[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.5-8-gafbe6e8

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

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- Log -----------------------------------------------------------------
commit afbe6e8265309e20c155fb64ec48d0546ad71aa0
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Mar 5 16:29:36 2010 +0100

    Check value at spline start.
    
    	* tests/spline.cc: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 48ee67d..b8fbf1f 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-03-05  Thomas Moulard  <tho...@gm...>
 
+	Check value at spline start.
+	* tests/spline.cc: Here.
+
+2010-03-05  Thomas Moulard  <tho...@gm...>
+
 	Debug frezze constraints on spline.
 	* include/roboptim/trajectory/cubic-b-spline.hxx: Here.
 
diff --git a/tests/spline.cc b/tests/spline.cc
index db13f8f..7f77bee 100644
--- a/tests/spline.cc
+++ b/tests/spline.cc
@@ -122,7 +122,7 @@ int run_test ()
     << "# " << spline.derivative (2.5, 2) << std::endl
     << "# " << spline.derivative (5., 2) << std::endl;
 
-  for (double t = 0.; t < 5.; t += 0.5)
+  for (double t = 0.5; t < 5.; t += 0.5)
     {
       try
 	{
@@ -139,6 +139,23 @@ int run_test ()
 	  status = 1;
 	}
     }
+
+  for (double x = 0.; x < 10.; x += 0.25)
+    {
+      Function::vector_t params = spline.parameters ();
+      params[0 * 2] = 321;
+      params[1 * 2] = 123;
+      params[2 * 2] = 6. * (x - 1./6. * params[0 * 2] - 2. / 3. * params[1 * 2]);
+
+      assert (1. / 6. * params[0 * 2]
+	      + 2. / 3. * params[1 * 2]
+	      + 1. / 6. * params[2 * 2] - x < 1e-8);
+
+      spline.setParameters (params);
+      if (std::fabs (spline (0.)[0] - x) >= 1e-8)
+	std::cout << "# " << spline (0.)[0] << " != " << x << std::endl;
+    }
+
   return status;
 }
 

commit a80bc79b4be92f82b6c2d8ceb9a27bf0fc644e41
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Mar 5 16:29:06 2010 +0100

    Debug frezze constraints on spline.
    
    	* include/roboptim/trajectory/cubic-b-spline.hxx: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 094959a..48ee67d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2010-03-05  Thomas Moulard  <tho...@gm...>
+
+	Debug frezze constraints on spline.
+	* include/roboptim/trajectory/cubic-b-spline.hxx: Here.
+
 2010-03-04  Thomas Moulard  <tho...@gm...>
 
 	Debug CubicBSpline start/end points freezing.
diff --git a/include/roboptim/trajectory/cubic-b-spline.hxx b/include/roboptim/trajectory/cubic-b-spline.hxx
index 1bddcce..add541e 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hxx
+++ b/include/roboptim/trajectory/cubic-b-spline.hxx
@@ -40,7 +40,7 @@ namespace roboptim
 	A (0, offset + i + 0. * outputSize ()) = 1. / 6.;
 	A (0, offset + i + 1. * outputSize ()) = 2. / 3.;
 	A (0, offset + i + 2. * outputSize ()) = 1. / 6.;
-	b (0) = -parameters ()[offset + i];
+	b (0) = -parameters ()[i];
 	NumericLinearFunction* boundaryCond = new NumericLinearFunction (A, b);
 	shared_ptr<LinearFunction> boundaryCondShPtr (boundaryCond);
 	problem.addConstraint (boundaryCondShPtr, interval);

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

Summary of changes:
 ChangeLog                                      |   10 ++++++++++
 include/roboptim/trajectory/cubic-b-spline.hxx |    2 +-
 tests/spline.cc                                |   19 ++++++++++++++++++-
 3 files changed, 29 insertions(+), 2 deletions(-)


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