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__