| Directory: | ./ |
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| File: | include/pinocchio/math/taylor-expansion.hpp |
| Date: | 2024-08-27 18:20:05 |
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| 1 | // | ||
| 2 | // Copyright (c) 2018-2021 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #ifndef __pinocchio_math_taylor_expansion_hpp__ | ||
| 6 | #define __pinocchio_math_taylor_expansion_hpp__ | ||
| 7 | |||
| 8 | #include "pinocchio/math/fwd.hpp" | ||
| 9 | #include <limits> | ||
| 10 | |||
| 11 | namespace pinocchio | ||
| 12 | { | ||
| 13 | |||
| 14 | /// | ||
| 15 | /// \brief Helper struct to retrieve some useful information for a Taylor series | ||
| 16 | /// expansion according to the a given Scalar type. | ||
| 17 | /// | ||
| 18 | /// \tparam Scalar the Scalar type of the Taylor series expansion. | ||
| 19 | /// | ||
| 20 | template<typename Scalar> | ||
| 21 | struct TaylorSeriesExpansion | ||
| 22 | { | ||
| 23 | /// | ||
| 24 | /// \brief Computes the expected tolerance of the argument of a Taylor series expansion for a | ||
| 25 | /// certain degree | ||
| 26 | /// according to the machine precision of the given input Scalar. | ||
| 27 | /// | ||
| 28 | /// \tparam degree the degree of the Taylor series expansion. | ||
| 29 | /// | ||
| 30 | template<int degree> | ||
| 31 | 6678 | static Scalar precision() | |
| 32 | { | ||
| 33 |
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6678 | static Scalar value = |
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18 | math::pow(std::numeric_limits<Scalar>::epsilon(), Scalar(1) / Scalar(degree + 1)); |
| 35 | 6678 | return value; | |
| 36 | } | ||
| 37 | |||
| 38 | static Scalar precision(const int degree) | ||
| 39 | { | ||
| 40 | return math::pow(std::numeric_limits<Scalar>::epsilon(), Scalar(1) / Scalar(degree + 1)); | ||
| 41 | } | ||
| 42 | }; // struct TaylorSeriesExpansion | ||
| 43 | |||
| 44 | } // namespace pinocchio | ||
| 45 | |||
| 46 | #endif // ifndef __pinocchio_math_taylor_expansion_hpp__ | ||
| 47 |