Commit 41f0d266 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[SO3Linear] fix error in check of bounds in compute()

parent 8d201862
......@@ -97,8 +97,8 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, matrix3_t, point3_t > {
if (Safe & !(T_min_ <= t && t <= T_max_)) {
throw std::invalid_argument("can't evaluate bezier curve, time t is out of range"); // TODO
}
if (t > T_max_) return end_rot_;
if (t < T_min_) return init_rot_;
if (t >= T_max_) return end_rot_;
if (t <= T_min_) return init_rot_;
Scalar u = (t - T_min_) / (T_max_ - T_min_);
return init_rot_.slerp(u, end_rot_);
}
......
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