clamp.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#pragma once

#include <mc_rtc/logging.h>

namespace utils
{

inline double clamp(double v, double vMin, double vMax)
{
  if(v > vMax)
  {
    return vMax;
  }
  else if(v < vMin)
  {
    return vMin;
  }
  else
  {
    return v;
  }
}

inline void clampInPlace(double & v, double vMin, double vMax)
{
  if(v > vMax)
  {
    v = vMax;
  }
  else if(v < vMin)
  {
    v = vMin;
  }
}

inline double clamp(double v, double vMin, double vMax, const char * label)
{
  if(v > vMax)
  {
    LOG_WARNING(label << " clamped to " << vMax);
    return vMax;
  }
  else if(v < vMin)
  {
    LOG_WARNING(label << " clamped to " << vMin);
    return vMin;
  }
  else
  {
    return v;
  }
}

inline void clampInPlace(double & v, double vMin, double vMax, const char * label)
{
  if(v > vMax)
  {
    LOG_WARNING(label << " clamped to " << vMax);
    v = vMax;
  }
  else if(v < vMin)
  {
    LOG_WARNING(label << " clamped to " << vMin);
    v = vMin;
  }
}

} // namespace utils

using utils::clamp;
using utils::clampInPlace;