concepts.hpp

// Copyright (c) Sleipnir contributors
 
#pragma once
 
#include <concepts>
#include <type_traits>
 
#include <Eigen/Core>
 
namespace slp {
 
template <typename T>
concept ScalarLike = requires(std::decay_t<T> t) {
  t + 1.0;
  t = 1.0;
};
 
template <typename T>
concept SleipnirScalarLike = requires(std::decay_t<T> t) {
  t + 1.0;
  t = 1.0;
  { t.value() } -> std::same_as<double>;
};
 
template <typename T>
concept EigenMatrixLike =
    std::derived_from<std::decay_t<T>, Eigen::MatrixBase<std::decay_t<T>>>;
 
template <typename T>
concept SleipnirMatrixLike = requires(std::decay_t<T> t, int rows, int cols) {
  t.rows();
  t.cols();
  { t.value() } -> std::same_as<Eigen::MatrixXd>;
} && !EigenMatrixLike<T>;
 
template <typename T>
concept SleipnirType = SleipnirScalarLike<T> || SleipnirMatrixLike<T>;
 
template <typename T>
concept MatrixLike = SleipnirMatrixLike<T> || EigenMatrixLike<T>;
 
}  // namespace slp