TypeTraits.h

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//
// Copyright (c) 2009, Markus Rickert
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#ifndef RL_MATH_TYPETRAITS_H
#define RL_MATH_TYPETRAITS_H
 
#define EIGEN_MATRIXBASE_PLUGIN <rl/math/MatrixBaseAddons.h>
#define EIGEN_QUATERNIONBASE_PLUGIN <rl/math/QuaternionBaseAddons.h>
#define EIGEN_TRANSFORM_PLUGIN <rl/math/TransformAddons.h>
 
#include <limits>
#include <Eigen/Core>
 
namespace rl
{
    namespace math
    {
        template<typename T>
        class TypeTraits
        {
        public:
            static T Constant(const ::std::size_t& i, const T& value)
            {
                return value;
            }
            
            static T Zero(const ::std::size_t& i)
            {
                return 0;
            }
            
            static T abs(const T& t)
            {
                return ::std::abs(t);
            }
            
            static bool equal(const T& lhs, const T& rhs, const T& epsilon = ::Eigen::NumTraits<T>::dummy_precision())
            {
                return ::std::abs(lhs - rhs) < epsilon;
            }
            
            static T max_element(const T& t)
            {
                return t;
            }
            
            static T min_element(const T& t)
            {
                return t;
            }
            
            static ::std::size_t size(const T& t)
            {
                return 1;
            }
            
        protected:
            
        private:
            
        };
        
        template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
        class TypeTraits< ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>>
        {
        public:
            static ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> Constant(const ::std::size_t& i, const Scalar& value)
            {
                return ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>::Constant(i, value);
            }
            
            static ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> Zero(const ::std::size_t& i)
            {
                return ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>::Zero(i);
            }
            
            static ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> abs(const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.abs();
            }
            
            static bool equal(const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& lhs, const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& rhs, const Scalar& epsilon = ::Eigen::NumTraits<Scalar>::dummy_precision())
            {
                return lhs.isApprox(rhs, epsilon);
            }
            
            static Scalar max_element(const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.maxCoeff();
            }
            
            static Scalar min_element(const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.minCoeff();
            }
            
            static ::std::size_t size(const ::Eigen::Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.size();
            }
            
        protected:
            
        private:
            
        };
        
        template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
        class TypeTraits< ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>>
        {
        public:
            static ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> Constant(const ::std::size_t& i, const Scalar& value)
            {
                return ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>::Constant(i, value);
            }
            
            static ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> Zero(const ::std::size_t& i)
            {
                return ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>::Zero(i);
            }
            
            static ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> abs(const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.cwiseAbs();
            }
            
            static bool equal(const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& lhs, const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& rhs, const Scalar& epsilon = ::Eigen::NumTraits<Scalar>::dummy_precision())
            {
                return lhs.isApprox(rhs, epsilon);
            }
            
            static Scalar max_element(const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.maxCoeff();
            }
            
            static Scalar min_element(const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.minCoeff();
            }
            
            static ::std::size_t size(const ::Eigen::Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols>& t)
            {
                return t.size();
            }
            
        protected:
            
        private:
            
        };
    }
}
 
#endif // RL_MATH_TYPETRAITS_H