include/barrett/math/utils.h

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/* Copyright 2009 Barrett Technology <support@barrett.com> */

/* This file is part of libbarrett.
 *
 * This version of libbarrett is free software: you can redistribute it
 * and/or modify it under the terms of the GNU General Public License as
 * published by the Free Software Foundation, either version 3 of the
 * License, or (at your option) any later version.
 *
 * This version of libbarrett is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this version of libbarrett.  If not, see
 * <http://www.gnu.org/licenses/>.
 *
 * Further, non-binding information about licensing is available at:
 * <http://wiki.barrett.com/libbarrett/wiki/LicenseNotes>
 */


#ifndef BARRETT_MATH_UTILS_H_
#define BARRETT_MATH_UTILS_H_


#include <Eigen/Core>


namespace barrett {
namespace math {


namespace detail {
template<typename Scalar> struct CwiseSignOp;
template<typename Scalar> struct CwiseUnarySaturateOp;
template<typename Scalar> struct CwiseBinarySaturateOp;
template<typename Scalar> struct CwiseUnaryDeadbandOp;
template<typename Scalar> struct CwiseBinaryDeadbandOp;
}

template<typename Derived>
const Eigen::CwiseUnaryOp<
        detail::CwiseSignOp<typename Eigen::ei_traits<Derived>::Scalar>,
        Derived
> sign(const Eigen::MatrixBase<Derived>& x);

double sign(double x);

template<typename Derived>
const Eigen::CwiseUnaryOp<
        Eigen::ei_scalar_abs_op<typename Eigen::ei_traits<Derived>::Scalar>,
        Derived
> abs(const Eigen::MatrixBase<Derived>& x);

template<typename Derived1, typename Derived2>
const Eigen::CwiseBinaryOp<
        Eigen::ei_scalar_min_op<typename Eigen::ei_traits<Derived1>::Scalar>,
        Derived1,
        Derived2
> min(const Eigen::MatrixBase<Derived1>& a, const Eigen::MatrixBase<Derived2>& b);

double min(double a, double b);

template<typename Derived1, typename Derived2>
const Eigen::CwiseBinaryOp<
        Eigen::ei_scalar_max_op<typename Eigen::ei_traits<Derived1>::Scalar>,
        Derived1,
        Derived2
> max(const Eigen::MatrixBase<Derived1>& a, const Eigen::MatrixBase<Derived2>& b);

double max(double a, double b);

//template<typename T> T max(const T& a, const T& b);  //NOLINT: this is not the max() from <algorithm>

template<typename Derived>
const Eigen::CwiseUnaryOp<
        detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>,
        Derived
> saturate(const Eigen::MatrixBase<Derived>& x, double limit);

template<typename Derived1, typename Derived2>
inline const Eigen::CwiseBinaryOp<
        detail::CwiseBinarySaturateOp<typename Eigen::ei_traits<Derived1>::Scalar>,
        Derived1,
        Derived2
> saturate(const Eigen::MatrixBase<Derived1>& x, const Eigen::MatrixBase<Derived2>& limit);

double saturate(double x, double limit);


template<typename Derived>
const Eigen::CwiseUnaryOp<
        detail::CwiseUnarySaturateOp<typename Eigen::ei_traits<Derived>::Scalar>,
        Derived
> saturate(const Eigen::MatrixBase<Derived>& x, double lowerLimit, double upperLimit);

double saturate(double x, double lowerLimit, double upperLimit);


template<typename Derived>
const Eigen::CwiseUnaryOp<
        detail::CwiseUnaryDeadbandOp<typename Eigen::ei_traits<Derived>::Scalar>,
        Derived
> deadband(const Eigen::MatrixBase<Derived>& x, double cutoff);

template<typename Derived1, typename Derived2>
const Eigen::CwiseBinaryOp<
        detail::CwiseBinaryDeadbandOp<typename Eigen::ei_traits<Derived1>::Scalar>,
        Derived1,
        Derived2
> deadband(const Eigen::MatrixBase<Derived1>& x, const Eigen::MatrixBase<Derived2>& cutoff);

double deadband(double x, double cutoff);

//template<typename T> T deadBand(const T& x,
//              const T& lowerCutoff, const T& upperCutoff);


}
}


// include template definitions
#include <barrett/math/detail/utils-inl.h>


#endif /* BARRETT_MATH_UTILS_H_ */