multiprecision-mpfr.hpp

//
// Copyright (c) 2020 INRIA
//
 
#ifndef __pinocchio_math_mutliprecision_mpfr_hpp__
#define __pinocchio_math_mutliprecision_mpfr_hpp__
 
#include "pinocchio/math/multiprecision.hpp"
#include "pinocchio/math/sincos.hpp"
 
#include <boost/serialization/nvp.hpp>
#include <boost/multiprecision/mpfr.hpp>
 
namespace pinocchio
{
template <
    unsigned S_digits10, boost::multiprecision::mpfr_allocation_type S_alloc,
    boost::multiprecision::expression_template_option S_et, unsigned C_digits10,
    boost::multiprecision::mpfr_allocation_type C_alloc,
    boost::multiprecision::expression_template_option C_et, unsigned X_digits10,
    boost::multiprecision::mpfr_allocation_type X_alloc,
    boost::multiprecision::expression_template_option X_et>
struct SINCOSAlgo<
    boost::multiprecision::number<
        boost::multiprecision::mpfr_float_backend<X_digits10, X_alloc>, X_et>,
    boost::multiprecision::number<
        boost::multiprecision::mpfr_float_backend<S_digits10, S_alloc>, S_et>,
    boost::multiprecision::number<
        boost::multiprecision::mpfr_float_backend<C_digits10, C_alloc>, C_et>>
{
  static void run(
      boost::multiprecision::number<
          boost::multiprecision::mpfr_float_backend<X_digits10, X_alloc>,
          X_et> const& a,
      boost::multiprecision::number<
          boost::multiprecision::mpfr_float_backend<S_digits10, S_alloc>, S_et>*
          sa,
      boost::multiprecision::number<
          boost::multiprecision::mpfr_float_backend<C_digits10, C_alloc>, C_et>*
          ca)
  {
    mpfr_srcptr x_mpfr((a.backend().data()));
    mpfr_ptr s_mpfr(sa->backend().data());
    mpfr_ptr c_mpfr(ca->backend().data());
    mpfr_sin_cos(s_mpfr, c_mpfr, x_mpfr, MPFR_RNDN);
  }
};
}  // namespace pinocchio
 
#endif  // ifndef __pinocchio_math_mutliprecision_hpp__