DoubleTrait.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

namespace iit {
namespace rbd {

struct DoubleTrait {

    typedef double Scalar;

    inline static Scalar sin(const Scalar& x) { return std::sin(x); }
    inline static Scalar cos(const Scalar& x) { return std::cos(x); }
    inline static Scalar tan(const Scalar& x) { return std::tan(x); }
    inline static Scalar sinh(const Scalar& x) { return std::sinh(x); }
    inline static Scalar cosh(const Scalar& x) { return std::cosh(x); }
    inline static Scalar tanh(const Scalar& x) { return std::tanh(x); }
    inline static Scalar exp(const Scalar& x) { return std::exp(x); }
    inline static Scalar fabs(const Scalar& x) { return std::fabs(x); }
    inline static Scalar sqrt(const Scalar& x) {return std::sqrt(x); }

    template <int Rows, int Cols>
    inline static Eigen::Matrix<Scalar, Cols, 1> solve(const Eigen::Matrix<Scalar, Rows, Cols>& A, const Eigen::Matrix<Scalar, Rows, 1>& b)
    {
        return A.inverse()*b;
    }

};

}
}