codegen/cppadcg.hpp

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//
// Copyright (c) 2018-2023 CNRS INRIA
//
 
#ifndef __pinocchio_codegen_ccpadcg_hpp__
#define __pinocchio_codegen_ccpadcg_hpp__
 
#define PINOCCHIO_WITH_CPPADCG_SUPPORT
 
#include "pinocchio/math/fwd.hpp"
 
#include <cmath>
#include <boost/mpl/int.hpp>
#include <cppad/cg/support/cppadcg_eigen.hpp>
 
#include "pinocchio/autodiff/cppad.hpp"
 
#ifndef PINOCCHIO_WITH_CXX11_SUPPORT
  #error CppADCodeGen requires C++11 or more
#endif
 
namespace boost
{
  namespace math
  {
    namespace constants
    {
      namespace detail
      {
        template<typename Scalar>
        struct constant_pi<CppAD::cg::CG<Scalar>> : constant_pi<Scalar>
        {
          typedef CppAD::cg::CG<Scalar> CGScalar;
 
          template<int N>
          static inline CGScalar get(const mpl::int_<N> & n)
          {
            return CGScalar(constant_pi<Scalar>::get(n));
          }
 
#if BOOST_VERSION >= 107700
          template<class T, T value>
          static inline CGScalar get(const std::integral_constant<T, value> & n)
          {
            return CGScalar(constant_pi<Scalar>::get(n));
          }
#else
          template<class T, T value>
          static inline CGScalar get(const boost::integral_constant<T, value> & n)
          {
            return CGScalar(constant_pi<Scalar>::get(n));
          }
#endif
        };
      } // namespace detail
    } // namespace constants
  } // namespace math
} // namespace boost
 
namespace Eigen
{
  namespace internal
  {
    // Specialization of Eigen::internal::cast_impl for CppAD input types
    template<typename Scalar>
    struct cast_impl<CppAD::cg::CG<Scalar>, Scalar>
    {
#if EIGEN_VERSION_AT_LEAST(3, 2, 90)
      EIGEN_DEVICE_FUNC
#endif
      static inline Scalar run(const CppAD::cg::CG<Scalar> & x)
      {
        return x.getValue();
      }
    };
 
    // Specialization of Eigen::internal::cast_impl for CppAD input types
    template<typename Scalar>
    struct cast_impl<CppAD::AD<CppAD::cg::CG<Scalar>>, Scalar>
    {
#if EIGEN_VERSION_AT_LEAST(3, 2, 90)
      EIGEN_DEVICE_FUNC
#endif
      static inline Scalar run(const CppAD::AD<CppAD::cg::CG<Scalar>> & x)
      {
        return CppAD::Value(x).getValue();
      }
    };
 
  } // namespace internal
} // namespace Eigen
 
namespace CppAD
{
  namespace cg
  {
    template<class Scalar>
    bool isfinite(const CG<Scalar> & x)
    {
      return std::isfinite(x.getValue());
    }
  } // namespace cg
} // namespace CppAD
 
namespace pinocchio
{
  template<typename Scalar>
  struct TaylorSeriesExpansion<CppAD::cg::CG<Scalar>>
  {
    typedef TaylorSeriesExpansion<Scalar> Base;
    typedef CppAD::cg::CG<Scalar> CGScalar;
 
    template<int degree>
    static CGScalar precision()
    {
      return CGScalar(Base::template precision<degree>());
    }
  };
 
  template<typename Scalar>
  struct ScalarCast<Scalar, CppAD::cg::CG<Scalar>>
  {
    static Scalar cast(const CppAD::cg::CG<Scalar> & cg_value)
    {
      return cg_value.getValue();
    }
  };
 
} // namespace pinocchio
 
#endif // #ifndef __pinocchio_codegen_ccpadcg_hpp__