Commit 5fa849d4 authored by Jason Chemin's avatar Jason Chemin
Browse files

Edit docstring in cubic_hermite_spline.h

parent 60dbcaea
......@@ -47,8 +47,8 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
cubic_hermite_spline() : dim_(0), T_min_(0), T_max_(0) {}
/// \brief Constructor.
/// \param wayPointsBegin : an iterator pointing to the first element of a pair(position, derivative) container.
/// \param wayPointsEns : an iterator pointing to the last element of a pair(position, derivative) container.
/// \param PairsBegin : an iterator pointing to the first element of a pair(position, derivative) container.
/// \param PairsEnd : an iterator pointing to the last element of a pair(position, derivative) container.
/// \param time_control_points : vector containing time for each waypoint.
///
template <typename In>
......@@ -204,7 +204,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
/// we define \f$\alpha=(t-t_0)/(t_1-t_0) \in [0, 1]\f$ where \f$t \in [t_0, t_1]\f$.<br>
/// Polynom \f$p(t) \in [t_0, t_1]\f$ becomes \f$p(\alpha) \in [0, 1]\f$
/// and \f$p(\alpha) = p((t-t_0)/(t_1-t_0))\f$.
/// \param t : time when to evaluate the curve.
/// \param t : time to evaluate the curve.
/// \param degree_derivative : Order of derivate of cubic hermite spline (set value to 0 if you do not want derivate)
/// \return point corresponding \f$p(t)\f$ on spline at time t or its derivate order N \f$\frac{d^Np(t)}{dt^N}\f$.
///
......@@ -322,6 +322,8 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
return left_id - 1;
}
/// \brief Check if control points list is not empty and dimension of point superior to zero.
///
void check_conditions() const {
if (control_points_.size() == 0) {
throw std::runtime_error(
......
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