5 #ifndef __pinocchio_math_fwd_hpp__
6 #define __pinocchio_math_fwd_hpp__
8 #include "pinocchio/fwd.hpp"
10 #include <boost/math/constants/constants.hpp>
25 template<
typename Scalar>
27 {
return boost::math::constants::pi<Scalar>(); }
35 #define PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(name) \
36 template<typename Scalar> \
37 Scalar name(const Scalar & value) \
38 { using std::name; return name(value); }
40 #define PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(name) \
43 template<typename T1, typename T2> \
44 struct return_type_##name \
48 template<typename T1, typename T2> \
51 static inline typename return_type_##name<T1,T2>::type \
52 run(const T1 & a, const T2 & b) \
53 { using std::name; return name(a,b); } \
56 template<typename T1, typename T2> \
57 inline typename internal::return_type_##name<T1,T2>::type name(const T1 & a, const T2 & b) \
58 { return internal::call_##name<T1,T2>::run(a,b); }
60 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(fabs)
61 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sqrt)
62 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(atan)
63 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(acos)
64 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(asin)
65 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(cos)
66 PINOCCHIO_OVERLOAD_MATH_UNARY_OPERATOR(sin)
68 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(pow)
69 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(min)
70 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(max)
71 PINOCCHIO_OVERLOAD_MATH_BINARY_OPERATOR(atan2)
75 #endif //#ifndef __pinocchio_math_fwd_hpp__