Commit 5b8792d8 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Make spline convinience function public.

parent 31e64f4c
......@@ -47,6 +47,23 @@ namespace hpp {
typedef typename Spline::Ptr_t SplinePtr_t;
typedef std::vector<SplinePtr_t> Splines_t;
/// \name Spline convinience functions
/// \{
/// Copy a vector of Spline
static void copy (const Splines_t& in, Splines_t& out);
/// Sets the parameters each spline.
/// \todo make this function static (currently, it only needs the
/// robot number dof.
void updateSplines (Splines_t& spline, const vector_t& param) const;
/// Returns res = (1 - alpha) * a + alpha * b
static void interpolate (const Splines_t& a, const Splines_t& b,
const value_type& alpha, Splines_t& res);
/// \}
protected:
SplineGradientBasedAbstract (const Problem& problem);
......@@ -132,23 +149,6 @@ namespace hpp {
PathVectorPtr_t buildPathVector (const Splines_t& splines) const;
/// \name Spline convinience functions
/// \{
/// Copy a vector of Spline
static void copy (const Splines_t& in, Splines_t& out);
/// Sets the parameters each spline.
/// \todo make this function static (currently, it only needs the
/// robot number dof.
void updateSplines (Splines_t& spline, const vector_t& param) const;
/// Returns res = (1 - alpha) * a + alpha * b
static void interpolate (const Splines_t& a, const Splines_t& b,
const value_type& alpha, Splines_t& res);
/// \}
DevicePtr_t robot_;
private:
......
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