Commit 7e77e0da authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
Browse files

[all curves] Modify default type Point for Dynamic

parent 19cafdde
......@@ -29,7 +29,7 @@ namespace curves
/// the bernstein polynoms are used to evaluate the spline at a given location.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Dim, 1> >
, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
{
typedef Point point_t;
......
......@@ -29,8 +29,8 @@ namespace curves
/// - has its derivatives on \f$P_i\f$ and \f$P_{i+1}\f$ are \f$p'(t_{P_i}) = m_i\f$ and \f$p'(t_{P_{i+1}}) = m_{i+1}\f$.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Dim, 1>
, typename Tangent= Eigen::Matrix<Numeric, Dim, 1>
, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
, typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
>
struct cubic_hermite_spline : public curve_abc<Time, Numeric, Dim, Safe, Point>
{
......
......@@ -22,7 +22,7 @@ namespace curves
/// \brief Represents a curve of dimension Dim.
/// If value of parameter Safe is false, no verification is made on the evaluation of the curve.
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Dim, 1> >
, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct curve_abc : std::unary_function<Time, Point>
{
typedef Point point_t;
......
......@@ -37,7 +37,7 @@ namespace curves
/// crossing each of the waypoint given in its initialization.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Dim, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> >
, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> >
, typename SplineBase=polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
{
......
......@@ -25,7 +25,7 @@ namespace curves
/// cf1 between \f$[T0_{max},T1_{max}[\f$ and cf2 between \f$[T1_{max},T2_{max}]\f$.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Dim, 1>,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
typename T_Point= std::vector<Point,Eigen::aligned_allocator<Point> >,
typename Curve= curve_abc<Time, Numeric, Dim, Safe, Point>
>
......
......@@ -32,7 +32,7 @@ namespace curves
/// where N is the order and \f$ t \in [t_{min}, t_{max}] \f$.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Dim, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> > >
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> > >
struct polynomial : public curve_abc<Time, Numeric, Dim, Safe, Point>
{
typedef Point point_t;
......
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