Commit 65a65b89 authored by Joseph Mirabel's avatar Joseph Mirabel Committed by Joseph Mirabel
Browse files

Fix constness issue in path::Spline

parent a61769d2
......@@ -100,12 +100,12 @@ namespace hpp {
/// Returns \f$ \int S^{(k)}(t)^T \times S^{(k)}(t) dt \f$
///
/// where k is the argument
value_type squaredNormIntegral (const size_type order);
value_type squaredNormIntegral (const size_type order) const;
/// Returns the derivative of \ref squaredNormIntegral wrt the parameters.
///
/// \f[ res(j) \gets 2 \sum_i P_i^T \times m_{i,j} \f]
void squaredNormIntegralDerivative (const size_type order, vectorOut_t res);
void squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const;
/** Returns a vector \f$ (v_i) \f$ as
* \f[
......
......@@ -376,7 +376,7 @@ namespace hpp {
}
template <int _SplineType, int _Order>
value_type Spline<_SplineType, _Order>::squaredNormIntegral (const size_type order)
value_type Spline<_SplineType, _Order>::squaredNormIntegral (const size_type order) const
{
typename sbf_traits::IntegralCoeffs_t Ic;
squaredNormBasisFunctionIntegral(order, Ic);
......@@ -385,7 +385,7 @@ namespace hpp {
}
template <int _SplineType, int _Order>
void Spline<_SplineType, _Order>::squaredNormIntegralDerivative (const size_type order, vectorOut_t res)
void Spline<_SplineType, _Order>::squaredNormIntegralDerivative (const size_type order, vectorOut_t res) const
{
typename BasisFunction_t::IntegralCoeffs_t Ic;
squaredNormBasisFunctionIntegral(order, Ic);
......
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