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Jason Chemin
curves
Commits
5e4155a2
Commit
5e4155a2
authored
Sep 18, 2016
by
Steve Tonneau
Browse files
[BUG FIX] dti_1 inversed twice in exact_cubic
parent
82947274
Changes
2
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Inline
Side-by-side
include/spline/exact_cubic.h
View file @
5e4155a2
...
...
@@ -97,7 +97,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
if
(
i
+
2
<
size
)
{
In
it2
(
next
);
++
it2
;
num_t
const
dTi_1
(
1
/
(
(
*
it2
).
first
-
(
*
next
).
first
)
)
;
num_t
const
dTi_1
((
*
it2
).
first
-
(
*
next
).
first
);
num_t
const
dTi_1sqr
(
dTi_1
*
dTi_1
);
// this can be optimized but let's focus on clarity as long as not needed
h1
(
i
+
1
,
i
)
=
2
/
dTi
;
...
...
include/spline/optimization/OptimizeSpline.h
View file @
5e4155a2
...
...
@@ -103,7 +103,7 @@ inline void SplineOptimizer<Time, Numeric, Dim, Safe, Point>::ComputeHMatrices(I
if
(
i
+
2
<
size
)
{
In
it2
(
next
);
++
it2
;
num_t
const
dTi_1
(
1
/
(
(
*
it2
).
first
-
(
*
next
).
first
)
)
;
num_t
const
dTi_1
((
*
it2
).
first
-
(
*
next
).
first
);
num_t
const
dTi_1sqr
(
dTi_1
*
dTi_1
);
// this can be optimized but let's focus on clarity as long as not needed
h1
(
i
+
1
,
i
)
=
2
/
dTi
;
...
...
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