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Thirdparty/Pangolin/include/pangolin/utils/compontent_cast.h

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+#pragma once
+
+#include <pangolin/platform.h>
+
+#ifdef HAVE_EIGEN
+#  include <Eigen/Core>
+#endif
+
+namespace pangolin
+{
+
+// Scalar / Vector agnostic static_cast-like thing
+//
+// e.g. Promote float to double:
+//   ComponentCast<double,float>::cast(0.14f);
+//
+// e.g. Promote Eigen::Vector2f to Eigen::Vector2d:
+//   ComponentCast<Eigen::Vector2d,Eigen::Vector2f>::cast(Eigen::Vector2f(0.1,0.2);
+
+template <typename To, typename From>
+struct ComponentCast
+{
+    PANGO_HOST_DEVICE
+    static To cast(const From& val)
+    {
+        return static_cast<To>(val);
+    }
+};
+
+#ifdef HAVE_EIGEN
+template <typename To, typename FromDerived>
+struct ComponentCast<To, Eigen::MatrixBase<FromDerived> >
+{
+    PANGO_HOST_DEVICE
+    static To cast(const Eigen::MatrixBase<FromDerived>& val)
+    {
+        return val.template cast<typename To::Scalar>();
+    }
+};
+#endif
+
+}