mbsim 4.0.0 MBSim Kernel

identity_function.h
1 /* Copyright (C) 2004-2014 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@gmail.com
18 */
19
20 #ifndef _IDENTITY_FUNCTION_H_
21 #define _IDENTITY_FUNCTION_H_
22
23 #include "mbsim/functions/function.h"
24 #include "mbsim/utils/utils.h"
25
26 namespace MBSim {
27
28 template<typename Sig> class IdentityFunction;
29
30 template<typename Ret, typename Arg>
31 class IdentityFunction<Ret(Arg)> : public Function<Ret(Arg)> {
32 using B = fmatvec::Function<Ret(Arg)>;
33 public:
34 int getArgSize() const override { return 1; }
35 std::pair<int, int> getRetSize() const override { return std::make_pair(1,1); }
36 Ret operator()(const Arg &x) override { return FromDouble<Ret>::cast(ToDouble<Arg>::cast(x)); }
37 typename B::DRetDArg parDer(const Arg &x) override { return FromDouble<typename B::DRetDArg>::cast(1); }
38 typename B::DRetDArg parDerDirDer(const Arg &xDir, const Arg &x) override { return FromDouble<typename B::DRetDArg>::cast(0); }
39 };
40
41 }
42
43 #endif
MBSim::ToDouble
Definition: utils.h:61
MBSim::IdentityFunction
Definition: identity_function.h:28
MBSim::FromDouble
Definition: utils.h:89
MBSim::Function
Definition: contact_kinematics.h:32
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30