hermite spline should be implemented as a Bezier curve
Original issue : https://gepgitlab.laas.fr/loco-3d/multicontact-api/issues/11
Summary of the original discussion, please correct me if I'm wrong:
- Current class
cubic_hermite_splinehave a misleading name as it is actually an array of cubic hermite spline.
- Internal maths of the
cubic_hermite_spline(like the evaluation and the derivative) are similar to the
cubic_hermite_splineshould be reworked to inherit from
bezierand factorize as much as possible the code for evaluation/derivative. It should simply add a constructor taking a pair of points and theirs derivative and correctly build a bezier from this.
- Current usage of
cubic_hermite_splinein multicontact-API package should be replaced by
- An helper should be added to build a
piecewise<cubic_hermite_spline>from a list of points/derivatives and timing (already implemented for
piecewise<polynomial>so it's easy to add it), as done is multicontact-api.