[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.5-6-g6595327

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

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- Log -----------------------------------------------------------------
commit 65953273cad3111b250d6b432cdeadf60dce396b
Author: Thomas Moulard <tho...@gm...>
Date:   Thu Mar 4 15:59:15 2010 +0100

    Debug CubicBSpline start/end points freezing.
    
    	* include/roboptim/trajectory/cubic-b-spline.hxx: Debug.
    	* tests/spline-time-optimization.stdout: Regenerate.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index ad163c0..094959a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
 2010-03-04  Thomas Moulard  <tho...@gm...>
 
+	Debug CubicBSpline start/end points freezing.
+	* include/roboptim/trajectory/cubic-b-spline.hxx: Debug.
+	* tests/spline-time-optimization.stdout: Regenerate.
+
+2010-03-04  Thomas Moulard  <tho...@gm...>
+
 	Fix start/end freezing constriant for CubicBSpline.
 	* include/roboptim/trajectory/cubic-b-spline.hh,
 	* include/roboptim/trajectory/cubic-b-spline.hxx: Fix constraint
diff --git a/include/roboptim/trajectory/cubic-b-spline.hxx b/include/roboptim/trajectory/cubic-b-spline.hxx
index 0f0f974..1bddcce 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hxx
+++ b/include/roboptim/trajectory/cubic-b-spline.hxx
@@ -63,9 +63,9 @@ namespace roboptim
 	A.clear ();
 	b.clear ();
 
-	A (0, paramSize - 1 - i - 0. * outputSize ()) = 1. / 6.;
-	A (0, paramSize - 1 - i - 1. * outputSize ()) = 2. / 3.;
-	A (0, paramSize - 1 - i - 2. * outputSize ()) = 1. / 6.;
+	A (0, offset + paramSize - 1 - i - 0. * outputSize ()) = 1. / 6.;
+	A (0, offset + paramSize - 1 - i - 1. * outputSize ()) = 2. / 3.;
+	A (0, offset + paramSize - 1 - i - 2. * outputSize ()) = 1. / 6.;
 	b (0) = -parameters ()[paramSize - 1 - i];
 	NumericLinearFunction* boundaryCond = new NumericLinearFunction (A, b);
 	shared_ptr<LinearFunction> boundaryCondShPtr (boundaryCond);
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index b921506..a697f59 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -16,11 +16,11 @@ Solver:
         
     Constraint 1
         Numeric linear function
-          A = [1,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+          A = [1,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
           B = [1](-200.00)
         Bounds: (0.00, 0.00)
         Scales: 1.00
-        Initial value: [1](-3.33) (constraint not satisfied)
+        Initial value: [1](-0.00) (constraint not satisfied)
         
     Constraint 2
         speed limit (0.00662252) (derivable function)

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

Summary of changes:
 ChangeLog                                      |    6 ++++++
 include/roboptim/trajectory/cubic-b-spline.hxx |    6 +++---
 tests/spline-time-optimization.stdout          |    4 ++--
 3 files changed, 11 insertions(+), 5 deletions(-)


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