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Humanoid Path Planner
hpp-spline
Commits
b27a351a
Commit
b27a351a
authored
5 years ago
by
Pierre Fernbach
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[bezier] fix evaluation of bezier of degree 0
parent
dfaa680e
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rbprm_1
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1 merge request
!10
fix bezier degree 0
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include/hpp/spline/bezier_curve.h
+5
-1
5 additions, 1 deletion
include/hpp/spline/bezier_curve.h
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include/hpp/spline/bezier_curve.h
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b27a351a
...
...
@@ -142,7 +142,11 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
{
if
(
Safe
&!
(
0
<=
t
&&
t
<=
T_
))
throw
std
::
out_of_range
(
"can't evaluate bezier curve, out of range"
);
// TODO
return
evalHorner
(
t
);
if
(
size_
==
1
){
return
mult_T_
*
pts_
[
0
];
}
else
{
return
evalHorner
(
t
);
}
}
/// \brief Computes the derivative curve at order N.
...
...
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