.. _program_listing_file_include_ruckig_utils.hpp:

Program Listing for File utils.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ruckig_utils.hpp>` (``include/ruckig/utils.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <array>
   #include <iomanip>
   #include <sstream>
   #include <string>
   #include <tuple>
   #include <type_traits>
   #include <vector>
   
   
   namespace ruckig {
   
   constexpr static size_t DynamicDOFs {0};
   
   
   template<class T, size_t DOFs> using StandardVector = typename std::conditional<DOFs >= 1, std::array<T, DOFs>, std::vector<T>>::type;
   template<class T, size_t DOFs, size_t SIZE> using StandardSizeVector = typename std::conditional<DOFs >= 1, std::array<T, SIZE>, std::vector<T>>::type;
   
   
   #ifdef EIGEN_VERSION_AT_LEAST
   #if EIGEN_VERSION_AT_LEAST(3,3,7)
       template<class T, size_t DOFs> using EigenVector = typename std::conditional<DOFs >= 1, Eigen::Matrix<T, DOFs, 1>, Eigen::Matrix<T, Eigen::Dynamic, 1>>::type;
   #endif
   #endif
   
   
   template<class Vector>
   inline std::string join(const Vector& array, bool high_precision = false) {
       std::ostringstream ss;
       for (size_t i = 0; i < array.size(); ++i) {
           if (i) ss << ", ";
           if (high_precision) ss << std::setprecision(16);
           ss << array[i];
       }
       return ss.str();
   }
   
   
   inline std::tuple<double, double, double> integrate(double t, double p0, double v0, double a0, double j) {
       return std::make_tuple(
           p0 + t * (v0 + t * (a0 / 2 + t * j / 6)),
           v0 + t * (a0 + t * j / 2),
           a0 + t * j
       );
   }
   
   } // namespace ruckig