Directory: | ./ |
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File: | include/hpp/core/path/math.hh |
Date: | 2024-08-10 11:29:48 |
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1 | // Copyright (c) 2017, Joseph Mirabel | ||
2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
3 | // | ||
4 | |||
5 | // Redistribution and use in source and binary forms, with or without | ||
6 | // modification, are permitted provided that the following conditions are | ||
7 | // met: | ||
8 | // | ||
9 | // 1. Redistributions of source code must retain the above copyright | ||
10 | // notice, this list of conditions and the following disclaimer. | ||
11 | // | ||
12 | // 2. Redistributions in binary form must reproduce the above copyright | ||
13 | // notice, this list of conditions and the following disclaimer in the | ||
14 | // documentation and/or other materials provided with the distribution. | ||
15 | // | ||
16 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
17 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
18 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
19 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
20 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
21 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
22 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
23 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
24 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
25 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
26 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
27 | // DAMAGE. | ||
28 | |||
29 | #ifndef HPP_CORE_PATH_MATH_HH | ||
30 | #define HPP_CORE_PATH_MATH_HH | ||
31 | |||
32 | #include <hpp/core/fwd.hh> | ||
33 | #include <pinocchio/serialization/eigen.hpp> | ||
34 | |||
35 | namespace hpp { | ||
36 | namespace core { | ||
37 | namespace path { | ||
38 | template <int N> | ||
39 | struct binomials { | ||
40 | typedef Eigen::Matrix<size_type, N, 1> Factorials_t; | ||
41 | |||
42 | 26652740 | static inline const Factorials_t& factorials() { | |
43 |
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26652740 | static Factorials_t ret(Factorials_t::Zero()); |
44 |
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26652740 | if (ret(0) == 0) { |
45 | 37 | ret(0) = 1; | |
46 |
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224 | for (size_type i = 1; i < N; ++i) ret(i) = ret(i - 1) * i; |
47 | } | ||
48 | 26650848 | return ret; | |
49 | } | ||
50 | |||
51 | 13311880 | static inline size_type binomial(size_type n, size_type k) { | |
52 | 13311880 | const Factorials_t& factors = factorials(); | |
53 | 13310011 | assert(n >= k && k >= 0); | |
54 | 13310015 | assert(n < N); | |
55 | 13310015 | size_type denom = factors(k) * factors(n - k); | |
56 | 13310369 | return factors(n) / denom; | |
57 | } | ||
58 | }; | ||
59 | } // namespace path | ||
60 | } // namespace core | ||
61 | } // namespace hpp | ||
62 | |||
63 | #endif // HPP_CORE_PATH_MATH_HH | ||
64 |