taylor-expansion.hpp

//
// Copyright (c) 2018-2019 INRIA
//
 
#ifndef __pinocchio_math_taylor_expansion_hpp__
#define __pinocchio_math_taylor_expansion_hpp__
 
#include "pinocchio/math/fwd.hpp"
#include <limits>
 
namespace pinocchio
{
  
  template<typename Scalar>
  struct TaylorSeriesExpansion
  {
    template<int degree>
    static Scalar precision()
    {
      static Scalar value = math::pow(std::numeric_limits<Scalar>::epsilon(),Scalar(1)/Scalar(degree+1));
      return value;
    }
  }; // struct TaylorSeriesExpansion
 
}
 
#endif // ifndef __pinocchio_math_taylor_expansion_hpp__