Modification in bezier curve, now there is a T_min and T_max (Only T_max before). More logic for curve_conversion. Also modified split bezier curve : before bezier curve defined on [0,T] and we splitted it in ts => bc1 was defined on [0,ts] and bc2 on [0,T-ts]. Now, bezier curve defined on [T_min,T_max] is splitted in ts => bc1 defined on [T_min,ts] and bc2 defined on [ts,T_max].

Modif for spline deriv constraint to exact cubic : delete spline_deriv_constraint.h and modifications in other classes and tests

Edit polynom to polynomial in all files. File polynom.h edited to polynomial.h and bezier_polynom_conversion.h to bezier_polynomial_conversion.h

Modified constructor (set time directly in constructor) / add getters for control points and their time corresponding

more efficient and stable binomial coefficients computation

See merge request jchemin/curves!1

Topic/doc spline

See merge request loco-3d/curves!5

Edit doc of cubic_spline, exact_cubic, quintic_spline, spline_deriv_constraint. Modify name of variables min and max to t_min and t_max.

CMake: clean

See merge request loco-3d/curves!3

Fix evaluation of bezier of degree 0 added, Edit doc on bezier_curve, Edit assert_allclose to assertTrue in test.py