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Jason Chemin
curves
Commits
91c4e3a9
Commit
91c4e3a9
authored
Aug 14, 2019
by
JasonChmn
Committed by
Pierre Fernbach
Sep 03, 2019
Browse files
[cubic hermite spline] Delete Tangent from template (same as Point)
parent
edf6cbc9
Changes
2
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include/curves/cubic_hermite_spline.h
View file @
91c4e3a9
...
...
@@ -31,11 +31,10 @@ namespace curves
/// - has its derivatives on \f$P_i\f$ and \f$P_{i+1}\f$ are \f$p'(t_{P_i}) = m_i\f$ and \f$p'(t_{P_{i+1}}) = m_{i+1}\f$.
///
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Eigen
::
Dynamic
,
1
>,
typename
Tangent
=
Eigen
::
Matrix
<
Numeric
,
Eigen
::
Dynamic
,
1
>
>
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Eigen
::
Dynamic
,
1
>
>
struct
cubic_hermite_spline
:
public
curve_abc
<
Time
,
Numeric
,
Safe
,
Point
>
{
typedef
std
::
pair
<
Point
,
Tange
nt
>
pair_point_tangent_t
;
typedef
std
::
pair
<
Point
,
Poi
nt
>
pair_point_tangent_t
;
typedef
std
::
vector
<
pair_point_tangent_t
,
Eigen
::
aligned_allocator
<
Point
>
>
t_pair_point_tangent_t
;
typedef
std
::
vector
<
Time
>
vector_time_t
;
typedef
Numeric
num_t
;
...
...
python/curves_python.cpp
View file @
91c4e3a9
...
...
@@ -22,9 +22,8 @@
using
namespace
curves
;
typedef
double
real
;
typedef
Eigen
::
Vector3d
point3_t
;
typedef
Eigen
::
Vector3d
tangent_t
;
typedef
std
::
pair
<
point3_t
,
tangent_t
>
pair_point3_tangent_t
;
typedef
Eigen
::
Matrix
<
double
,
3
,
1
,
0
,
3
,
1
>
ret_point3_t
;
typedef
std
::
pair
<
point3_t
,
point3_t
>
pair_point3_tangent_t
;
typedef
Eigen
::
VectorXd
time_waypoints_t
;
typedef
Eigen
::
Matrix
<
real
,
3
,
Eigen
::
Dynamic
>
point_list_t
;
typedef
Eigen
::
Matrix
<
real
,
6
,
Eigen
::
Dynamic
>
point_list6_t
;
...
...
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