17 #ifndef HPP_CORE_PATH_MATH_HH 18 #define HPP_CORE_PATH_MATH_HH 31 for (
size_type i = 1; i < N; ++i) ret(i) = ret(i-1) * i;
39 assert (n >= k && k >= 0);
41 size_type denom = factors(k) * factors(n - k);
42 return factors (n) / denom;
49 #endif // HPP_CORE_PATH_MATH_HH Eigen::Matrix< size_type, N, 1 > Factorials_t
Definition: math.hh:24
Definition: bi-rrt-planner.hh:24
pinocchio::size_type size_type
Definition: fwd.hh:156
static const Factorials_t & factorials()
Definition: math.hh:26
static size_type binomial(size_type n, size_type k)
Definition: math.hh:36