From 5e4155a261b443c5271068265ffb104f43ebd226 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Sun, 18 Sep 2016 18:43:03 +0200
Subject: [PATCH] [BUG FIX] dti_1 inversed twice in exact_cubic
---
include/spline/exact_cubic.h | 2 +-
include/spline/optimization/OptimizeSpline.h | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/spline/exact_cubic.h b/include/spline/exact_cubic.h
index 6958f04..9cba9d4 100644
--- a/include/spline/exact_cubic.h
+++ b/include/spline/exact_cubic.h
@@ -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;
diff --git a/include/spline/optimization/OptimizeSpline.h b/include/spline/optimization/OptimizeSpline.h
index 0f3aef4..15f05ab 100644
--- a/include/spline/optimization/OptimizeSpline.h
+++ b/include/spline/optimization/OptimizeSpline.h
@@ -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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