From 609df779f5f65c98696616d5068988893d130447 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Vladim=C3=ADr=20Vondru=C5=A1?= <mosra@centrum.cz>
Date: Sat, 24 Oct 2015 23:55:38 +0200
Subject: [PATCH] Math: added sincos() for Dual numbers.

Calculating sin of Dual number involves also calculating the cos value,
thus a helper function is in order.
---
 src/Magnum/Math/Dual.h            | 27 +++++++++++++++++++++++++++
 src/Magnum/Math/Functions.h       |  2 +-
 src/Magnum/Math/Test/DualTest.cpp | 29 +++++++++++++++++++++++++++++
 3 files changed, 57 insertions(+), 1 deletion(-)

diff --git a/src/Magnum/Math/Dual.h b/src/Magnum/Math/Dual.h
index feb48b08d..5000d2fa6 100644
--- a/src/Magnum/Math/Dual.h
+++ b/src/Magnum/Math/Dual.h
@@ -32,6 +32,7 @@
 #include <cmath>
 #include <Corrade/Utility/Debug.h>
 
+#include "Magnum/Math/Angle.h"
 #include "Magnum/Math/Tags.h"
 #include "Magnum/Math/TypeTraits.h"
 
@@ -322,6 +323,32 @@ template<class T> Dual<T> sqrt(const Dual<T>& dual) {
     return {sqrt0, dual.dual()/(2*sqrt0)};
 }
 
+/** @relatesalso Dual
+@brief Sine and cosine of dual angle
+
+@f[
+\begin{array}{rcl}
+    sin(\hat a) & = & sin(a_0) + \epsilon a_\epsilon cos(a_0) \\
+    cos(\hat a) & = & cos(a_0) - \epsilon a_\epsilon sin(a_0)
+\end{array}
+@f]
+@see @ref sincos(Rad<T>)
+*/
+/* The function accepts Unit instead of Rad to make it working with operator
+   products (e.g. 2*35.0_degf, which is of type Unit) */
+template<class T> std::pair<Dual<T>, Dual<T>> sincos(const Dual<Rad<T>>& angle)
+{
+    /* Not using Math::sincos(), because I don't want to include Functions.h */
+    const T sin = std::sin(T(angle.real()));
+    const T cos = std::cos(T(angle.real()));
+    return {{sin, T(angle.dual())*cos}, {cos, -T(angle.dual())*sin}};
+}
+#ifndef DOXYGEN_GENERATING_OUTPUT
+template<class T> std::pair<Dual<T>, Dual<T>> sincos(const Dual<Deg<T>>& angle) { return sincos(Dual<Rad<T>>(angle)); }
+template<class T> std::pair<Dual<T>, Dual<T>> sincos(const Dual<Unit<Rad, T>>& angle) { return sincos(Dual<Rad<T>>(angle)); }
+template<class T> std::pair<Dual<T>, Dual<T>> sincos(const Dual<Unit<Deg, T>>& angle) { return sincos(Dual<Rad<T>>(angle)); }
+#endif
+
 }}
 
 #endif
diff --git a/src/Magnum/Math/Functions.h b/src/Magnum/Math/Functions.h
index e570f3bfa..3c70d30f7 100644
--- a/src/Magnum/Math/Functions.h
+++ b/src/Magnum/Math/Functions.h
@@ -132,7 +132,7 @@ template<class T> inline T cos(Unit<Deg, T> angle) { return cos(Rad<T>(angle));
 @brief Sine and cosine
 
 On some architectures might be faster than doing both computations separately.
-@see @ref sin(), @ref cos()
+@see @ref sin(), @ref cos(), @ref sincos(const Dual<Rad<T>>&)
 */
 #ifdef DOXYGEN_GENERATING_OUTPUT
 template<class T> inline std::pair<T, T> sincos(Rad<T> angle);
diff --git a/src/Magnum/Math/Test/DualTest.cpp b/src/Magnum/Math/Test/DualTest.cpp
index cff84eca2..a2bb6ca76 100644
--- a/src/Magnum/Math/Test/DualTest.cpp
+++ b/src/Magnum/Math/Test/DualTest.cpp
@@ -51,6 +51,9 @@ struct DualTest: Corrade::TestSuite::Tester {
     void conjugated();
     void sqrt();
 
+    void sincos();
+    void sincosWithBase();
+
     void subclassTypes();
     void subclass();
 
@@ -60,6 +63,9 @@ struct DualTest: Corrade::TestSuite::Tester {
 typedef Math::Dual<Float> Dual;
 typedef Math::Vector2<Float> Vector2;
 typedef Math::Dual<Vector2> DualVector2;
+typedef Math::Deg<Float> Deg;
+typedef Math::Rad<Float> Rad;
+typedef Math::Constants<Float> Constants;
 
 DualTest::DualTest() {
     addTests({&DualTest::construct,
@@ -79,6 +85,9 @@ DualTest::DualTest() {
               &DualTest::conjugated,
               &DualTest::sqrt,
 
+              &DualTest::sincos,
+              &DualTest::sincosWithBase,
+
               &DualTest::subclassTypes,
               &DualTest::subclass,
 
@@ -188,6 +197,26 @@ void DualTest::sqrt() {
     CORRADE_COMPARE(Math::sqrt(Dual(16.0f, 2.0f)), Dual(4.0f, 0.25f));
 }
 
+void DualTest::sincos() {
+    const auto result = std::make_pair(
+        Dual(0.5f, 0.8660254037844386f*Constants::pi()/2),
+        Dual(0.8660254037844386f, -0.5f*Constants::pi()/2));
+    CORRADE_COMPARE(Math::sincos(Math::Dual<Deg>(30.0_degf, 90.0_degf)), result);
+    CORRADE_COMPARE(Math::sincos(Math::Dual<Rad>(Rad(Constants::pi()/6), Rad(Constants::pi()/2))), result);
+}
+
+void DualTest::sincosWithBase() {
+    /* Verify that the functions can be called with Dual<Unit<Deg, T>> and Dual<Unit<Rad, T>> */
+    CORRADE_VERIFY((std::is_same<decltype(2*Math::Dual<Deg>{15.0_degf}), Math::Dual<Unit<Math::Deg, Float>>>::value));
+    CORRADE_VERIFY((std::is_same<decltype(2*Math::Dual<Rad>{Rad{Constants::pi()/12}}), Math::Dual<Unit<Math::Rad, Float>>>::value));
+
+    const auto result = std::make_pair(
+        Dual(0.5f, 0.8660254037844386f*Constants::pi()/2),
+        Dual(0.8660254037844386f, -0.5f*Constants::pi()/2));
+    CORRADE_COMPARE(Math::sincos(2*Math::Dual<Deg>(15.0_degf, 45.0_degf)), result);
+    CORRADE_COMPARE(Math::sincos(2*Math::Dual<Rad>(Rad(Constants::pi()/12), Rad(Constants::pi()/4))), result);
+}
+
 namespace {
 
 template<class T> class BasicDualVec2: public Math::Dual<Math::Vector2<T>> {