autodiff/casadi/utils/static-if.hpp

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//
// Copyright (c) 2019-2020 INRIA
//

#ifndef __pinocchio_autodiff_casadi_utils_static_if_hpp__
#define __pinocchio_autodiff_casadi_utils_static_if_hpp__

#include "pinocchio/utils/static-if.hpp"

namespace pinocchio
{
  namespace internal
  {

    template<typename Scalar, typename ThenType, typename ElseType>
    struct if_then_else_impl<::casadi::Matrix<Scalar>,::casadi::Matrix<Scalar>,ThenType,ElseType>
    {
      typedef typename internal::traits<if_then_else_impl>::ReturnType ReturnType;
      
      typedef ::casadi::Matrix<Scalar> CasadiType;
      
      static inline ReturnType run(const ComparisonOperators op,
                                   const CasadiType & lhs_value,
                                   const CasadiType & rhs_value,
                                   const ThenType & then_value,
                                   const ElseType & else_value)
      {
        switch(op)
        {
          case LT:
            return ::casadi::Matrix<Scalar>::if_else(lhs_value < rhs_value,then_value,else_value);
            break;
          case LE:
            return ::casadi::Matrix<Scalar>::if_else(lhs_value <= rhs_value,then_value,else_value);
            break;
          case EQ:
            return ::casadi::Matrix<Scalar>::if_else(lhs_value == rhs_value,then_value,else_value);
            break;
          case GE:
            return ::casadi::Matrix<Scalar>::if_else(lhs_value >= rhs_value,then_value,else_value);
            break;
          case GT:
            return ::casadi::Matrix<Scalar>::if_else(lhs_value > rhs_value,then_value,else_value);
            break;
        }
      }
    };
  } // namespace internal
} // namespace pinocchio

#endif // ifndef __pinocchio_autodiff_casadi_utils_static_if_hpp__