[roboptim-commit] [SCM] roboptim branch, trajectory, updated. b8540cf60f944ae51fc6c6a683ecc0ca90013bad

[Thomas M. <tho...@us...>]

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- Log -----------------------------------------------------------------
commit b8540cf60f944ae51fc6c6a683ecc0ca90013bad
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jul 29 18:41:00 2009 +0900

    Rewrite variationDerivWrtParam in freeTimeTrajectory.
    
    	* include/roboptim/trajectory/free-time-trajectory.hxx: Restyle.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 7cdbbd5..08788b4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2009-07-29  Thomas Moulard  <tho...@gm...>
 
+	Rewrite variationDerivWrtParam in freeTimeTrajectory.
+	* include/roboptim/trajectory/free-time-trajectory.hxx: Restyle.
+
+2009-07-29  Thomas Moulard  <tho...@gm...>
+
 	Re-implement free-time-trajectory.
 	* include/roboptim/trajectory/free-time-trajectory.hh,
 	* include/roboptim/trajectory/free-time-trajectory.hxx:
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 7bed07d..78371d5 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -135,10 +135,9 @@ namespace roboptim
     result.clear ();
 
     // Compute variation w.r.t time scale (p_0)
-    column (result, 0) = trajectory_->derivative (scaled, 1) * order;
-    column (result, 0) += trajectory_->derivative (scaled, 1)
-      * this->timeScale () * (t - tMin);
-    column (result, 0) *= std::pow (this->timeScale (), order - 1.);
+    column (result, 0) = trajectory_->derivative (scaled, order)
+      * std::pow (this->timeScale (), order - 1.);
+    column (result, 0) *= order + (this->timeScale () * (t - tMin));
 
     // Fill 1..(n-1) lines with original jacobian.
     project (result, range (0, result.size1 ()), range (1, result.size2 ()))

-----------------------------------------------------------------------

Summary of changes:
 ChangeLog                                          |    5 +++++
 .../roboptim/trajectory/free-time-trajectory.hxx   |    7 +++----
 2 files changed, 8 insertions(+), 4 deletions(-)


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