pinocchio  2.4.4
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
taylor-expansion.hpp
1 //
2 // Copyright (c) 2018-2019 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  {
29  template<int degree>
30  static Scalar precision()
31  {
32  static Scalar value = math::pow(std::numeric_limits<Scalar>::epsilon(),Scalar(1)/Scalar(degree+1));
33  return value;
34  }
35  }; // struct TaylorSeriesExpansion
36 
37 }
38 
39 #endif // ifndef __pinocchio_math_taylor_expansion_hpp__
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:30
pinocchio
Main pinocchio namespace.
Definition: treeview.dox:24