Use point_t::Zero(Dim) instead of point_t::Zero() because it is required to...

Use point_t::Zero(Dim) instead of point_t::Zero()  because it is required to use a waypoint_t as templated type
parent e201b5f2
 ... ... @@ -182,7 +182,7 @@ struct bezier_curve : public curve_abc for(typename t_point_t::const_iterator pit = pts_.begin(); pit != pts_.end()-1; ++pit) derived_wp.push_back((num_t)degree_ * (*(pit+1) - (*pit))); if(derived_wp.empty()) derived_wp.push_back(point_t::Zero()); derived_wp.push_back(point_t::Zero(Dim)); bezier_curve_t deriv(derived_wp.begin(), derived_wp.end(),T_, mult_T_ * (1./T_) ); return deriv.compute_derivate(order-1); } ... ... @@ -195,7 +195,7 @@ struct bezier_curve : public curve_abc if(order == 0) return *this; num_t new_degree = (num_t)(degree_+1); t_point_t n_wp; point_t current_sum = point_t::Zero(); point_t current_sum = point_t::Zero(Dim); // recomputing waypoints q_i from derivative waypoints p_i. q_0 is the given constant. // then q_i = (sum( j = 0 -> j = i-1) p_j) /n+1 n_wp.push_back(current_sum); ... ... @@ -227,7 +227,7 @@ struct bezier_curve : public curve_abc /// point_t evalBernstein(const Numeric u) const { point_t res = point_t::Zero(); point_t res = point_t::Zero(Dim); typename t_point_t::const_iterator pts_it = pts_.begin(); for(typename std::vector >::const_iterator cit = bernstein_.begin(); cit !=bernstein_.end(); ++cit, ++pts_it) ... ... @@ -381,7 +381,7 @@ struct bezier_curve : public curve_abc static bezier_curve_t zero(const time_t T=1.) { std::vector ts; ts.push_back(point_t::Zero()); ts.push_back(point_t::Zero(Dim)); return bezier_curve_t(ts.begin(), ts.end(),T); } }; ... ...
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