| Directory: | ./ |
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| File: | include/hpp/core/path/math.hh |
| Date: | 2024-12-13 16:14:03 |
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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 | 27263228 | static inline const Factorials_t& factorials() { | |
| 43 |
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27263228 | static Factorials_t ret(Factorials_t::Zero()); |
| 44 |
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27263228 | 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 | 27270944 | return ret; | |
| 49 | } | ||
| 50 | |||
| 51 | 13617483 | static inline size_type binomial(size_type n, size_type k) { | |
| 52 | 13617483 | const Factorials_t& factors = factorials(); | |
| 53 | 13620641 | assert(n >= k && k >= 0); | |
| 54 | 13620889 | assert(n < N); | |
| 55 | 13620889 | size_type denom = factors(k) * factors(n - k); | |
| 56 | 13619868 | return factors(n) / denom; | |
| 57 | } | ||
| 58 | }; | ||
| 59 | } // namespace path | ||
| 60 | } // namespace core | ||
| 61 | } // namespace hpp | ||
| 62 | |||
| 63 | #endif // HPP_CORE_PATH_MATH_HH | ||
| 64 |