) 2020 INRIA |
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// |
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#ifndef __pinocchio_utils_check_hpp__ |
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#define __pinocchio_utils_check_hpp__ |
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#include <boost/type_traits/is_floating_point.hpp> |
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namespace pinocchio |
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{ |
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template< |
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typename Scalar, |
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bool default_value = true, |
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bool is_real_valued = boost::is_floating_point<Scalar>::value> |
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struct check_expression_if_real_valued |
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{ |
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static bool run(const void *) |
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{ |
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return default_value; |
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} |
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}; |
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template<typename Scalar, bool default_value> |
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struct check_expression_if_real_valued<Scalar, default_value, true> |
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{ |
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static bool run(const void * expression_ptr) |
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{ |
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return *static_cast<const bool *>(expression_ptr); |
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} |
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}; |
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template<typename Scalar, typename Any> |
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bool check_expression_if_real(const Any & expression) |
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{ |
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return check_expression_if_real_valued<Scalar>::run(static_cast<const void *>(&expression)); |
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} |
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template<typename Scalar, bool default_value, typename Any> |
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bool check_expression_if_real(const Any & expression) |
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{ |
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return check_expression_if_real_valued<Scalar, default_value>::run( |
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static_cast<const void *>(&expression)); |
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} |
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} // namespace pinocchio |
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#endif // ifndef __pinocchio_utils_check_hpp__ |
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