Commit 91c4e3a9 authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
Browse files

[cubic hermite spline] Delete Tangent from template (same as Point)

parent edf6cbc9
...@@ -31,11 +31,10 @@ namespace curves ...@@ -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$p'(t_{P_{i+1}}) = m_{i+1}\f$. /// - 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, template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
{ {
typedef std::pair<Point, Tangent> pair_point_tangent_t; typedef std::pair<Point, Point> pair_point_tangent_t;
typedef std::vector< pair_point_tangent_t ,Eigen::aligned_allocator<Point> > t_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 std::vector<Time> vector_time_t;
typedef Numeric num_t; typedef Numeric num_t;
......
...@@ -22,9 +22,8 @@ ...@@ -22,9 +22,8 @@
using namespace curves; using namespace curves;
typedef double real; typedef double real;
typedef Eigen::Vector3d point3_t; 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 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::VectorXd time_waypoints_t;
typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t; typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t; typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
......
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