taylor-expansion.hpp

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//
// Copyright (c) 2018-2021 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;
    }
 
    static Scalar precision(const int degree)
    {
      return math::pow(std::numeric_limits<Scalar>::epsilon(), Scalar(1) / Scalar(degree + 1));
    }
  }; // struct TaylorSeriesExpansion
 
} // namespace pinocchio
 
#endif // ifndef __pinocchio_math_taylor_expansion_hpp__