5 #ifndef __pinocchio_math_mutliprecision_hpp__
6 #define __pinocchio_math_mutliprecision_hpp__
8 #include "pinocchio/math/fwd.hpp"
10 #ifndef PINOCCHIO_WITH_CXX11_SUPPORT
11 #error C++11 compiler required.
14 #include <boost/multiprecision/number.hpp>
15 #include <Eigen/Dense>
21 template <
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates,
typename Scalar>
22 struct cast_impl<boost::multiprecision::number<Backend, ExpressionTemplates>,Scalar>
24 #if EIGEN_VERSION_AT_LEAST(3,2,90)
27 static inline Scalar run(
const boost::multiprecision::number<Backend, ExpressionTemplates> & x)
29 return x.template convert_to<Scalar>();
35 #ifndef BOOST_MP_EIGEN_HPP
43 template <
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates>
44 struct NumTraits<boost::multiprecision::number<Backend, ExpressionTemplates> >
46 typedef boost::multiprecision::number<Backend, ExpressionTemplates> self_type;
47 #if BOOST_VERSION / 100 % 1000 >= 68
48 typedef typename boost::multiprecision::scalar_result_from_possible_complex<self_type>::type Real;
50 typedef self_type Real;
52 typedef self_type NonInteger;
53 typedef double Literal;
54 typedef self_type Nested;
57 #if BOOST_VERSION / 100 % 1000 >= 68
58 IsComplex = boost::multiprecision::number_category<self_type>::value == boost::multiprecision::number_kind_complex,
62 IsInteger = boost::multiprecision::number_category<self_type>::value == boost::multiprecision::number_kind_integer,
66 IsSigned = std::numeric_limits<self_type>::is_specialized ? std::numeric_limits<self_type>::is_signed :
true,
67 RequireInitialization = 1
71 return std::numeric_limits<Real>::epsilon();
73 static Real dummy_precision()
75 return 1000 * epsilon();
79 return (std::numeric_limits<Real>::max)();
83 return (std::numeric_limits<Real>::min)();
85 static int digits10_imp(
const boost::mpl::true_&)
87 return std::numeric_limits<Real>::digits10;
90 static int digits10_imp(
const boost::mpl::bool_<B>&)
92 return Real::default_precision();
96 return digits10_imp(boost::mpl::bool_ < std::numeric_limits<Real>::digits10 && (std::numeric_limits<Real>::digits10 != INT_MAX) ?
true :
false > ());
100 template <
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4>
101 struct NumTraits<boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4> > :
public NumTraits<typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type>
105 #if EIGEN_VERSION_AT_LEAST(3,2,93)
106 #define BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(A) \
107 template <class Backend, boost::multiprecision::expression_template_option ExpressionTemplates, typename BinaryOp> \
108 struct ScalarBinaryOpTraits<boost::multiprecision::number<Backend, ExpressionTemplates>, A, BinaryOp> \
111 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType; \
113 template <class Backend, boost::multiprecision::expression_template_option ExpressionTemplates, typename BinaryOp> \
114 struct ScalarBinaryOpTraits<A, boost::multiprecision::number<Backend, ExpressionTemplates>, BinaryOp> \
117 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType; \
120 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
float)
121 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
double)
122 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
long double)
123 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
char)
124 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
unsigned char)
125 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
signed char)
126 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
short)
127 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
unsigned short)
128 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
int)
129 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
unsigned int)
130 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
long)
131 BOOST_MP_EIGEN_SCALAR_TRAITS_DECL(
unsigned long)
133 template <
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates,
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4,
typename BinaryOp>
134 struct ScalarBinaryOpTraits<boost::multiprecision::number<Backend, ExpressionTemplates>, boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>, BinaryOp>
136 static_assert(boost::is_convertible<
typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type, boost::multiprecision::number<Backend, ExpressionTemplates> >::value,
"Interoperability with this arithmetic type is not supported.");
137 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType;
140 template <
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4,
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates,
typename BinaryOp>
141 struct ScalarBinaryOpTraits<boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>, boost::multiprecision::number<Backend, ExpressionTemplates>, BinaryOp>
143 static_assert(boost::is_convertible<
typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type, boost::multiprecision::number<Backend, ExpressionTemplates> >::value,
"Interoperability with this arithmetic type is not supported.");
144 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType;
151 template <
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates,
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4>
152 struct scalar_product_traits<boost::multiprecision::number<Backend, ExpressionTemplates>, boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4> >
154 static_assert(boost::is_convertible<
typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type, boost::multiprecision::number<Backend, ExpressionTemplates> >::value,
"Interoperability with this arithmetic type is not supported.");
155 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType;
158 template <
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4,
class Backend, boost::multiprecision::expression_
template_option ExpressionTemplates>
159 struct scalar_product_traits<boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>, boost::multiprecision::number<Backend, ExpressionTemplates> >
161 static_assert(boost::is_convertible<
typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type, boost::multiprecision::number<Backend, ExpressionTemplates> >::value,
"Interoperability with this arithmetic type is not supported.");
162 typedef boost::multiprecision::number<Backend, ExpressionTemplates> ReturnType;
165 template <
typename Scalar>
168 template <
typename Scalar,
bool IsComplex>
171 template <
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4>
172 struct conj_retval<boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4> >
174 typedef typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type type;
177 template <
class tag,
class Arg1,
class Arg2,
class Arg3,
class Arg4>
178 struct conj_impl<boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>, true>
180 #if EIGEN_VERSION_AT_LEAST(3,2,90)
183 static inline typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>::result_type run(
const typename boost::multiprecision::detail::expression<tag, Arg1, Arg2, Arg3, Arg4>& x)
193 #endif // ifndef BOOST_MP_EIGEN_HPP
195 #endif // ifndef __pinocchio_math_mutliprecision_hpp__