diff --git a/include/hpp/bezier-com-traj/utils.hh b/include/hpp/bezier-com-traj/utils.hh
index 9c20d04791d208407baf141cfb64713748627b7d..94ec4230597eb7c6e398f42b55222926b76cb04f 100644
--- a/include/hpp/bezier-com-traj/utils.hh
+++ b/include/hpp/bezier-com-traj/utils.hh
@@ -141,7 +141,7 @@ Bezier bezier_com_traj::computeBezierCurve(const ConstraintFlag& flag, const dou
i++;
}
}
- return Bezier(wps.begin(), wps.end(), T);
+ return Bezier(wps.begin(), wps.end(), 0.,T);
}
#endif
diff --git a/src/computeCOMTraj.cpp b/src/computeCOMTraj.cpp
index da5036f3ec785b8ba4017ba6d1b0036166e90b0e..08fed94e0d8e65021b9f778e56049df574d4d5af 100644
--- a/src/computeCOMTraj.cpp
+++ b/src/computeCOMTraj.cpp
@@ -354,9 +354,9 @@ std::pair<MatrixXX, VectorX> computeConstraintsContinuous(const ProblemData& pDa
// create the curves for c and w with symbolic waypoints (ie. depend on y)
bezier_wp_t::t_point_t wps_c = computeConstantWaypointsSymbolic(pData, T);
bezier_wp_t::t_point_t wps_w = computeWwaypoints(pData, T);
- bezier_wp_t c(wps_c.begin(), wps_c.end(), T);
+ bezier_wp_t c(wps_c.begin(), wps_c.end(),0., T);
bezier_wp_t ddc = c.compute_derivate(2);
- bezier_wp_t w(wps_w.begin(), wps_w.end(), T);
+ bezier_wp_t w(wps_w.begin(), wps_w.end(),0., T);
// for each splitted curves : add the constraints for each waypoints
const long int num_ineq = computeNumIneqContinuous(pData, Ts, (int)c.degree_, (int)w.degree_, useDD);
diff --git a/src/solve_0_step.cpp b/src/solve_0_step.cpp
index 423667eec6e520fd3bb482084aebf254ea0b62a2..77a43227c2efde068f7c7cc54ca692ff40020c49 100644
--- a/src/solve_0_step.cpp
+++ b/src/solve_0_step.cpp
@@ -196,7 +196,7 @@ void computeC_of_T(const ProblemData& pData, const std::vector<double>& Ts, Resu
wps.push_back(pData.dc0_ * Ts[0] / 3 + pData.c0_);
wps.push_back(res.x.head(3));
wps.push_back(res.x.head(3));
- res.c_of_t_ = bezier_t(wps.begin(), wps.end(), Ts[0]);
+ res.c_of_t_ = bezier_t(wps.begin(), wps.end(),0., Ts[0]);
}
void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, ResultDataCOMTraj& res) {
@@ -205,7 +205,7 @@ void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, Res
wps.push_back(3 * (res.x.tail(3) - pData.l0_));
wps.push_back(3 * (-res.x.tail(3)));
wps.push_back(Vector3::Zero());
- res.dL_of_t_ = bezier_t(wps.begin(), wps.end(), Ts[0], 1. / Ts[0]);
+ res.dL_of_t_ = bezier_t(wps.begin(), wps.end(),0.,Ts[0], 1. / Ts[0]);
} else
res.dL_of_t_ = bezier_t::zero(3,Ts[0]);
}
diff --git a/tests/test-bezier-symbolic.cpp b/tests/test-bezier-symbolic.cpp
index 88beaa9948c935283f0022fce3b32612294b46f5..94c3d875d5652e9265a24586bbb4afc03d309181 100644
--- a/tests/test-bezier-symbolic.cpp
+++ b/tests/test-bezier-symbolic.cpp
@@ -70,8 +70,8 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_c) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(), T);
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_t c(pts.begin(), pts.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
double t = 0.;
while (t < T) {
@@ -86,9 +86,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_dc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(), T);
+ bezier_t c(pts.begin(), pts.end(),0., T);
bezier_t dc = c.compute_derivate(1);
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
bezier_wp_t dc_sym = c_sym.compute_derivate(1);
double t = 0.;
@@ -104,9 +104,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_ddc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(), T);
+ bezier_t c(pts.begin(), pts.end(),0., T);
bezier_t ddc = c.compute_derivate(2);
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
bezier_wp_t ddc_sym = c_sym.compute_derivate(2);
double t = 0.;
@@ -122,9 +122,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_jc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(), T);
+ bezier_t c(pts.begin(), pts.end(),0., T);
bezier_t jc = c.compute_derivate(3);
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
bezier_wp_t jc_sym = c_sym.compute_derivate(3);
double t = 0.;
@@ -140,8 +140,8 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(), T);
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_t c(pts.begin(), pts.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
double a, b, t, t1, t2;
for (size_t i = 0; i < 100; ++i) {
@@ -169,7 +169,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c_bench) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_wp_t c_sym(wps.begin(), wps.end(), T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
std::vector<double> values;
for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
@@ -190,7 +190,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w) {
bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
point_t y(1, 0.2, 4.5);
- bezier_wp_t w(wps.begin(), wps.end(), T);
+ bezier_wp_t w(wps.begin(), wps.end(),0., T);
double a, b, t, t1, t2;
for (size_t i = 0; i < 100; ++i) {
@@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w_bench) {
bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
point_t y(1, 0.2, 4.5);
- bezier_wp_t w(wps.begin(), wps.end(), T);
+ bezier_wp_t w(wps.begin(), wps.end(),0., T);
std::vector<double> values;
for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);