sincos.hpp

//
// Copyright (c) 2015-2020 CNRS INRIA
// Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
//

#ifndef __pinocchio_math_sincos_hpp__
#define __pinocchio_math_sincos_hpp__

#include <cmath>

namespace pinocchio
{
 // Forward declaration
 template<typename S1, typename S2 = S1, typename S3 = S1>
 struct SINCOSAlgo;

 template<typename S1, typename S2, typename S3>
 void SINCOS(const S1 & a, S2 * sa, S3 * ca)
 {
 SINCOSAlgo<S1, S2, S3>::run(a, sa, ca);
 }

 template<typename S1, typename S2, typename S3>
 struct SINCOSAlgo
 {
 static void run(const S1 & a, S2 * sa, S3 * ca)
 {
 using std::cos;
 using std::sin;
 (*sa) = sin(a);
 (*ca) = cos(a);
 }
 };

 template<>
 struct SINCOSAlgo<double>
 {
 static void run(const double & a, double * sa, double * ca)
 {
#ifdef __linux__
 sincos(a, sa, ca);
#elif __APPLE__
 __sincos(a, sa, ca);
#else // if sincos specialization does not exist
 (*sa) = std::sin(a);
 (*ca) = std::cos(a);
#endif
 }
 };

 template<>
 struct SINCOSAlgo<float>
 {
 static void run(const float & a, float * sa, float * ca)
 {
#ifdef __linux__
 sincosf(a, sa, ca);
#elif __APPLE__
 __sincosf(a, sa, ca);
#else // if sincosf specialization does not exist
 (*sa) = std::sin(a);
 (*ca) = std::cos(a);
#endif
 }
 };

 template<>
 struct SINCOSAlgo<long double>
 {
 static void run(const long double & a, long double * sa, long double * ca)
 {
#ifdef __linux__
 sincosl(a, sa, ca);
#else // if sincosl specialization does not exist
 (*sa) = std::sin(a);
 (*ca) = std::cos(a);
#endif
 }
 };

} // namespace pinocchio

#endif // #ifndef __pinocchio_math_sincos_hpp__