Commit 5fa849d4 by Jason Chemin

### Edit docstring in cubic_hermite_spline.h

parent 60dbcaea
 ... ... @@ -47,8 +47,8 @@ struct cubic_hermite_spline : public curve_abc { 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 ... ... @@ -204,7 +204,7 @@ struct cubic_hermite_spline : public curve_abc { /// we define \f$\alpha=(t-t_0)/(t_1-t_0) \in [0, 1]\f$ where \f$t \in [t_0, t_1]\f$.
/// 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 { 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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