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// Copyright (c) 2018-2019 INRIA |
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#ifndef __pinocchio_math_taylor_expansion_hpp__ |
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#define __pinocchio_math_taylor_expansion_hpp__ |
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#include "pinocchio/math/fwd.hpp" |
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#include <limits> |
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namespace pinocchio |
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{ |
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/// |
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/// \brief Helper struct to retrieve some useful information for a Taylor series |
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/// expansion according to the a given Scalar type. |
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/// |
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/// \tparam Scalar the Scalar type of the Taylor series expansion. |
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/// |
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template<typename Scalar> |
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struct TaylorSeriesExpansion |
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{ |
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/// |
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/// \brief Computes the expected tolerance of the argument of a Taylor series expansion for a certain degree |
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/// according to the machine precision of the given input Scalar. |
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/// |
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/// \tparam degree the degree of the Taylor series expansion. |
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/// |
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template<int degree> |
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static Scalar precision() |
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{ |
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static Scalar value = math::pow(std::numeric_limits<Scalar>::epsilon(),Scalar(1)/Scalar(degree+1)); |
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return value; |
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} |
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}; // struct TaylorSeriesExpansion |
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} |
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#endif // ifndef __pinocchio_math_taylor_expansion_hpp__ |