Add rescale

SimoxUtility/CMakeLists.txt

@@ -166,6 +166,7 @@ SET(INCLUDES
     math/normal/normal_to_mat4.h
 
     math/SoftMinMax.h
+    math/rescale.h
 
     meta/eigen/enable_if_compile_time_size.h
     meta/eigen/is_eigen_matrix.h

SimoxUtility/math.h

@@ -9,3 +9,4 @@
 #include "math/periodic.h"
 #include "math/periodic_clamp.h"
 #include "math/pose.h"
+#include "math/rescale.h"

SimoxUtility/math/rescale.h

+#pragma once
+
+#include <type_traits>
+
+
+namespace simox::math
+{
+
+    template <class Float,
+              std::enable_if_t<std::is_floating_point_v<Float>, int> = 0>
+    inline
+    /// Rescale a scalar `value` from interval `[from_lo, from_hi]` to `[to_lo, to_hi]`.
+    Float rescale(Float value, Float from_lo, Float from_hi, Float to_lo, Float to_hi)
+    {
+        // value: [from_lo, from_hi]
+        Float norm = (value - from_lo) / (from_hi - from_lo);  // [0, 1]
+        return norm * (to_hi - to_lo) + to_lo;  // [to_lo, to_hi]
+    }
+
+}
+