pinocchio  3.3.0
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
taylor-expansion.hpp
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 
20  template<typename Scalar>
21  struct TaylorSeriesExpansion
22  {
30  template<int degree>
31  static Scalar precision()
32  {
33  static Scalar value =
34  math::pow(std::numeric_limits<Scalar>::epsilon(), Scalar(1) / Scalar(degree + 1));
35  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__
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:11
pinocchio::TaylorSeriesExpansion::precision
static Scalar precision()
Computes the expected tolerance of the argument of a Taylor series expansion for a certain degree acc...
Definition: taylor-expansion.hpp:31