29 #ifndef HPP_CORE_PATH_MATH_HH 30 #define HPP_CORE_PATH_MATH_HH 33 #include <pinocchio/serialization/eigen.hpp> 46 for (
size_type i = 1; i < N; ++i) ret(i) = ret(i - 1) * i;
53 assert(n >= k && k >= 0);
55 size_type denom = factors(k) * factors(n - k);
56 return factors(n) / denom;
63 #endif // HPP_CORE_PATH_MATH_HH Eigen::Matrix< size_type, N, 1 > Factorials_t
Definition: math.hh:40
Definition: bi-rrt-planner.hh:35
pinocchio::size_type size_type
Definition: fwd.hh:173
static const Factorials_t & factorials()
Definition: math.hh:42
static size_type binomial(size_type n, size_type k)
Definition: math.hh:51