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// |
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// Copyright (c) 2015-2020 CNRS INRIA |
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// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France. |
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// |
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#ifndef __pinocchio_math_sincos_hpp__ |
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#define __pinocchio_math_sincos_hpp__ |
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#include <cmath> |
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namespace pinocchio |
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{ |
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// Forward declaration |
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template<typename S1, typename S2 = S1, typename S3 = S1> |
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struct SINCOSAlgo; |
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/// |
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/// \brief Computes sin/cos values of a given input scalar. |
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/// |
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/// \tparam Scalar Type of the input/output variables |
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/// |
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/// \param[in] a The input scalar from which we evalute the sin and cos. |
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/// \param[out] sa Variable containing the sin of a. |
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/// \param[out] ca Variable containing the cos of a. |
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/// |
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template<typename S1, typename S2, typename S3> |
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void SINCOS(const S1 & a, S2 * sa, S3 * ca) |
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{ |
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SINCOSAlgo<S1, S2, S3>::run(a, sa, ca); |
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} |
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/// \brief Generic evaluation of sin/cos functions. |
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template<typename S1, typename S2, typename S3> |
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struct SINCOSAlgo |
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{ |
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static void run(const S1 & a, S2 * sa, S3 * ca) |
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{ |
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using std::cos; |
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using std::sin; |
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(*sa) = sin(a); |
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(*ca) = cos(a); |
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} |
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}; |
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/// \brief Specific evaluation of sin/cos for double type. |
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template<> |
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struct SINCOSAlgo<double> |
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{ |
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static void run(const double & a, double * sa, double * ca) |
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{ |
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#ifdef __linux__ |
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sincos(a, sa, ca); |
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#elif __APPLE__ |
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__sincos(a, sa, ca); |
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#else // if sincos specialization does not exist |
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(*sa) = std::sin(a); |
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(*ca) = std::cos(a); |
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#endif |
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} |
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}; |
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/// \brief Specific evaluation of sin/cos for float type. |
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template<> |
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struct SINCOSAlgo<float> |
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{ |
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static void run(const float & a, float * sa, float * ca) |
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{ |
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#ifdef __linux__ |
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sincosf(a, sa, ca); |
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#elif __APPLE__ |
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__sincosf(a, sa, ca); |
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#else // if sincosf specialization does not exist |
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(*sa) = std::sin(a); |
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(*ca) = std::cos(a); |
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#endif |
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} |
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}; |
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/// \brief Specific evaluation of sin/cos for long double. |
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template<> |
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struct SINCOSAlgo<long double> |
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{ |
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static void run(const long double & a, long double * sa, long double * ca) |
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{ |
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#ifdef __linux__ |
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sincosl(a, sa, ca); |
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#else // if sincosl specialization does not exist |
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(*sa) = std::sin(a); |
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(*ca) = std::cos(a); |
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#endif |
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} |
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}; |
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} // namespace pinocchio |
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#endif // #ifndef __pinocchio_math_sincos_hpp__ |
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