codac2_TrajBase_impl.h

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#pragma once
 
namespace codac2
{
  template<typename T>
  auto TrajBase<T>::nan_value() const
  {
    if constexpr(std::is_same_v<T,double> || std::is_same_v<typename ExprType<T>::Type,ScalarType>)
      return std::numeric_limits<double>::quiet_NaN();
 
    else
      return T((*this)(tdomain().lb())) // we obtain the output dimension by an evalution...
        .init(std::numeric_limits<double>::quiet_NaN());
  }
 
  template<typename T>
  SampledTraj<T> TrajBase<T>::sampled(double dt) const
  {
    assert_release(dt > 0.);
    assert_release(!is_empty());
 
    auto tdom = tdomain();
    SampledTraj<T> straj;
    for(double t = tdom.lb() ; t < tdom.ub() ; t+=dt)
      straj.set((*this)(t), t);
    straj.set((*this)(tdom.ub()), tdom.ub());
    return straj;
  }
 
  template<typename T>
  template<typename Q>
  SampledTraj<T> TrajBase<T>::sampled_as(const SampledTraj<Q>& x) const
  {
    assert_release(x.tdomain().is_subset(this->tdomain()));
    
    SampledTraj<T> straj;
    for(const auto& [ti,dump] : x)
      straj.set((*this)(ti), ti);
    return straj;
  }
 
  template<typename T>
  SampledTraj<T> TrajBase<T>::primitive(double dt) const
  {
    assert_release(dt > 0.);
    assert_release(!is_empty());
 
    T s = [this]() {
      if constexpr(std::is_same_v<T,double>)
        return 0.;
      else
        return T((*this)(this->tdomain().lb())).init(0.);
    }();
 
    SampledTraj<T> p;
    double t = tdomain().lb(), last_t = t;
    p.set(s, t); t += dt;
 
    while(t < tdomain().ub())
    {
      s += ((*this)(last_t)+(*this)(t))*dt/2.;
      p.set(s, t);
      last_t = t;
      t += dt;
    }
 
    t = tdomain().ub();
    s += ((*this)(last_t)+(*this)(t))*(t-last_t)/2.;
    p.set(s, t);
 
    return p;
  }
}