Program Listing for File taylor-expansion.hpp
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//
// 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__