Directory: | ./ |
---|---|
File: | include/pinocchio/math/taylor-expansion.hpp |
Date: | 2024-08-27 18:20:05 |
Exec | Total | Coverage | |
---|---|---|---|
Lines: | 4 | 4 | 100.0% |
Branches: | 4 | 8 | 50.0% |
Line | Branch | Exec | Source |
---|---|---|---|
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 |
3/6✓ Branch 0 taken 2 times.
✓ Branch 1 taken 18 times.
✓ Branch 3 taken 2 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✗ Branch 6 not taken.
|
6678 | static Scalar value = |
34 |
1/2✓ Branch 2 taken 2 times.
✗ Branch 3 not taken.
|
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 |