5 #ifndef __pinocchio_math_fwd_hpp__
6 #define __pinocchio_math_fwd_hpp__
8 #include "pinocchio/fwd.hpp"
10 #include <boost/math/constants/constants.hpp>
19 template<
typename Scalar>
21 {
return boost::math::constants::pi<Scalar>(); }
29 #define PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(name) \
30 template<typename Scalar> \
31 Scalar name(const Scalar & value) \
32 { using std::name; return name(value); }
34 #define PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(name) \
37 template<typename T1, typename T2> \
38 struct return_type_##name \
42 template<typename T1, typename T2> \
45 static inline typename return_type_##name<T1,T2>::type \
46 run(const T1 & a, const T2 & b) \
47 { using std::name; return name(a,b); } \
50 template<typename T1, typename T2> \
51 inline typename internal::return_type_##name<T1,T2>::type name(const T1 & a, const T2 & b) \
52 { return internal::call_##name<T1,T2>::run(a,b); }
54 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(fabs)
55 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sqrt)
56 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(atan)
57 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(acos)
58 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(asin)
59 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(cos)
60 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sin)
62 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(pow)
63 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(min)
64 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(max)
65 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(atan2)
69 #endif //#ifndef __pinocchio_math_fwd_hpp__