hpp-core: include/hpp/core/path/math.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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math.hh
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1// Copyright (c) 2017, Joseph Mirabel
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_CORE_PATH_MATH_HH
30#define HPP_CORE_PATH_MATH_HH
31
32#include <hpp/core/fwd.hh>
33#include <pinocchio/serialization/eigen.hpp>
34
35namespace hpp {
36namespace core {
37namespace path {
38template <int N>
39 struct binomials {
40 typedef Eigen::Matrix<size_type, N, 1> Factorials_t;
41
42 static inline const Factorials_t& factorials() {
43 static Factorials_t ret(Factorials_t::Zero());
44 if (ret(0) == 0) {
45 ret(0) = 1;
46 for (size_type i = 1; i < N; ++i) ret(i) = ret(i - 1) * i;
47 }
48 return ret;
49 }
50
51 static inline size_type binomial(size_type n, size_type k) {
52 const Factorials_t& factors = factorials();
53 assert(n >= k && k >= 0);
54 assert(n < N);
55 size_type denom = factors(k) * factors(n - k);
56 return factors(n) / denom;
57 }
58};
59} // namespace path
60} // namespace core
61} // namespace hpp
62
63#endif // HPP_CORE_PATH_MATH_HH
fwd.hh
hpp
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::path::binomials
Definition math.hh:39
hpp::core::path::binomials::factorials
static const Factorials_t & factorials()
Definition math.hh:42
hpp::core::path::binomials::binomial
static size_type binomial(size_type n, size_type k)
Definition math.hh:51
hpp::core::path::binomials::Factorials_t
Eigen::Matrix< size_type, N, 1 > Factorials_t
Definition math.hh:40