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// Copyright (c) 2016-2019 CNRS INRIA |
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#ifndef __pinocchio_math_fwd_hpp__ |
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#define __pinocchio_math_fwd_hpp__ |
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#include "pinocchio/fwd.hpp" |
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#include <math.h> |
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#include <boost/math/constants/constants.hpp> |
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#include <boost/type_traits/is_floating_point.hpp> |
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namespace pinocchio |
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{ |
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template <typename T> |
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struct is_floating_point : boost::is_floating_point<T> |
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{ |
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}; |
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/// |
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/// \brief Returns the value of PI according to the template parameters Scalar |
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/// |
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/// \tparam Scalar The scalar type of the return pi value |
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/// |
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template<typename Scalar> |
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22903 |
const Scalar PI() |
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{ return boost::math::constants::pi<Scalar>(); } |
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/// \brief Foward declaration of TaylorSeriesExpansion. |
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template<typename Scalar> struct TaylorSeriesExpansion; |
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namespace math |
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{ |
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#define PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(name) \ |
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template<typename Scalar> \ |
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Scalar name(const Scalar & value) \ |
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{ using std::name; return name(value); } |
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#define PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(name) \ |
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namespace internal \ |
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{ \ |
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template<typename T1, typename T2> \ |
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struct return_type_##name \ |
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{ \ |
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typedef T1 type; \ |
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}; \ |
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template<typename T1, typename T2> \ |
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struct call_##name \ |
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{ \ |
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static inline typename return_type_##name<T1,T2>::type \ |
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run(const T1 & a, const T2 & b) \ |
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{ using std::name; return name(a,b); } \ |
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}; \ |
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} \ |
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template<typename T1, typename T2> \ |
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inline typename internal::return_type_##name<T1,T2>::type name(const T1 & a, const T2 & b) \ |
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{ return internal::call_##name<T1,T2>::run(a,b); } |
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131235 |
PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(fabs) |
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170872 |
PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sqrt) |
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PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(atan) |
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8171 |
PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(acos) |
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PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(asin) |
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PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(cos) |
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6225 |
PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sin) |
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53244 |
PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(pow) |
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PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(min) |
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210848 |
PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(max) |
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14468 |
PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(atan2) |
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} |
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} |
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#endif //#ifndef __pinocchio_math_fwd_hpp__ |