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// |
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// Copyright (c) 2019-2020 INRIA |
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// |
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#ifndef __pinocchio_utils_static_if_hpp__ |
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#define __pinocchio_utils_static_if_hpp__ |
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#include "pinocchio/fwd.hpp" |
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namespace pinocchio |
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{ |
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namespace internal |
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{ |
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enum ComparisonOperators {LT, LE, EQ, GE, GT}; |
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template<typename LhsType, typename RhsType, typename ThenType, typename ElseType> |
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struct if_then_else_impl; |
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/// \brief Template specialization for similar return types; |
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template<typename LhsType, typename RhsType, typename return_type> |
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struct traits< if_then_else_impl<LhsType,RhsType,return_type,return_type> > |
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{ |
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typedef return_type ReturnType; |
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}; |
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template<typename condition_type, typename ThenType, typename ElseType> |
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struct if_then_else_impl<condition_type,condition_type,ThenType,ElseType> |
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{ |
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typedef typename internal::traits<if_then_else_impl>::ReturnType ReturnType; |
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static inline ReturnType run(const ComparisonOperators op, |
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const condition_type & lhs_value, |
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const condition_type & rhs_value, |
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const ThenType & then_value, |
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const ElseType & else_value) |
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{ |
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✓✗✗✓
✓✗ |
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switch(op) |
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{ |
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case LT: |
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✓✓ |
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if(lhs_value < rhs_value) |
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return then_value; |
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else |
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return else_value; |
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break; |
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case LE: |
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if(lhs_value <= rhs_value) |
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return then_value; |
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else |
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return else_value; |
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break; |
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case EQ: |
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if(lhs_value == rhs_value) |
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return then_value; |
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else |
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return else_value; |
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break; |
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case GE: |
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✓✓ |
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if(lhs_value >= rhs_value) |
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return then_value; |
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else |
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return else_value; |
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break; |
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case GT: |
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✓✓ |
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if(lhs_value > rhs_value) |
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return then_value; |
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else |
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return else_value; |
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break; |
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} |
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abort(); |
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} |
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}; |
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template<typename LhsType, typename RhsType, typename ThenType, typename ElseType> |
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inline typename if_then_else_impl<LhsType,RhsType,ThenType,ElseType>::ReturnType |
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if_then_else(const ComparisonOperators op, |
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const LhsType & lhs_value, |
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const RhsType & rhs_value, |
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const ThenType & then_value, |
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const ElseType & else_value) |
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{ |
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typedef if_then_else_impl<LhsType,RhsType,ThenType,ElseType> algo; |
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return algo::run(op, |
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lhs_value, |
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rhs_value, |
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then_value, |
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else_value); |
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} |
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} // namespace internal |
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} // namespace pinocchio |
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#endif |