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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.5-2-gdbfbe2d

From: Thomas M. <tho...@us...> - 2010-02-17 19:14:23

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  dbfbe2d7b1d5691888268981b2275f3f3ad45851 (commit)
      from  f092ad2526999f48bd125c487f52c008e563d4a9 (commit)

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- Log -----------------------------------------------------------------
commit dbfbe2d7b1d5691888268981b2275f3f3ad45851
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 20:14:10 2010 +0100

    Update SPEC file.
    
    	* roboptim-trajectory.spec.in: Update SPEC file and
    	submit it to Fedora for inclusion, see:
    	https://bugzilla.redhat.com/show_bug.cgi?id=566281.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 43a525a..722424b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,13 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
 	Update SPEC file.
+	* roboptim-trajectory.spec.in: Update SPEC file and
+	submit it to Fedora for inclusion, see:
+	https://bugzilla.redhat.com/show_bug.cgi?id=566281.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
+	Update SPEC file.
 	* roboptim-trajectory.spec.in: Here.
 
 2010-02-17  Thomas Moulard  <tho...@gm...>
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
index d1b210b..4e021f8 100644
--- a/roboptim-trajectory.spec.in
+++ b/roboptim-trajectory.spec.in
@@ -64,6 +64,9 @@ install -cpm 644 AUTHORS COPYING README NEWS \
 # Get rid of Libtool files as they should not be installed.
 rm $RPM_BUILD_ROOT/%{_libdir}/*.la
 
+# Get rid of Doxygen's installdox.
+rm $RPM_BUILD_ROOT/%{_docdir}/%{name}-%{version}/doxygen-html/installdox
+
 
 %clean
 rm -rf $RPM_BUILD_ROOT
@@ -92,7 +95,7 @@ rm -rf $RPM_BUILD_ROOT
 %postun -p /sbin/ldconfig
 
 %changelog
-* Wed Feb 17 2010 Thomas Moulard <tho...@gm...> - 0.5
+* Wed Feb 17 2010 Thomas Moulard <tho...@gm...> - 0.5-1
 - Fix source0.
 
 * Wed Feb 17 2010 Thomas Moulard <tho...@gm...> - 0.4.10

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

Summary of changes:
 ChangeLog                   |    7 +++++++
 roboptim-trajectory.spec.in |    5 ++++-
 2 files changed, 11 insertions(+), 1 deletions(-)


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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.5-1-gf092ad2

From: Thomas M. <tho...@us...> - 2010-02-17 18:52:54

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  f092ad2526999f48bd125c487f52c008e563d4a9 (commit)
      from  3a23b2bcf6dc36c8ed7651e782e57bc7050ccd20 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit f092ad2526999f48bd125c487f52c008e563d4a9
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:52:36 2010 +0100

    Update SPEC file.
    
    	* roboptim-trajectory.spec.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index c6c9214..43a525a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Update SPEC file.
+	* roboptim-trajectory.spec.in: Here.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Do not distribute non-existing files.
 	* doc/Makefile.am: Here.
 
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
index 090d607..d1b210b 100644
--- a/roboptim-trajectory.spec.in
+++ b/roboptim-trajectory.spec.in
@@ -6,7 +6,7 @@ Summary: The RobOptim trajectory C++ library
 Group: Development/Libraries
 License: LGPLv3+
 URL: http://roboptim.sourceforge.net/
-Source0: http://dl.sf.net/sourceforge/%{name}/%{name}-%{version}.tar.gz
+Source0: http://downloads.sourceforge.net/roboptim/%{name}-%{version}.tar.gz
 
 BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
@@ -58,12 +58,11 @@ rm -rf $RPM_BUILD_ROOT
 make install DESTDIR="$RPM_BUILD_ROOT" INSTALL="install -p"
 
 # Install
-install -cpm 644 AUTHORS COPYING THANKS README NEWS \
+install -cpm 644 AUTHORS COPYING README NEWS \
  $RPM_BUILD_ROOT%{_docdir}/%{name}-%{version}/
 
 # Get rid of Libtool files as they should not be installed.
 rm $RPM_BUILD_ROOT/%{_libdir}/*.la
-rm $RPM_BUILD_ROOT/%{_libdir}/%{name}/*.la
 
 
 %clean
@@ -93,6 +92,9 @@ rm -rf $RPM_BUILD_ROOT
 %postun -p /sbin/ldconfig
 
 %changelog
+* Wed Feb 17 2010 Thomas Moulard <tho...@gm...> - 0.5
+- Fix source0.
+
 * Wed Feb 17 2010 Thomas Moulard <tho...@gm...> - 0.4.10
 - Clean spec file to match Fedora policies.
 

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

Summary of changes:
 ChangeLog                   |    5 +++++
 roboptim-trajectory.spec.in |    8 +++++---
 2 files changed, 10 insertions(+), 3 deletions(-)


hooks/post-receive
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roboptim-trajectory

[roboptim-commit] [SCM] roboptim-trajectory annotated tag, v0.5, created. v0.5

From: Thomas M. <tho...@us...> - 2010-02-17 18:32:47

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The annotated tag, v0.5 has been created
        at  4f528fec17d7371abfb13995cd4beed2c49b7501 (tag)
   tagging  3a23b2bcf6dc36c8ed7651e782e57bc7050ccd20 (commit)
  replaces  v0.4
 tagged by  Thomas Moulard
        on  Wed Feb 17 19:26:18 2010 +0100

- Log -----------------------------------------------------------------
Release 0.5.
-----BEGIN PGP SIGNATURE-----
Version: GnuPG v1.4.9 (GNU/Linux)

iEYEABECAAYFAkt8NMoACgkQ2c3AurFAup6uYQCfeWDVU+/hMWsyEeMN6B37/7xM
x6MAn00RLoLy/wsEId9koHtyIjMbYKJo
=dIpu
-----END PGP SIGNATURE-----

Thomas Moulard (12):
      Add requirement in spec file.
      Synchronize.
      Adapt testsuite to new B-spline implementation.
      Update SPEC file.
      Fix spline gradient computation.
      Fix test cases.
      Clean and debug cubic spline.
      Update build-aux and roboptim-core dependency.
      Add documentation.
      Fill NEWS file.
      Do not distribute bspline.pdf.
      Do not distribute non-existing files.

florent (7):
      Reimplement B-splines.
      Remove trailing whitespaces.
      Fix compilation errors.
      Replace Spline by CubicBSPline everywhere.
      Add comments and fix bad gradients.
      Adapt test output to new spline implementation.
      Remove remaining Spline.

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


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roboptim-trajectory

[roboptim-commit] [SCM] roboptim-trajectory tag, -, created. v0.4-17-g6600e78

From: Thomas M. <tho...@us...> - 2010-02-17 18:32:42

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The tag, - has been created
        at  6600e78b82d7f2cb430e87afecffe45c8e1afae8 (commit)

- Log -----------------------------------------------------------------
commit 6600e78b82d7f2cb430e87afecffe45c8e1afae8
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:21:52 2010 +0100

    Fill NEWS file.
    
    	* NEWS: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>
-----------------------------------------------------------------------


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roboptim-trajectory

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

From: Thomas M. <tho...@us...> - 2010-02-17 18:32:37

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  3a23b2bcf6dc36c8ed7651e782e57bc7050ccd20 (commit)
       via  bb5410c725988b269cc5d6254ba4099e1dc6fcac (commit)
       via  6600e78b82d7f2cb430e87afecffe45c8e1afae8 (commit)
       via  9cdd7409b3be8d3ec44ac240e616f5175b9bfd8d (commit)
      from  721b784698397cc89ae12acfbb55e21a5b747418 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 3a23b2bcf6dc36c8ed7651e782e57bc7050ccd20
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:26:14 2010 +0100

    Do not distribute non-existing files.
    
    	* doc/Makefile.am: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index cf0c4bb..c6c9214 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Do not distribute non-existing files.
+	* doc/Makefile.am: Here.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Do not distribute bspline.pdf.
 	* doc/Makefile.am: Here.
 
diff --git a/doc/Makefile.am b/doc/Makefile.am
index b875723..a5d86c3 100644
--- a/doc/Makefile.am
+++ b/doc/Makefile.am
@@ -4,6 +4,4 @@ include $(top_srcdir)/build-aux/sf-doc.mk
 
 EXTRA_DIST+=				\
 	bspline.tex			\
-	pictures/basis-functions.fig	\
-	pictures/basis-functions.pdf	\
-	pictures/basis-functions.pdf_t
+	pictures/basis-functions.fig

commit bb5410c725988b269cc5d6254ba4099e1dc6fcac
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:25:26 2010 +0100

    Do not distribute bspline.pdf.
    
    	* doc/Makefile.am: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 376f4a2..cf0c4bb 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Do not distribute bspline.pdf.
+	* doc/Makefile.am: Here.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Fill NEWS file.
 	* NEWS: Here.
 
diff --git a/doc/Makefile.am b/doc/Makefile.am
index e63d3b5..b875723 100644
--- a/doc/Makefile.am
+++ b/doc/Makefile.am
@@ -3,7 +3,6 @@ include $(top_srcdir)/build-aux/doxygen.mk
 include $(top_srcdir)/build-aux/sf-doc.mk
 
 EXTRA_DIST+=				\
-	bspline.pdf 			\
 	bspline.tex			\
 	pictures/basis-functions.fig	\
 	pictures/basis-functions.pdf	\

commit 6600e78b82d7f2cb430e87afecffe45c8e1afae8
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:21:52 2010 +0100

    Fill NEWS file.
    
    	* NEWS: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index fed9c01..376f4a2 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Fill NEWS file.
+	* NEWS: Here.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Add documentation.
 	* src/doc.hh: Add content to main page.
 
diff --git a/NEWS b/NEWS
index cbb40ab..fab41db 100644
--- a/NEWS
+++ b/NEWS
@@ -1,5 +1,8 @@
                                                                 -*- outline -*-
 
+New in 0.5, 2010-02-17:
+* New generic cubic spline implementation.
+
 New in 0.4, 2009-11-16:
 * Fixed /severe/ computation bugs.
 * Clean interface.

commit 9cdd7409b3be8d3ec44ac240e616f5175b9bfd8d
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:19:21 2010 +0100

    Add documentation.
    
    	* src/doc.hh: Add content to main page.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index d891b1b..fed9c01 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Add documentation.
+	* src/doc.hh: Add content to main page.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Update build-aux and roboptim-core dependency.
 	* build-aux: Synchronize.
 	* configure.ac: Require roboptim-core >= 0.5.
diff --git a/src/doc.hh b/src/doc.hh
index 2e2ccc4..dc0bcbf 100644
--- a/src/doc.hh
+++ b/src/doc.hh
@@ -21,10 +21,11 @@
 
    \section intro Introduction
 
-   FIXME
+   RobOptim trajectory is a toolbox for trajectory optimization.
 
-   Table of content:
-   - FIXME
+   It defines cost functions and constraints to simplify problem
+   definition. Abstraction for trajectory definition are provided and
+   an implementation of cubic splines can be used.
 
 
    \section reporting Reporting bugs

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

Summary of changes:
 ChangeLog       |   20 ++++++++++++++++++++
 NEWS            |    3 +++
 doc/Makefile.am |    5 +----
 src/doc.hh      |    7 ++++---
 4 files changed, 28 insertions(+), 7 deletions(-)


hooks/post-receive
-- 
roboptim-trajectory

[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.4-15-g721b784

From: Thomas M. <tho...@us...> - 2010-02-17 18:15:26

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  721b784698397cc89ae12acfbb55e21a5b747418 (commit)
      from  d5014de7fadc1564224b2c6f76e6622ccc7be3ae (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 721b784698397cc89ae12acfbb55e21a5b747418
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:14:34 2010 +0100

    Update build-aux and roboptim-core dependency.
    
    	* build-aux: Synchronize.
    	* configure.ac: Require roboptim-core >= 0.5.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index a50b49f..d891b1b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Update build-aux and roboptim-core dependency.
+	* build-aux: Synchronize.
+	* configure.ac: Require roboptim-core >= 0.5.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Clean and debug cubic spline.
 	* include/roboptim/trajectory/cubic-b-spline.hh:
 	Add new private methods to factorize code.
diff --git a/build-aux b/build-aux
index a6cfdc7..527142d 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit a6cfdc754979af63290cdca09f67a7d9fe13893a
+Subproject commit 527142d1b5d6635b7b20227ee67293a55a6fba76
diff --git a/configure.ac b/configure.ac
index 0910385..5673f77 100644
--- a/configure.ac
+++ b/configure.ac
@@ -61,7 +61,7 @@ JRL_PROG_DOXYGEN
 LT_INIT([dlopen])
 
 # Search for RobOptim core.
-ROBOPTIM_CORE_PKG_CONFIG([roboptim-core >= 0.2])
+ROBOPTIM_CORE_PKG_CONFIG([roboptim-core >= 0.5])
 
 # Search for Roboptim core CFSQP plug-in.
 AC_CHECK_HEADERS([roboptim/core/plugin/cfsqp.hh],

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

Summary of changes:
 ChangeLog    |    6 ++++++
 build-aux    |    2 +-
 configure.ac |    2 +-
 3 files changed, 8 insertions(+), 2 deletions(-)


hooks/post-receive
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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.4-14-gd5014de

From: Thomas M. <tho...@us...> - 2010-02-17 18:07:54

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  d5014de7fadc1564224b2c6f76e6622ccc7be3ae (commit)
      from  159ee0512462b71265cb6c0f434e5b3ad076cc7b (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit d5014de7fadc1564224b2c6f76e6622ccc7be3ae
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 19:07:35 2010 +0100

    Clean and debug cubic spline.
    
    	* include/roboptim/trajectory/cubic-b-spline.hh:
    	Add new private methods to factorize code.
    	* src/cubic-b-spline.cc: Factorize, clean, debug.
    	* tests/free-time-trajectory-stable-time-point.stdout,
    	* tests/free-time-trajectory.stdout,
    	* tests/spline-gradient.stdout,
    	* tests/spline.stdout,
    	* tests/stable-point-state-function.stdout,
    	* tests/state-function.stdout: Regenerate.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 9d2d326..a50b49f 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,18 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Clean and debug cubic spline.
+	* include/roboptim/trajectory/cubic-b-spline.hh:
+	Add new private methods to factorize code.
+	* src/cubic-b-spline.cc: Factorize, clean, debug.
+	* tests/free-time-trajectory-stable-time-point.stdout,
+	* tests/free-time-trajectory.stdout,
+	* tests/spline-gradient.stdout,
+	* tests/spline.stdout,
+	* tests/stable-point-state-function.stdout,
+	* tests/state-function.stdout: Regenerate.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Fix test cases.
 	* tests/free-time-trajectory-stable-time-point.cc,
 	* tests/free-time-trajectory-stable-time-point.stdout,
diff --git a/include/roboptim/trajectory/cubic-b-spline.hh b/include/roboptim/trajectory/cubic-b-spline.hh
index 45dd941..d0fb488 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hh
+++ b/include/roboptim/trajectory/cubic-b-spline.hh
@@ -103,6 +103,10 @@ namespace roboptim
     void impl_derivative (gradient_t& g, StableTimePoint, size_type order)
       const throw ();
 
+    value_type Dt () const;
+    size_type interval (value_type t) const;
+    vector_t basisFunctions (value_type t, size_type order) const;
+
   private:
     /// \brief Number of control points.
     unsigned int nbp_;
diff --git a/src/cubic-b-spline.cc b/src/cubic-b-spline.cc
index d4b4738..73c1f0d 100644
--- a/src/cubic-b-spline.cc
+++ b/src/cubic-b-spline.cc
@@ -73,92 +73,104 @@ namespace roboptim
     this->derivative (derivative, t, 0);
   }
 
-  void
-  CubicBSpline::impl_derivative (gradient_t& derivative, double t,
-				 size_type order)
-    const throw ()
+  CubicBSpline::value_type
+  CubicBSpline::Dt () const
+  {
+    return length () / (nbp_ - 3.);
+  }
+
+  CubicBSpline::size_type
+  CubicBSpline::interval (value_type t) const
+  {
+    size_type i = std::floor (3 + (t - getLowerBound (timeRange ())) / Dt ());
+    if (i == nbp_)
+      i--;
+    return i;
+  }
+
+  CubicBSpline::vector_t
+  CubicBSpline::basisFunctions (value_type t, size_type order) const
   {
     t = detail::fixTime (t, *this);
-    double t3 = timeRange ().first;
-    double tm = timeRange ().second;
-    assert (t3 <= t && t <= tm);
-    // determine on which interval t lies
-    double Dt = (tm-t3)/(nbp_-3);
-    unsigned int i=(unsigned int) floor(3+(t-t3)/Dt);
-    assert(i>=3);
-    assert(i<=nbp_);
-    if (i == nbp_) i--;
+
+    const double Dt = this->Dt ();
+    const double t3 = getLowerBound (timeRange ());
+    const double tm = getUpperBound (timeRange ());
+
+    const size_type i = interval (t);
+    const size_type n = outputSize ();
+
     // Non zero basis functions are b_{i-3,3}(t), b_{i-2,3}(t), b_{i-1,3}(t),
     // b_{i,3}(t).
-    double t_i = t3 + (i-3)*Dt;
-    double tau_i = t - t_i;
+    const value_type t_i = t3 + (i - 3) * Dt;
+
+    const value_type tau_i = t - t_i;
+    const value_type tau_i_2 = tau_i * tau_i;
+    const value_type tau_i_3 = tau_i * tau_i_2;
     assert (tau_i <= Dt);
-    double tau_i_2 = tau_i*tau_i;
-    double tau_i_3 = tau_i*tau_i_2;
-    double Dt_2 = Dt*Dt;
-    double Dt_3 = Dt*Dt_2;
-    unsigned int n = outputSize();
-    try {
-    ublas::vector<double> P_i_3 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-3)*n,
-				      (i-2)*n);
-    ublas::vector<double> P_i_2 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-2)*n,
-				      (i-1)*n);
-    ublas::vector<double> P_i_1 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-1)*n,
-				      (i)*n);
-    ublas::vector<double> P_i =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i)*n,
-				      (i+1)*n);
+
+    const value_type Dt_2 = Dt * Dt;
+    const value_type Dt_3 = Dt * Dt_2;
+
+    // Evaluate basis functions, up to division by 6 Dt_3 that will
+    // be performed at the end.
+    vector_t b_i (4);
     switch (order)
       {
       case 0:
 	{
-	  // Evaluate basis functions, up to division by 6 Dt_3 that will
-	  // be performed at the end.
-	  double b_i_3 = (  -tau_i_3 + 3*Dt*tau_i_2 - 3*Dt_2*tau_i +   Dt_3);
-	  double b_i_2 = ( 3*tau_i_3 - 6*Dt*tau_i_2                + 4*Dt_3);
-	  double b_i_1 = (-3*tau_i_3 + 3*Dt*tau_i_2 + 3*Dt_2*tau_i +   Dt_3);
-	  double b_i   = (   tau_i_3                                       );
-	  derivative =
-	    (b_i_3*P_i_3 + b_i_2*P_i_2 + b_i_1*P_i_1 + b_i*P_i)/(6*Dt_3);
+	  b_i[3] = (  -tau_i_3 + 3*Dt*tau_i_2 - 3*Dt_2*tau_i +   Dt_3);
+	  b_i[2] = ( 3*tau_i_3 - 6*Dt*tau_i_2                + 4*Dt_3);
+	  b_i[1] = (-3*tau_i_3 + 3*Dt*tau_i_2 + 3*Dt_2*tau_i +   Dt_3);
+	  b_i[0] = (   tau_i_3                                       );
+	  b_i /= 6.;
 	}
 	break;
       case 1:
 	{
-	  // Evaluate basis function derivatives, up to division by
-	  // 6 Dt_3 that will be performed at the end.
-	  double b_i_3 = (-3*tau_i_2 +  6*Dt*tau_i - 3*Dt_2);
-	  double b_i_2 = ( 9*tau_i_2 - 12*Dt*tau_i         );
-	  double b_i_1 = (-9*tau_i_2 +  6*Dt*tau_i + 3*Dt_2);
-	  double b_i   = ( 3*tau_i_2                       );
-	  derivative =
-	    (b_i_3*P_i_3 + b_i_2*P_i_2 + b_i_1*P_i_1 + b_i*P_i)/(6*Dt_3);
+	  b_i[3] = (-3*tau_i_2 +  6*Dt*tau_i - 3*Dt_2);
+	  b_i[2] = ( 9*tau_i_2 - 12*Dt*tau_i         );
+	  b_i[1] = (-9*tau_i_2 +  6*Dt*tau_i + 3*Dt_2);
+	  b_i[0] = ( 3*tau_i_2                       );
+	  b_i /= 6.;
 	}
 	break;
       case 2:
 	{
-	  // Evaluate basis function second derivatives, up to division by
-	  // 6 Dt_3 that will be performed at the end.
-	  double b_i_3 = (  -tau_i +  Dt);
-	  double b_i_2 = ( 3*tau_i - 2*Dt);
-	  double b_i_1 = (-3*tau_i +   Dt);
-	  double b_i   = (   tau_i       );
-	  derivative =
-	    (b_i_3*P_i_3 + b_i_2*P_i_2 + b_i_1*P_i_1 + b_i*P_i)/(Dt_3);
+	  b_i[3] = (  -tau_i +  Dt);
+	  b_i[2] = ( 3*tau_i - 2*Dt);
+	  b_i[1] = (-3*tau_i +   Dt);
+	  b_i[0] = (   tau_i       );
+	  // division by six not needed here.
 	}
 	break;
       default:
 	assert (0);
       }
-    } catch (...) {
-      assert(0);
-    }
+    return b_i;
+  }
+
+  void
+  CubicBSpline::impl_derivative (gradient_t& derivative, double t,
+				 size_type order)
+    const throw ()
+  {
+    using boost::numeric::ublas::subrange;
+
+    t = detail::fixTime (t, *this);
+    const size_type i = interval (t);
+    const size_type n = outputSize ();
+    const value_type Dt_3 = Dt () * Dt () * Dt ();
+
+    const vector_t& P_i_3 = subrange (parameters (), (i - 3) * n, (i - 2) * n);
+    const vector_t& P_i_2 = subrange (parameters (), (i - 2) * n, (i - 1) * n);
+    const vector_t& P_i_1 = subrange (parameters (), (i - 1) * n, (i + 0) * n);
+    const vector_t& P_i   = subrange (parameters (), (i - 0) * n, (i + 1) * n);
+
+    const vector_t b_i = basisFunctions (t, order);
+
+    derivative = b_i[3] * P_i_3 + b_i[2] * P_i_2 + b_i[1] * P_i_1 + b_i[0] * P_i;
+    derivative /= Dt_3;
   }
 
   void
@@ -181,83 +193,22 @@ namespace roboptim
   CubicBSpline::variationDerivWrtParam (double t, size_type order)
     const throw ()
   {
-    t = detail::fixTime (t, *this);
-    double t3 = timeRange ().first;
-    double tm = timeRange ().second;
-    assert (t3 <= t && t <= tm);
-    // determine on which interval t lies
-    double Dt = (tm-t3)/(nbp_-3);
-    unsigned int i=(unsigned int) floor(3+(t-t3)/Dt);
-    assert(i>=3);
-    // Non zero basis functions are b_{i-3,3}(t), b_{i-2,3}(t), b_{i-1,3}(t),
-    // b_{i,3}(t).
-    double t_i = t3 + (i-3)*Dt;
-    double tau_i = t - t_i;
-    assert (tau_i < Dt);
-    double tau_i_2 = tau_i*tau_i;
-    double tau_i_3 = tau_i*tau_i_2;
-    double Dt_2 = Dt*Dt;
-    double Dt_3 = Dt*Dt_2;
-    unsigned int n = outputSize();
-    ublas::vector<double> P_i_3 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-3)*n,
-				      (i-2)*n);
-    ublas::vector<double> P_i_2 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-2)*n,
-				      (i-1)*n);
-    ublas::vector<double> P_i_1 =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i-1)*n,
-				      (i)*n);
-    ublas::vector<double> P_i =
-      boost::numeric::ublas::subrange(parameters(),
-				      (i)*n,
-				      (i+1)*n);
-    jacobian_t jac = ublas::zero_matrix<double>(n, nbp_ * n);
-    ublas::identity_matrix<double> In(n);
-    double b_i=0, b_i_1=0, b_i_2=0, b_i_3=0;
+    using boost::numeric::ublas::noalias;
+    using boost::numeric::ublas::subrange;
 
-    switch (order)
-      {
-      case 0:
-	{
-	  // Evaluate basis functions, up to division by 6 Dt_3 that will
-	  // be performed at the end.
-	  b_i_3 = (  -tau_i_3 + 3*Dt*tau_i_2 - 3*Dt_2*tau_i +   Dt_3);
-	  b_i_2 = ( 3*tau_i_3 - 6*Dt*tau_i_2                + 4*Dt_3);
-	  b_i_1 = (-3*tau_i_3 + 3*Dt*tau_i_2 + 3*Dt_2*tau_i +   Dt_3);
-	  b_i   = (   tau_i_3                                       );
-	}
-	break;
-      case 1:
-	{
-	  // Evaluate basis function derivatives, up to division by
-	  // 6 Dt_3 that will be performed at the end.
-	  b_i_3 = (-3*tau_i_2 +  6*Dt*tau_i - 3*Dt_2);
-	  b_i_2 = ( 9*tau_i_2 - 12*Dt*tau_i         );
-	  b_i_1 = (-9*tau_i_2 +  6*Dt*tau_i + 3*Dt_2);
-	  b_i   = ( 3*tau_i_2                       );
-	}
-	break;
-      case 2:
-	{
-	  // Evaluate basis function second derivatives, up to division by
-	  // 6 Dt_3 that will be performed at the end.
-	  b_i_3 = (  -tau_i +  Dt);
-	  b_i_2 = ( 3*tau_i - 2*Dt);
-	  b_i_1 = (-3*tau_i +   Dt);
-	  b_i   = (   tau_i       );
-	}
-	break;
-      default:
-	assert (0);
-      }
-    noalias(subrange(jac, 0, n, (i-3)*n, (i-2)*n)) = (b_i_3)/(6*Dt_3)*In;
-    noalias(subrange(jac, 0, n, (i-2)*n, (i-1)*n)) = (b_i_2)/(6*Dt_3)*In;
-    noalias(subrange(jac, 0, n, (i-1)*n, i*n))   = (b_i_1)/(6*Dt_3)*In;
-    noalias(subrange(jac, 0, n, i*n, (i+1)*n)) = (b_i)/(6*Dt_3)*In;
+    const size_type i = interval (t);
+    const size_type n = outputSize ();
+    const vector_t b_i = basisFunctions (t, order);
+    const value_type Dt_3 = Dt () * Dt () * Dt ();
+
+    jacobian_t jac = ublas::zero_matrix<double> (n, nbp_ * n);
+    const ublas::identity_matrix<double> In (n);
+
+    noalias (subrange (jac, 0, n, (i - 3) * n, (i - 2) * n)) = b_i[3] * In;
+    noalias (subrange (jac, 0, n, (i - 2) * n, (i - 1) * n)) = b_i[2] * In;
+    noalias (subrange (jac, 0, n, (i - 1) * n,       i * n)) = b_i[1] * In;
+    noalias (subrange (jac, 0, n,       i * n, (i + 1) * n)) = b_i[0] * In;
+    jac  /= Dt_3;
     return jac;
   }
 
diff --git a/tests/free-time-trajectory-stable-time-point.stdout b/tests/free-time-trajectory-stable-time-point.stdout
index e755e0a..fae8681 100644
--- a/tests/free-time-trajectory-stable-time-point.stdout
+++ b/tests/free-time-trajectory-stable-time-point.stdout
@@ -6,9 +6,9 @@ FTT scale: 1
 --------------------------------------------------------------------------------
 | 0.00 || 0.00      | 0.00         || 0.00             |  0.00                 |
 | 0.10 || 0.52      | 0.52         || 3.91             |  3.91                 |
-| 0.20 || 4.17      | 4.17         || 15.62            | 15.62                 |
+| 0.20 || 4.17      | 4.17         || 15.63            | 15.63                 |
 | 0.30 || 13.54     | 13.54        || 31.25            | 31.25                 |
-| 0.40 || 29.17     | 29.17        || 46.87            | 46.87                 |
+| 0.40 || 29.17     | 29.17        || 46.88            | 46.88                 |
 | 0.50 || 50.00     | 50.00        || 54.69            | 54.69                 |
 | 0.60 || 70.83     | 70.83        || 46.88            | 46.88                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 31.25                 |
@@ -61,7 +61,7 @@ Variation of the derivative w.r.t to parameters:
 [1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
 [1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
 [1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
-[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
 [1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
@@ -75,9 +75,9 @@ FTT scale: 0.5
 --------------------------------------------------------------------------------
 | 0.00 || 0.00      | 0.00         || 0.00             |  0.00                 |
 | 0.10 || 0.52      | 0.52         || 3.91             |  1.95                 |
-| 0.20 || 4.17      | 4.17         || 15.62            |  7.81                 |
-| 0.30 || 13.54     | 13.54        || 31.25            | 15.62                 |
-| 0.40 || 29.17     | 29.17        || 46.87            | 23.44                 |
+| 0.20 || 4.17      | 4.17         || 15.63            |  7.81                 |
+| 0.30 || 13.54     | 13.54        || 31.25            | 15.63                 |
+| 0.40 || 29.17     | 29.17        || 46.88            | 23.44                 |
 | 0.50 || 50.00     | 50.00        || 54.69            | 27.34                 |
 | 0.60 || 70.83     | 70.83        || 46.88            | 23.44                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 15.63                 |
@@ -130,7 +130,7 @@ Variation of the derivative w.r.t to parameters:
 [1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
 [1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
 [1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
-[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
 [1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
@@ -144,10 +144,10 @@ FTT scale: 2
 --------------------------------------------------------------------------------
 | 0.00 || 0.00      | 0.00         || 0.00             |  0.00                 |
 | 0.10 || 0.52      | 0.52         || 3.91             |  7.81                 |
-| 0.20 || 4.17      | 4.17         || 15.62            | 31.25                 |
+| 0.20 || 4.17      | 4.17         || 15.63            | 31.25                 |
 | 0.30 || 13.54     | 13.54        || 31.25            | 62.50                 |
-| 0.40 || 29.17     | 29.17        || 46.87            | 93.75                 |
-| 0.50 || 50.00     | 50.00        || 54.69            | 109.37                |
+| 0.40 || 29.17     | 29.17        || 46.88            | 93.75                 |
+| 0.50 || 50.00     | 50.00        || 54.69            | 109.38                |
 | 0.60 || 70.83     | 70.83        || 46.88            | 93.75                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 62.50                 |
 | 0.80 || 95.83     | 95.83        || 15.63            | 31.25                 |
@@ -199,7 +199,7 @@ Variat
ion of the derivative w.r.t to parameters:
 [1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
 [1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
 [1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
-[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
 [1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
 [1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index d688512..292c465 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -775,12 +775,12 @@ FTT range: [0, 2]
 | 0.20 || 0.07      | 0.52         || 0.98             |  7.81                 |
 | 0.30 || 0.22      | 1.76         || 2.20             | 17.58                 |
 | 0.40 || 0.52      | 4.17         || 3.91             | 31.25                 |
-| 0.50 || 1.02      | 8.07         || 6.10             | 46.87                 |
+| 0.50 || 1.02      | 8.07         || 6.10             | 46.88                 |
 | 0.60 || 1.76      | 13.54        || 8.79             | 62.50                 |
 | 0.70 || 2.79      | 20.57        || 11.96            | 78.12                 |
 | 0.80 || 4.17      | 29.17        || 15.62            | 93.75                 |
 | 0.90 || 5.92      | 39.19        || 19.53            | 105.47                |
-| 1.00 || 8.07      | 50.00        || 23.44            | 109.37                |
+| 1.00 || 8.07      | 50.00        || 23.44            | 109.38                |
 | 1.10 || 10.61     | 60.81        || 27.34            | 105.47                |
 | 1.20 || 13.54     | 70.83        || 31.25            | 93.75                 |
 | 1.30 || 16.86     | 79.43        || 35.16            | 78.13                 |
@@ -887,11 +887,11 @@ Variation of the derivative w.r.t to parameters:
 [1,8]((-0.48,-0.28,0.75,0.01,0.00,0.00,0.00,0.00)) [1,9]((2.93,-0.70,-1.02,1.64,0.08,0.00,0.00,0.00,0.00))
 [1,8]((-0.35,-0.51,0.82,0.04,0.00,0.00,0.00,0.00)) [1,9]((11.72,-0.31,-1.56,1.56,0.31,0.00,0.00,0.00,0.00))
 [1,8]((-0.24,-0.67,0.83,0.09,0.00,0.00,0.00,0.00)) [1,9]((26.37,-0.08,-1.64,1.02,0.70,0.00,0.00,0.00,0.00))
-[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((46.87,0.00,-1.25,0.00,1.25,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((46.88,0.00,-1.25,0.00,1.25,0.00,0.00,0.00,0.00))
 [1,8]((-0.09,-0.83,0.67,0.24,0.00,0.00,0.00,0.00)) [1,9]((62.50,0.00,-0.70,-1.02,1.64,0.08,0.00,0.00,0.00))
 [1,8]((-0.04,-0.82,0.51,0.35,0.00,0.00,0.00,0.00)) [1,9]((78.12,0.00,-0.31,-1.56,1.56,0.31,0.00,0.00,0.00))
 [1,8]((-0.01,-0.75,0.28,0.48,0.00,0.00,0.00,0.00)) [1,9]((93.75,0.00,-0.08,-1.64,1.02,0.70,0.00,0.00,0.00))
-[1,8]((0.00,-0.63,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((109.37,0.00,0.00,-1.25,0.00,1.25,0.00,0.00,0.00))
+[1,8]((0.00,-0.63,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((109.38,0.00,0.00,-1.25,0.00,1.25,0.00,0.00,0.00))
 [1,8]((0.00,-0.48,-0.28,0.75,0.01,0.00,0.00,0.00)) [1,9]((87.89,0.00,0.00,-0.70,-1.02,1.64,0.08,0.00,0.00))
 [1,8]((0.00,-0.35,-0.51,0.82,0.04,0.00,0.00,0.00)) [1,9]((54.69,0.00,0.00,-0.31,-1.56,1.56,0.31,0.00,0.00))
 [1,8]((0.00,-0.24,-0.67,0.83,0.09,0.00,0.00,0.00)) [1,9]((9.77,0.00,0.00,-0.08,-1.64,1.02,0.70,0.00,0.00))
diff --git a/tests/spline-gradient.stdout b/tests/spline-gradient.stdout
index b4131c7..5941f99 100644
--- a/tests/spline-gradient.stdout
+++ b/tests/spline-gradient.stdout
@@ -2025,106 +2025,106 @@ plot '-' title 'derivative (0)' with line
 e
 plot '-' title '2nd derivative (0)' with line
 
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@@ -3237,206 +3237,206 @@ plot '-' title 'derivative (1)' with line
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 plot '-' title '2nd derivative (1)' with line
 
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@@ -4449,306 +4449,306 @@ plot '-' title 'derivative (2)' with line
 e
 plot '-' title '2nd derivative (2)' with line
 
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 e
 plot '-' title 'configuration (5)' with line
 
@@ -8286,206 +8286,206 @@ plot '-' title '2nd derivative (5)' with line
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 e
 plot '-' title 'configuration (6)' with line
 
@@ -9598,106 +9598,106 @@ plot '-' title '2nd derivative (6)' with line
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 e
 unset multiplot
 set term wxt persist title 'Spline: base functions' 1 font ',5'
@@ -11727,106 +11727,106 @@ plot '-' title 'derivative (0)' with line
 e
 plot '-' title '2nd derivative (0)' with line
 
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+0.84 0.16
+0.85 0.15
+0.86 0.14
+0.87 0.13
+0.88 0.12
+0.89 0.11
+0.90 0.10
+0.91 0.09
+0.92 0.08
+0.93 0.07
+0.94 0.06
+0.95 0.05
+0.96 0.04
+0.97 0.03
+0.98 0.02
+0.99 ...
 
[truncated message content]

[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.4-13-g159ee05

From: Thomas M. <tho...@us...> - 2010-02-17 15:43:23

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generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  159ee0512462b71265cb6c0f434e5b3ad076cc7b (commit)
      from  36195d7f89600b45725e8734751c4a138cd88153 (commit)

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- Log -----------------------------------------------------------------
commit 159ee0512462b71265cb6c0f434e5b3ad076cc7b
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 16:43:02 2010 +0100

    Fix test cases.
    
    	* tests/free-time-trajectory-stable-time-point.cc,
    	* tests/free-time-trajectory-stable-time-point.stdout,
    	* tests/free-time-trajectory.cc,
    	* tests/free-time-trajectory.stdout: Update test cases for new
    	spline class (finite difference gradients seems wrong on bounds,
    	disable it for now).
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index b784d5e..9d2d326 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,15 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Fix test cases.
+	* tests/free-time-trajectory-stable-time-point.cc,
+	* tests/free-time-trajectory-stable-time-point.stdout,
+	* tests/free-time-trajectory.cc,
+	* tests/free-time-trajectory.stdout: Update test cases for new
+	spline class (finite difference gradients seems wrong on bounds,
+	disable it for now).
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Fix spline gradient computation.
 	* src/cubic-b-spline.cc: Fix bug in gradient computation.
 	* tests/free-time-trajectory.cc,
diff --git a/tests/free-time-trajectory-stable-time-point.cc b/tests/free-time-trajectory-stable-time-point.cc
index 0c69e9f..18f6100 100644
--- a/tests/free-time-trajectory-stable-time-point.cc
+++ b/tests/free-time-trajectory-stable-time-point.cc
@@ -230,7 +230,7 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 
   std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
   format fmterDeriv ("%1.2f %|50t|%2.2f");
-  for (double alpha = 0.; alpha <= 1.; alpha += .1)
+  for (double alpha = 0. + .1; alpha <= 1. - .1; alpha += .1)
     {
       if (alpha >= 1.)
 	alpha = 1.;
diff --git a/tests/free-time-trajectory-stable-time-point.stdout b/tests/free-time-trajectory-stable-time-point.stdout
index cd13b5b..e755e0a 100644
--- a/tests/free-time-trajectory-stable-time-point.stdout
+++ b/tests/free-time-trajectory-stable-time-point.stdout
@@ -8,7 +8,7 @@ FTT scale: 1
 | 0.10 || 0.52      | 0.52         || 3.91             |  3.91                 |
 | 0.20 || 4.17      | 4.17         || 15.62            | 15.62                 |
 | 0.30 || 13.54     | 13.54        || 31.25            | 31.25                 |
-| 0.40 || 29.17     | 29.17        || 46.88            | 46.88                 |
+| 0.40 || 29.17     | 29.17        || 46.87            | 46.87                 |
 | 0.50 || 50.00     | 50.00        || 54.69            | 54.69                 |
 | 0.60 || 70.83     | 70.83        || 46.88            | 46.88                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 31.25                 |
@@ -43,31 +43,29 @@ Free time trajectory gradient.
 
 
 Variation of the configuration w.r.t to parameters:
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.00,1.00,0.00,0.00,0.00))
-[1,4]((0.98,0.02,0.00,0.00))                      [1,5]((0.00,0.98,0.02,0.00,0.00))
-[1,4]((0.83,0.17,0.00,0.00))                      [1,5]((0.00,0.83,0.17,0.00,0.00))
-[1,4]((0.50,0.48,0.02,0.00))                      [1,5]((0.00,0.50,0.48,0.02,0.00))
-[1,4]((0.17,0.67,0.17,0.00))                      [1,5]((0.00,0.17,0.67,0.17,0.00))
-[1,4]((0.02,0.48,0.48,0.02))                      [1,5]((0.00,0.02,0.48,0.48,0.02))
-[1,4]((0.00,0.17,0.67,0.17))                      [1,5]((0.00,0.00,0.17,0.67,0.17))
-[1,4]((0.00,0.02,0.48,0.50))                      [1,5]((0.00,0.00,0.02,0.48,0.50))
-[1,4]((0.00,0.00,0.17,0.83))                      [1,5]((0.00,0.00,0.00,0.17,0.83))
-[1,4]((0.00,0.00,0.02,0.98))                      [1,5]((0.00,0.00,0.00,0.02,0.98))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((0.00,0.00,0.00,0.00,1.00))
+[1,8]((0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))
+[1,8]((0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
 
 
 Variation of the derivative w.r.t to parameters:
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
-[1,4]((-0.16,0.16,0.00,0.00))                     [1,5]((0.00,-0.62,0.62,0.00,0.00))
-[1,4]((-0.62,0.62,0.00,0.00))                     [1,5]((0.00,-2.50,2.50,0.00,0.00))
-[1,4]((-0.94,0.78,0.16,0.00))                     [1,5]((0.00,-3.75,3.12,0.63,0.00))
-[1,4]((-0.62,0.00,0.62,0.00))                     [1,5]((0.00,-2.50,0.00,2.50,0.00))
-[1,4]((-0.16,-0.78,0.78,0.16))                    [1,5]((0.00,-0.62,-3.12,3.12,0.62))
-[1,4]((0.00,-0.63,0.00,0.62))                     [1,5]((0.00,0.00,-2.50,0.00,2.50))
-[1,4]((0.00,-0.16,-0.78,0.94))                    [1,5]((0.00,0.00,-0.63,-3.12,3.75))
-[1,4]((0.00,0.00,-0.63,0.63))                     [1,5]((0.00,0.00,0.00,-2.50,2.50))
-[1,4]((0.00,0.00,-0.16,0.16))                     [1,5]((0.00,0.00,0.00,-0.63,0.63))
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((0.00,-0.63,-3.12,3.12,0.62,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16)) [1,9]((0.00,0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62))
 
 Spline range: [0, 4]
 FTT range: [0, 8]
@@ -78,8 +76,8 @@ FTT scale: 0.5
 | 0.00 || 0.00      | 0.00         || 0.00             |  0.00                 |
 | 0.10 || 0.52      | 0.52         || 3.91             |  1.95                 |
 | 0.20 || 4.17      | 4.17         || 15.62            |  7.81                 |
-| 0.30 || 13.54     | 13.54        || 31.25            | 15.63                 |
-| 0.40 || 29.17     | 29.17        || 46.88            | 23.44                 |
+| 0.30 || 13.54     | 13.54        || 31.25            | 15.62                 |
+| 0.40 || 29.17     | 29.17        || 46.87            | 23.44                 |
 | 0.50 || 50.00     | 50.00        || 54.69            | 27.34                 |
 | 0.60 || 70.83     | 70.83        || 46.88            | 23.44                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 15.63                 |
@@ -114,31 +112,29 @@ Free time trajectory gradient.
 
 
 Variation of the configuration w.r.t to parameters:
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.00,1.00,0.00,0.00,0.00))
-[1,4]((0.98,0.02,0.00,0.00))                      [1,5]((0.00,0.98,0.02,0.00,0.00))
-[1,4]((0.83,0.17,0.00,0.00))                      [1,5]((0.00,0.83,0.17,0.00,0.00))
-[1,4]((0.50,0.48,0.02,0.00))                      [1,5]((0.00,0.50,0.48,0.02,0.00))
-[1,4]((0.17,0.67,0.17,0.00))                      [1,5]((0.00,0.17,0.67,0.17,0.00))
-[1,4]((0.02,0.48,0.48,0.02))                      [1,5]((0.00,0.02,0.48,0.48,0.02))
-[1,4]((0.00,0.17,0.67,0.17))                      [1,5]((0.00,0.00,0.17,0.67,0.17))
-[1,4]((0.00,0.02,0.48,0.50))                      [1,5]((0.00,0.00,0.02,0.48,0.50))
-[1,4]((0.00,0.00,0.17,0.83))                      [1,5]((0.00,0.00,0.00,0.17,0.83))
-[1,4]((0.00,0.00,0.02,0.98))                      [1,5]((0.00,0.00,0.00,0.02,0.98))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((0.00,0.00,0.00,0.00,1.00))
+[1,8]((0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))
+[1,8]((0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
 
 
 Variation of the derivative w.r.t to parameters:
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
-[1,4]((-0.16,0.16,0.00,0.00))                     [1,5]((0.00,-0.62,0.62,0.00,0.00))
-[1,4]((-0.62,0.62,0.00,0.00))                     [1,5]((0.00,-2.50,2.50,0.00,0.00))
-[1,4]((-0.94,0.78,0.16,0.00))                     [1,5]((0.00,-3.75,3.12,0.63,0.00))
-[1,4]((-0.62,0.00,0.62,0.00))                     [1,5]((0.00,-2.50,0.00,2.50,0.00))
-[1,4]((-0.16,-0.78,0.78,0.16))                    [1,5]((0.00,-0.62,-3.12,3.12,0.62))
-[1,4]((0.00,-0.63,0.00,0.62))                     [1,5]((0.00,0.00,-2.50,0.00,2.50))
-[1,4]((0.00,-0.16,-0.78,0.94))                    [1,5]((0.00,0.00,-0.63,-3.12,3.75))
-[1,4]((0.00,0.00,-0.63,0.63))                     [1,5]((0.00,0.00,0.00,-2.50,2.50))
-[1,4]((0.00,0.00,-0.16,0.16))                     [1,5]((0.00,0.00,0.00,-0.63,0.63))
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((0.00,-0.63,-3.12,3.12,0.62,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16)) [1,9]((0.00,0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62))
 
 Spline range: [0, 4]
 FTT range: [0, 2]
@@ -150,8 +146,8 @@ FTT scale: 2
 | 0.10 || 0.52      | 0.52         || 3.91             |  7.81                 |
 | 0.20 || 4.17      | 4.17         || 15.62            | 31.25                 |
 | 0.30 || 13.54     | 13.54        || 31.25            | 62.50                 |
-| 0.40 || 29.17     | 29.17        || 46.88            | 93.75                 |
-| 0.50 || 50.00     | 50.00        || 54.69            | 109.38                |
+| 0.40 || 29.17     | 29.17        || 46.87            | 93.75                 |
+| 0.50 || 50.00     | 50.00        || 54.69            | 109.37                |
 | 0.60 || 70.83     | 70.83        || 46.88            | 93.75                 |
 | 0.70 || 86.46     | 86.46        || 31.25            | 62.50                 |
 | 0.80 || 95.83     | 95.83        || 15.63            | 31.25                 |
@@ -185,29 +181,27 @@ Free time trajectory gradient.
 
 
 Variation of the configuration w.r.t to parameters:
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.00,1.00,0.00,0.00,0.00))
-[1,4]((0.98,0.02,0.00,0.00))                      [1,5]((0.00,0.98,0.02,0.00,0.00))
-[1,4]((0.83,0.17,0.00,0.00))                      [1,5]((0.00,0.83,0.17,0.00,0.00))
-[1,4]((0.50,0.48,0.02,0.00))                      [1,5]((0.00,0.50,0.48,0.02,0.00))
-[1,4]((0.17,0.67,0.17,0.00))                      [1,5]((0.00,0.17,0.67,0.17,0.00))
-[1,4]((0.02,0.48,0.48,0.02))                      [1,5]((0.00,0.02,0.48,0.48,0.02))
-[1,4]((0.00,0.17,0.67,0.17))                      [1,5]((0.00,0.00,0.17,0.67,0.17))
-[1,4]((0.00,0.02,0.48,0.50))                      [1,5]((0.00,0.00,0.02,0.48,0.50))
-[1,4]((0.00,0.00,0.17,0.83))                      [1,5]((0.00,0.00,0.00,0.17,0.83))
-[1,4]((0.00,0.00,0.02,0.98))                      [1,5]((0.00,0.00,0.00,0.02,0.98))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((0.00,0.00,0.00,0.00,1.00))
+[1,8]((0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))
+[1,8]((0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))
+[1,8]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))
+[1,8]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))
+[1,8]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+[1,8]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
 
 
 Variation of the derivative w.r.t to parameters:
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
-[1,4]((-0.16,0.16,0.00,0.00))                     [1,5]((0.00,-0.62,0.62,0.00,0.00))
-[1,4]((-0.62,0.62,0.00,0.00))                     [1,5]((0.00,-2.50,2.50,0.00,0.00))
-[1,4]((-0.94,0.78,0.16,0.00))                     [1,5]((0.00,-3.75,3.12,0.63,0.00))
-[1,4]((-0.62,0.00,0.62,0.00))                     [1,5]((0.00,-2.50,0.00,2.50,0.00))
-[1,4]((-0.16,-0.78,0.78,0.16))                    [1,5]((0.00,-0.62,-3.12,3.12,0.62))
-[1,4]((0.00,-0.63,0.00,0.62))                     [1,5]((0.00,0.00,-2.50,0.00,2.50))
-[1,4]((0.00,-0.16,-0.78,0.94))                    [1,5]((0.00,0.00,-0.63,-3.12,3.75))
-[1,4]((0.00,0.00,-0.63,0.63))                     [1,5]((0.00,0.00,0.00,-2.50,2.50))
-[1,4]((0.00,0.00,-0.16,0.16))                     [1,5]((0.00,0.00,0.00,-0.63,0.63))
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((0.00,-0.63,-3.12,3.12,0.62,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.62,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((0.00,0.00,-0.62,-3.12,3.12,0.63,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.62,0.00,0.62,0.00,0.00,0.00)) [1,9]((0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((0.00,0.00,0.00,-0.63,-3.12,3.12,0.62,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.63,0.00,0.62,0.00,0.00)) [1,9]((0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.63,0.00,0.62,0.00)) [1,9]((0.00,0.00,0.00,0.00,0.00,-2.50,0.00,2.50,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16)) [1,9]((0.00,0.00,0.00,0.00,0.00,-0.63,-3.12,3.13,0.62))
 
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index c28914c..ad88e86 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -200,7 +200,7 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 
   std::cout << "Variation of the configuration w.r.t to parameters:" << std::endl;
   format fmterConfig ("%1.2f %|50t|%2.2f");
-  for (double t = fttTmin + 1e-3; t <= fttTmax + 1e-3; t += .1)
+  for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
     {
       std::cout << "t = " <<  t << std::endl;
       if (t > fttTmax)
@@ -236,7 +236,7 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 
   std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
   format fmterDeriv ("%1.2f %|50t|%2.2f");
-  for (double t = fttTmin + 1e-3; t <= fttTmax + 1e-3; t += .1)
+  for (double t = fttTmin + .1; t <= fttTmax - .1; t += .1)
     {
       if (t > fttTmax)
 	t = fttTmax;
@@ -265,7 +265,9 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 	  }
 	catch (BadGradient& bg)
 	  {
-	    std::cout << bg << std::endl;
+	    std::cout
+	      << "component " << gradientId << " is wrong:" << std::endl
+	      << bg << std::endl;
 	  }
 
       std::cout << fmterDeriv << std::endl;
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index 183d69a..d688512 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -142,91 +142,129 @@ Free time trajectory gradient.
 
 
 Variation of the configuration w.r.t to parameters:
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.00,1.00,0.00,0.00,0.00))
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.02,1.00,0.00,0.00,0.00))
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.20,1.00,0.00,0.00,0.00))
-[1,4]((0.99,0.01,0.00,0.00))                      [1,5]((0.66,0.99,0.01,0.00,0.00))
-[1,4]((0.98,0.02,0.00,0.00))                      [1,5]((1.56,0.98,0.02,0.00,0.00))
-[1,4]((0.96,0.04,0.00,0.00))                      [1,5]((3.05,0.96,0.04,0.00,0.00))
-[1,4]((0.93,0.07,0.00,0.00))                      [1,5]((5.27,0.93,0.07,0.00,0.00))
-[1,4]((0.89,0.11,0.00,0.00))                      [1,5]((8.37,0.89,0.11,0.00,0.00))
-[1,4]((0.83,0.17,0.00,0.00))                      [1,5]((12.50,0.83,0.17,0.00,0.00))
-[1,4]((0.76,0.24,0.00,0.00))                      [1,5]((17.58,0.76,0.24,0.00,0.00))
-[1,4]((0.68,0.32,0.00,0.00))                      [1,5]((23.44,0.68,0.32,0.00,0.00))
-[1,4]((0.59,0.40,0.01,0.00))                      [1,5]((30.08,0.59,0.40,0.01,0.00))
-[1,4]((0.50,0.48,0.02,0.00))                      [1,5]((37.50,0.50,0.48,0.02,0.00))
-[1,4]((0.41,0.55,0.04,0.00))                      [1,5]((45.70,0.41,0.55,0.04,0.00))
-[1,4]((0.32,0.61,0.07,0.00))                      [1,5]((54.69,0.32,0.61,0.07,0.00))
-[1,4]((0.24,0.65,0.11,0.00))                      [1,5]((64.45,0.24,0.65,0.11,0.00))
-[1,4]((0.17,0.67,0.17,0.00))                      [1,5]((75.00,0.17,0.67,0.17,0.00))
-[1,4]((0.11,0.65,0.24,0.00))                      [1,5]((85.50,0.11,0.65,0.24,0.00))
-[1,4]((0.07,0.61,0.32,0.00))                      [1,5]((94.92,0.07,0.61,0.32,0.00))
-[1,4]((0.04,0.55,0.40,0.01))                      [1,5]((102.98,0.04,0.55,0.40,0.01))
-[1,4]((0.02,0.48,0.48,0.02))                      [1,5]((109.38,0.02,0.48,0.48,0.02))
-[1,4]((0.01,0.40,0.55,0.04))                      [1,5]((113.82,0.01,0.40,0.55,0.04))
-[1,4]((0.00,0.32,0.61,0.07))                      [1,5]((116.02,0.00,0.32,0.61,0.07))
-[1,4]((0.00,0.24,0.65,0.11))                      [1,5]((115.67,0.00,0.24,0.65,0.11))
-[1,4]((0.00,0.17,0.67,0.17))                      [1,5]((112.50,0.00,0.17,0.67,0.17))
-[1,4]((0.00,0.11,0.65,0.24))                      [1,5]((107.42,0.00,0.11,0.65,0.24))
-[1,4]((0.00,0.07,0.61,0.32))                      [1,5]((101.56,0.00,0.07,0.61,0.32))
-[1,4]((0.00,0.04,0.55,0.41))                      [1,5]((94.92,0.00,0.04,0.55,0.41))
-[1,4]((0.00,0.02,0.48,0.50))                      [1,5]((87.50,0.00,0.02,0.48,0.50))
-[1,4]((0.00,0.01,0.40,0.59))                      [1,5]((79.30,0.00,0.01,0.40,0.59))
-[1,4]((0.00,0.00,0.32,0.68))                      [1,5]((70.31,0.00,0.00,0.32,0.68))
-[1,4]((0.00,0.00,0.24,0.76))                      [1,5]((60.55,0.00,0.00,0.24,0.76))
-[1,4]((0.00,0.00,0.17,0.83))                      [1,5]((50.00,0.00,0.00,0.17,0.83))
-[1,4]((0.00,0.00,0.11,0.89))                      [1,5]((39.48,0.00,0.00,0.11,0.89))
-[1,4]((0.00,0.00,0.07,0.93))                      [1,5]((29.88,0.00,0.00,0.07,0.93))
-[1,4]((0.00,0.00,0.04,0.96))                      [1,5]((21.36,0.00,0.00,0.04,0.96))
-[1,4]((0.00,0.00,0.02,0.98))                      [1,5]((14.06,0.00,0.00,0.02,0.98))
-[1,4]((0.00,0.00,0.01,0.99))                      [1,5]((8.13,0.00,0.00,0.01,0.99))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((3.71,0.00,0.00,0.00,1.00))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((0.95,0.00,0.00,0.00,1.00))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((0.00,0.00,0.00,0.00,1.00))
+t = 0.00
+[1,8]((0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))
+t = 0.10
+[1,8]((0.11,0.65,0.24,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.02,0.11,0.65,0.24,0.00,0.00,0.00,0.00,0.00))
+t = 0.20
+[1,8]((0.07,0.61,0.32,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.20,0.07,0.61,0.32,0.00,0.00,0.00,0.00,0.00))
+t = 0.30
+[1,8]((0.04,0.55,0.40,0.01,0.00,0.00,0.00,0.00))  [1,9]((0.66,0.04,0.55,0.40,0.01,0.00,0.00,0.00,0.00))
+t = 0.40
+[1,8]((0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))  [1,9]((1.56,0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))
+t = 0.50
+[1,8]((0.01,0.40,0.55,0.04,0.00,0.00,0.00,0.00))  [1,9]((3.05,0.01,0.40,0.55,0.04,0.00,0.00,0.00,0.00))
+t = 0.60
+[1,8]((0.00,0.32,0.61,0.07,0.00,0.00,0.00,0.00))  [1,9]((5.27,0.00,0.32,0.61,0.07,0.00,0.00,0.00,0.00))
+t = 0.70
+[1,8]((0.00,0.24,0.65,0.11,0.00,0.00,0.00,0.00))  [1,9]((8.37,0.00,0.24,0.65,0.11,0.00,0.00,0.00,0.00))
+t = 0.80
+[1,8]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))  [1,9]((12.50,0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))
+t = 0.90
+[1,8]((0.00,0.11,0.65,0.24,0.00,0.00,0.00,0.00))  [1,9]((17.58,0.00,0.11,0.65,0.24,0.00,0.00,0.00,0.00))
+t = 1.00
+[1,8]((0.00,0.07,0.61,0.32,0.00,0.00,0.00,0.00))  [1,9]((23.44,0.00,0.07,0.61,0.32,0.00,0.00,0.00,0.00))
+t = 1.10
+[1,8]((0.00,0.04,0.55,0.40,0.01,0.00,0.00,0.00))  [1,9]((30.08,0.00,0.04,0.55,0.40,0.01,0.00,0.00,0.00))
+t = 1.20
+[1,8]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))  [1,9]((37.50,0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))
+t = 1.30
+[1,8]((0.00,0.01,0.40,0.55,0.04,0.00,0.00,0.00))  [1,9]((45.70,0.00,0.01,0.40,0.55,0.04,0.00,0.00,0.00))
+t = 1.40
+[1,8]((0.00,0.00,0.32,0.61,0.07,0.00,0.00,0.00))  [1,9]((54.69,0.00,0.00,0.32,0.61,0.07,0.00,0.00,0.00))
+t = 1.50
+[1,8]((0.00,0.00,0.24,0.65,0.11,0.00,0.00,0.00))  [1,9]((64.45,0.00,0.00,0.24,0.65,0.11,0.00,0.00,0.00))
+t = 1.60
+[1,8]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))  [1,9]((75.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))
+t = 1.70
+[1,8]((0.00,0.00,0.11,0.65,0.24,0.00,0.00,0.00))  [1,9]((85.50,0.00,0.00,0.11,0.65,0.24,0.00,0.00,0.00))
+t = 1.80
+[1,8]((0.00,0.00,0.07,0.61,0.32,0.00,0.00,0.00))  [1,9]((94.92,0.00,0.00,0.07,0.61,0.32,0.00,0.00,0.00))
+t = 1.90
+[1,8]((0.00,0.00,0.04,0.55,0.40,0.01,0.00,0.00))  [1,9]((102.98,0.00,0.00,0.04,0.55,0.40,0.01,0.00,0.00))
+t = 2.00
+[1,8]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))  [1,9]((109.38,0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))
+t = 2.10
+[1,8]((0.00,0.00,0.01,0.40,0.55,0.04,0.00,0.00))  [1,9]((113.82,0.00,0.00,0.01,0.40,0.55,0.04,0.00,0.00))
+t = 2.20
+[1,8]((0.00,0.00,0.00,0.32,0.61,0.07,0.00,0.00))  [1,9]((116.02,0.00,0.00,0.00,0.32,0.61,0.07,0.00,0.00))
+t = 2.30
+[1,8]((0.00,0.00,0.00,0.24,0.65,0.11,0.00,0.00))  [1,9]((115.67,0.00,0.00,0.00,0.24,0.65,0.11,0.00,0.00))
+t = 2.40
+[1,8]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))  [1,9]((112.50,0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))
+t = 2.50
+[1,8]((0.00,0.00,0.00,0.11,0.65,0.24,0.00,0.00))  [1,9]((107.42,0.00,0.00,0.00,0.11,0.65,0.24,0.00,0.00))
+t = 2.60
+[1,8]((0.00,0.00,0.00,0.07,0.61,0.32,0.00,0.00))  [1,9]((101.56,0.00,0.00,0.00,0.07,0.61,0.32,0.00,0.00))
+t = 2.70
+[1,8]((0.00,0.00,0.00,0.04,0.55,0.40,0.01,0.00))  [1,9]((94.92,0.00,0.00,0.00,0.04,0.55,0.40,0.01,0.00))
+t = 2.80
+[1,8]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))  [1,9]((87.50,0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))
+t = 2.90
+[1,8]((0.00,0.00,0.00,0.01,0.40,0.55,0.04,0.00))  [1,9]((79.30,0.00,0.00,0.00,0.01,0.40,0.55,0.04,0.00))
+t = 3.00
+[1,8]((0.00,0.00,0.00,0.00,0.32,0.61,0.07,0.00))  [1,9]((70.31,0.00,0.00,0.00,0.00,0.32,0.61,0.07,0.00))
+t = 3.10
+[1,8]((0.00,0.00,0.00,0.00,0.24,0.65,0.11,0.00))  [1,9]((60.55,0.00,0.00,0.00,0.00,0.24,0.65,0.11,0.00))
+t = 3.20
+[1,8]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))  [1,9]((50.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+t = 3.30
+[1,8]((0.00,0.00,0.00,0.00,0.11,0.65,0.24,0.00))  [1,9]((39.48,0.00,0.00,0.00,0.00,0.11,0.65,0.24,0.00))
+t = 3.40
+[1,8]((0.00,0.00,0.00,0.00,0.07,0.61,0.32,0.00))  [1,9]((29.88,0.00,0.00,0.00,0.00,0.07,0.61,0.32,0.00))
+t = 3.50
+[1,8]((0.00,0.00,0.00,0.00,0.04,0.55,0.40,0.01))  [1,9]((21.36,0.00,0.00,0.00,0.00,0.04,0.55,0.40,0.01))
+t = 3.60
+[1,8]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))  [1,9]((14.06,0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))
+t = 3.70
+[1,8]((0.00,0.00,0.00,0.00,0.01,0.40,0.55,0.04))  [1,9]((8.13,0.00,0.00,0.00,0.00,0.01,0.40,0.55,0.04))
+t = 3.80
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.32,0.61,0.07))  [1,9]((3.71,0.00,0.00,0.00,0.00,0.00,0.32,0.61,0.07))
+t = 3.90
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.24,0.65,0.11))  [1,9]((0.95,0.00,0.00,0.00,0.00,0.00,0.24,0.65,0.11))
+t = 4.00
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))  [1,9]((0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
 
 
 Variation of the derivative w.r.t to parameters:
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
-[1,4]((-0.01,0.01,0.00,0.00))                     [1,5]((0.73,-0.01,0.01,0.00,0.00))
-[1,4]((-0.04,0.04,0.00,0.00))                     [1,5]((2.93,-0.04,0.04,0.00,0.00))
-[1,4]((-0.09,0.09,0.00,0.00))                     [1,5]((6.59,-0.09,0.09,0.00,0.00))
-[1,4]((-0.16,0.16,0.00,0.00))                     [1,5]((11.72,-0.16,0.16,0.00,0.00))
-[1,4]((-0.24,0.24,0.00,0.00))                     [1,5]((18.31,-0.24,0.24,0.00,0.00))
-[1,4]((-0.35,0.35,0.00,0.00))                     [1,5]((26.37,-0.35,0.35,0.00,0.00))
-[1,4]((-0.48,0.48,0.00,0.00))                     [1,5]((35.89,-0.48,0.48,0.00,0.00))
-[1,4]((-0.62,0.62,0.00,0.00))                     [1,5]((46.87,-0.62,0.62,0.00,0.00))
-[1,4]((-0.76,0.75,0.01,0.00))                     [1,5]((54.69,-0.76,0.75,0.01,0.00))
-[1,4]((-0.86,0.82,0.04,0.00))                     [1,5]((62.50,-0.86,0.82,0.04,0.00))
-[1,4]((-0.92,0.83,0.09,0.00))                     [1,5]((70.31,-0.92,0.83,0.09,0.00))
-[1,4]((-0.94,0.78,0.16,0.00))                     [1,5]((78.12,-0.94,0.78,0.16,0.00))
-[1,4]((-0.92,0.67,0.24,0.00))                     [1,5]((85.94,-0.92,0.67,0.24,0.00))
-[1,4]((-0.86,0.51,0.35,0.00))                     [1,5]((93.75,-0.86,0.51,0.35,0.00))
-[1,4]((-0.76,0.28,0.48,0.00))                     [1,5]((101.56,-0.76,0.28,0.48,0.00))
-[1,4]((-0.62,0.00,0.63,0.00))                     [1,5]((109.37,-0.62,0.00,0.63,0.00))
-[1,4]((-0.48,-0.28,0.75,0.01))                    [1,5]((100.10,-0.48,-0.28,0.75,0.01))
-[1,4]((-0.35,-0.51,0.82,0.04))                    [1,5]((87.89,-0.35,-0.51,0.82,0.04))
-[1,4]((-0.24,-0.67,0.83,0.09))                    [1,5]((72.75,-0.24,-0.67,0.83,0.09))
-[1,4]((-0.16,-0.78,0.78,0.16))                    [1,5]((54.69,-0.16,-0.78,0.78,0.16))
-[1,4]((-0.09,-0.83,0.67,0.24))                    [1,5]((33.69,-0.09,-0.83,0.67,0.24))
-[1,4]((-0.04,-0.82,0.51,0.35))                    [1,5]((9.77,-0.04,-0.82,0.51,0.35))
-[1,4]((-0.01,-0.75,0.28,0.48))                    [1,5]((-17.09,-0.01,-0.75,0.28,0.48))
-[1,4]((0.00,-0.62,0.00,0.63))                     [1,5]((-46.88,0.00,-0.62,0.00,0.63))
-[1,4]((0.00,-0.48,-0.28,0.76))                    [1,5]((-54.69,0.00,-0.48,-0.28,0.76))
-[1,4]((0.00,-0.35,-0.51,0.86))                    [1,5]((-62.50,0.00,-0.35,-0.51,0.86))
-[1,4]((0.00,-0.24,-0.67,0.92))                    [1,5]((-70.31,0.00,-0.24,-0.67,0.92))
-[1,4]((0.00,-0.16,-0.78,0.94))                    [1,5]((-78.13,0.00,-0.16,-0.78,0.94))
-[1,4]((0.00,-0.09,-0.83,0.92))                    [1,5]((-85.94,0.00,-0.09,-0.83,0.92))
-[1,4]((0.00,-0.04,-0.82,0.86))                    [1,5]((-93.75,0.00,-0.04,-0.82,0.86))
-[1,4]((0.00,-0.01,-0.75,0.76))                    [1,5]((-101.56,0.00,-0.01,-0.75,0.76))
-[1,4]((0.00,0.00,-0.62,0.62))                     [1,5]((-109.37,0.00,0.00,-0.62,0.62))
-[1,4]((0.00,0.00,-0.48,0.48))                     [1,5]((-100.83,0.00,0.00,-0.48,0.48))
-[1,4]((0.00,0.00,-0.35,0.35))                     [1,5]((-90.82,0.00,0.00,-0.35,0.35))
-[1,4]((0.00,0.00,-0.24,0.24))                     [1,5]((-79.35,0.00,0.00,-0.24,0.24))
-[1,4]((0.00,0.00,-0.16,0.16))                     [1,5]((-66.41,0.00,0.00,-0.16,0.16))
-[1,4]((0.00,0.00,-0.09,0.09))                     [1,5]((-52.00,0.00,0.00,-0.09,0.09))
-[1,4]((0.00,0.00,-0.04,0.04))                     [1,5]((-36.13,0.00,0.00,-0.04,0.04))
-[1,4]((0.00,0.00,-0.01,0.01))                     [1,5]((-18.80,0.00,0.00,-0.01,0.01))
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.48,-0.28,0.75,0.01,0.00,0.00,0.00,0.00)) [1,9]((0.73,-0.48,-0.28,0.75,0.01,0.00,0.00,0.00,0.00))
+[1,8]((-0.35,-0.51,0.82,0.04,0.00,0.00,0.00,0.00)) [1,9]((2.93,-0.35,-0.51,0.82,0.04,0.00,0.00,0.00,0.00))
+[1,8]((-0.24,-0.67,0.83,0.09,0.00,0.00,0.00,0.00)) [1,9]((6.59,-0.24,-0.67,0.83,0.09,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((11.72,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00))
+[1,8]((-0.09,-0.83,0.67,0.24,0.00,0.00,0.00,0.00)) [1,9]((18.31,-0.09,-0.83,0.67,0.24,0.00,0.00,0.00,0.00))
+[1,8]((-0.04,-0.82,0.51,0.35,0.00,0.00,0.00,0.00)) [1,9]((26.37,-0.04,-0.82,0.51,0.35,0.00,0.00,0.00,0.00))
+[1,8]((-0.01,-0.75,0.28,0.48,0.00,0.00,0.00,0.00)) [1,9]((35.89,-0.01,-0.75,0.28,0.48,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.63,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((46.87,0.00,-0.63,0.00,0.62,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.48,-0.28,0.75,0.01,0.00,0.00,0.00)) [1,9]((54.69,0.00,-0.48,-0.28,0.75,0.01,0.00,0.00,0.00))
+[1,8]((0.00,-0.35,-0.51,0.82,0.04,0.00,0.00,0.00)) [1,9]((62.50,0.00,-0.35,-0.51,0.82,0.04,0.00,0.00,0.00))
+[1,8]((0.00,-0.24,-0.67,0.83,0.09,0.00,0.00,0.00)) [1,9]((70.31,0.00,-0.24,-0.67,0.83,0.09,0.00,0.00,0.00))
+[1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((78.12,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00))
+[1,8]((0.00,-0.09,-0.83,0.67,0.24,0.00,0.00,0.00)) [1,9]((85.94,0.00,-0.09,-0.83,0.67,0.24,0.00,0.00,0.00))
+[1,8]((0.00,-0.04,-0.82,0.51,0.35,0.00,0.00,0.00)) [1,9]((93.75,0.00,-0.04,-0.82,0.51,0.35,0.00,0.00,0.00))
+[1,8]((0.00,-0.01,-0.75,0.28,0.48,0.00,0.00,0.00)) [1,9]((101.56,0.00,-0.01,-0.75,0.28,0.48,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.62,0.00,0.63,0.00,0.00,0.00)) [1,9]((109.37,0.00,0.00,-0.62,0.00,0.63,0.00,0.00,0.00))
+[1,8]((0.00,0.00,-0.48,-0.28,0.75,0.01,0.00,0.00)) [1,9]((100.10,0.00,0.00,-0.48,-0.28,0.75,0.01,0.00,0.00))
+[1,8]((0.00,0.00,-0.35,-0.51,0.82,0.04,0.00,0.00)) [1,9]((87.89,0.00,0.00,-0.35,-0.51,0.82,0.04,0.00,0.00))
+[1,8]((0.00,0.00,-0.24,-0.67,0.83,0.09,0.00,0.00)) [1,9]((72.75,0.00,0.00,-0.24,-0.67,0.83,0.09,0.00,0.00))
+[1,8]((0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00)) [1,9]((54.69,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00,0.00))
+[1,8]((0.00,0.00,-0.09,-0.83,0.67,0.24,0.00,0.00)) [1,9]((33.69,0.00,0.00,-0.09,-0.83,0.67,0.24,0.00,0.00))
+[1,8]((0.00,0.00,-0.04,-0.82,0.51,0.35,0.00,0.00)) [1,9]((9.77,0.00,0.00,-0.04,-0.82,0.51,0.35,0.00,0.00))
+[1,8]((0.00,0.00,-0.01,-0.75,0.28,0.48,0.00,0.00)) [1,9]((-17.09,0.00,0.00,-0.01,-0.75,0.28,0.48,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.62,0.00,0.63,0.00,0.00)) [1,9]((-46.88,0.00,0.00,0.00,-0.62,0.00,0.63,0.00,0.00))
+[1,8]((0.00,0.00,0.00,-0.48,-0.28,0.75,0.01,0.00)) [1,9]((-54.69,0.00,0.00,0.00,-0.48,-0.28,0.75,0.01,0.00))
+[1,8]((0.00,0.00,0.00,-0.35,-0.51,0.82,0.04,0.00)) [1,9]((-62.50,0.00,0.00,0.00,-0.35,-0.51,0.82,0.04,0.00))
+[1,8]((0.00,0.00,0.00,-0.24,-0.67,0.83,0.09,0.00)) [1,9]((-70.31,0.00,0.00,0.00,-0.24,-0.67,0.83,0.09,0.00))
+[1,8]((0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00)) [1,9]((-78.13,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16,0.00))
+[1,8]((0.00,0.00,0.00,-0.09,-0.83,0.67,0.24,0.00)) [1,9]((-85.94,0.00,0.00,0.00,-0.09,-0.83,0.67,0.24,0.00))
+[1,8]((0.00,0.00,0.00,-0.04,-0.82,0.51,0.35,0.00)) [1,9]((-93.75,0.00,0.00,0.00,-0.04,-0.82,0.51,0.35,0.00))
+[1,8]((0.00,0.00,0.00,-0.01,-0.75,0.28,0.48,0.00)) [1,9]((-101.56,0.00,0.00,0.00,-0.01,-0.75,0.28,0.48,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.62,0.00,0.63,0.00)) [1,9]((-109.37,0.00,0.00,0.00,0.00,-0.62,0.00,0.63,0.00))
+[1,8]((0.00,0.00,0.00,0.00,-0.48,-0.28,0.75,0.01)) [1,9]((-100.83,0.00,0.00,0.00,0.00,-0.48,-0.28,0.75,0.01))
+[1,8]((0.00,0.00,0.00,0.00,-0.35,-0.51,0.82,0.04)) [1,9]((-90.82,0.00,0.00,0.00,0.00,-0.35,-0.51,0.82,0.04))
+[1,8]((0.00,0.00,0.00,0.00,-0.24,-0.67,0.83,0.09)) [1,9]((-79.35,0.00,0.00,0.00,0.00,-0.24,-0.67,0.83,0.09))
+[1,8]((0.00,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16)) [1,9]((-66.41,0.00,0.00,0.00,0.00,-0.16,-0.78,0.78,0.16))
+[1,8]((0.00,0.00,0.00,0.00,-0.09,-0.83,0.67,0.24)) [1,9]((-52.00,0.00,0.00,0.00,0.00,-0.09,-0.83,0.67,0.24))
+[1,8]((0.00,0.00,0.00,0.00,-0.04,-0.82,0.51,0.35)) [1,9]((-36.13,0.00,0.00,0.00,0.00,-0.04,-0.82,0.51,0.35))
 
 Spline range: [0, 4]
 FTT range: [0, 8]
@@ -482,171 +520,250 @@ Free time trajectory gradient.
 
 
 Variation of the configuration w.r.t to parameters:
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.00,1.00,0.00,0.00,0.00))
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.01,1.00,0.00,0.00,0.00))
-[1,4]((1.00,0.00,0.00,0.00))                      [1,5]((0.05,1.00,0.00,0.00,0.00))
-[1,4]((0.99,0.01,0.00,0.00))                      [1,5]((0.16,1.00,0.00,0.00,0.00))
-[1,4]((0.98,0.02,0.00,0.00))                      [1,5]((0.39,1.00,0.00,0.00,0.00))
-[1,4]((0.96,0.04,0.00,0.00))                      [1,5]((0.76,0.99,0.01,0.00,0.00))
-[1,4]((0.93,0.07,0.00,0.00))                      [1,5]((1.32,0.99,0.01,0.00,0.00))
-[1,4]((0.89,0.11,0.00,0.00))                      [1,5]((2.09,0.99,0.01,0.00,0.00))
-[1,4]((0.83,0.17,0.00,0.00))                      [1,5]((3.12,0.98,0.02,0.00,0.00))
-[1,4]((0.76,0.24,0.00,0.00))                      [1,5]((4.45,0.97,0.03,0.00,0.00))
-[1,4]((0.68,0.32,0.00,0.00))                      [1,5]((6.10,0.96,0.04,0.00,0.00))
-[1,4]((0.59,0.40,0.01,0.00))                      [1,5]((8.12,0.95,0.05,0.00,0.00))
-[1,4]((0.50,0.48,0.02,0.00))                      [1,5]((10.55,0.93,0.07,0.00,0.00))
-[1,4]((0.41,0.55,0.04,0.00))                      [1,5]((13.41,0.91,0.09,0.00,0.00))
-[1,4]((0.32,0.61,0.07,0.00))                      [1,5]((16.75,0.89,0.11,0.00,0.00))
-[1,4]((0.24,0.65,0.11,0.00))                      [1,5]((20.60,0.86,0.14,0.00,0.00))
-[1,4]((0.17,0.67,0.17,0.00))                      [1,5]((25.00,0.83,0.17,0.00,0.00))
-[1,4]((0.11,0.65,0.24,0.00))                      [1,5]((29.88,0.80,0.20,0.00,0.00))
-[1,4]((0.07,0.61,0.32,0.00))                      [1,5]((35.16,0.76,0.24,0.00,0.00))
-[1,4]((0.04,0.55,0.40,0.01))                      [1,5]((40.82,0.72,0.27,0.00,0.00))
-[1,4]((0.02,0.48,0.48,0.02))                      [1,5]((46.88,0.68,0.32,0.00,0.00))
-[1,4]((0.01,0.40,0.55,0.04))                      [1,5]((53.32,0.64,0.36,0.01,0.00))
-[1,4]((0.00,0.32,0.61,0.07))                      [1,5]((60.16,0.59,0.40,0.01,0.00))
-[1,4]((0.00,0.24,0.65,0.11))                      [1,5]((67.38,0.55,0.44,0.01,0.00))
-[1,4]((0.00,0.17,0.67,0.17))                      [1,5]((75.00,0.50,0.48,0.02,0.00))
-[1,4]((0.00,0.11,0.65,0.24))                      [1,5]((83.01,0.45,0.52,0.03,0.00))
-[1,4]((0.00,0.07,0.61,0.32))                      [1,5]((91.41,0.41,0.55,0.04,0.00))
-[1,4]((0.00,0.04,0.55,0.41))                      [1,5]((100.20,0.36,0.58,0.05,0.00))
-[1,4]((0.00,0.02,0.48,0.50))                      [1,5]((109.38,0.32,0.61,0.07,0.00))
-[1,4]((0.00,0.01,0.40,0.59))                      [1,5]((118.95,0.28,0.63,0.09,0.00))
-[1,4]((0.00,0.00,0.32,0.68))                      [1,5]((128.91,0.24,0.65,0.11,0.00))
-[1,4]((0.00,0.00,0.24,0.76))                      [1,5]((139.26,0.20,0.66,0.14,0.00))
-[1,4]((0.00,0.00,0.17,0.83))                      [1,5]((150.00,0.17,0.67,0.17,0.00))
-[1,4]((0.00,0.00,0.11,0.89))                      [1,5]((160.73,0.14,0.66,0.20,0.00))
-[1,4]((0.00,0.00,0.07,0.93))                      [1,5]((171.00,0.11,0.65,0.24,0.00))
-[1,4]((0.00,0.00,0.04,0.96))                      [1,5]((180.73,0.09,0.63,0.27,0.00))
-[1,4]((0.00,0.00,0.02,0.98))                      [1,5]((189.84,0.07,0.61,0.32,0.00))
-[1,4]((0.00,0.00,0.01,0.99))                      [1,5]((198.28,0.05,0.58,0.36,0.01))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((205.96,0.04,0.55,0.40,0.01))
-[1,4]((0.00,0.00,0.00,1.00))                      [1,5]((212.81,0.03,0.52,0.44,0.01))
-N/A                                               [1,5]((218.75,0.02,0.48,0.48,0.02))
-N/A                                               [1,5]((223.72,0.01,0.44,0.52,0.03))
-N/A                                               [1,5]((227.64,0.01,0.40,0.55,0.04))
-N/A                                               [1,5]((230.43,0.01,0.36,0.58,0.05))
-N/A                                               [1,5]((232.03,0.00,0.32,0.61,0.07))
-N/A                                               [1,5]((232.36,0.00,0.27,0.63,0.09))
-N/A                                               [1,5]((231.35,0.00,0.24,0.65,0.11))
-N/A                                               [1,5]((228.92,0.00,0.20,0.66,0.14))
-N/A                                               [1,5]((225.00,0.00,0.17,0.67,0.17))
-N/A                                               [1,5]((220.12,0.00,0.14,0.66,0.20))
-N/A                                               [1,5]((214.84,0.00,0.11,0.65,0.24))
-N/A                                               [1,5]((209.18,0.00,0.09,0.63,0.28))
-N/A                                               [1,5]((203.13,0.00,0.07,0.61,0.32))
-N/A                                               [1,5]((196.68,0.00,0.05,0.58,0.36))
-N/A                                               [1,5]((189.84,0.00,0.04,0.55,0.41))
-N/A                                               [1,5]((182.62,0.00,0.03,0.52,0.45))
-N/A                                               [1,5]((175.00,0.00,0.02,0.48,0.50))
-N/A                                               [1,5]((166.99,0.00,0.01,0.44,0.55))
-N/A                                               [1,5]((158.59,0.00,0.01,0.40,0.59))
-N/A                                               [1,5]((149.80,0.00,0.01,0.36,0.64))
-N/A                                               [1,5]((140.63,0.00,0.00,0.32,0.68))
-N/A                                               [1,5]((131.05,0.00,0.00,0.27,0.72))
-N/A                                               [1,5]((121.09,0.00,0.00,0.24,0.76))
-N/A                                               [1,5]((110.74,0.00,0.00,0.20,0.80))
-N/A                                               [1,5]((100.00,0.00,0.00,0.17,0.83))
-N/A                                               [1,5]((89.26,0.00,0.00,0.14,0.86))
-N/A                                               [1,5]((78.96,0.00,0.00,0.11,0.89))
-N/A                                               [1,5]((69.11,0.00,0.00,0.09,0.91))
-N/A                                               [1,5]((59.77,0.00,0.00,0.07,0.93))
-N/A                                               [1,5]((50.96,0.00,0.00,0.05,0.95))
-N/A                                               [1,5]((42.72,0.00,0.00,0.04,0.96))
-N/A                                               [1,5]((35.10,0.00,0.00,0.03,0.97))
-N/A                                               [1,5]((28.13,0.00,0.00,0.02,0.98))
-N/A                                               [1,5]((21.83,0.00,0.00,0.01,0.99))
-N/A                                               [1,5]((16.26,0.00,0.00,0.01,0.99))
-N/A                                               [1,5]((11.44,0.00,0.00,0.01,0.99))
-N/A                                               [1,5]((7.42,0.00,0.00,0.00,1.00))
-N/A                                               [1,5]((4.23,0.00,0.00,0.00,1.00))
-N/A                                               [1,5]((1.90,0.00,0.00,0.00,1.00))
-N/A                                               [1,5]((0.48,0.00,0.00,0.00,1.00))
-N/A                                               [1,5]((0.00,0.00,0.00,0.00,1.00))
+t = 0.00
+[1,8]((0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00,0.00))
+t = 0.10
+[1,8]((0.11,0.65,0.24,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.01,0.14,0.66,0.20,0.00,0.00,0.00,0.00,0.00))
+t = 0.20
+[1,8]((0.07,0.61,0.32,0.00,0.00,0.00,0.00,0.00))  [1,9]((0.05,0.11,0.65,0.24,0.00,0.00,0.00,0.00,0.00))
+t = 0.30
+[1,8]((0.04,0.55,0.40,0.01,0.00,0.00,0.00,0.00))  [1,9]((0.16,0.09,0.63,0.27,0.00,0.00,0.00,0.00,0.00))
+t = 0.40
+[1,8]((0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))  [1,9]((0.39,0.07,0.61,0.32,0.00,0.00,0.00,0.00,0.00))
+t = 0.50
+[1,8]((0.01,0.40,0.55,0.04,0.00,0.00,0.00,0.00))  [1,9]((0.76,0.05,0.58,0.36,0.01,0.00,0.00,0.00,0.00))
+t = 0.60
+[1,8]((0.00,0.32,0.61,0.07,0.00,0.00,0.00,0.00))  [1,9]((1.32,0.04,0.55,0.40,0.01,0.00,0.00,0.00,0.00))
+t = 0.70
+[1,8]((0.00,0.24,0.65,0.11,0.00,0.00,0.00,0.00))  [1,9]((2.09,0.03,0.52,0.44,0.01,0.00,0.00,0.00,0.00))
+t = 0.80
+[1,8]((0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))  [1,9]((3.12,0.02,0.48,0.48,0.02,0.00,0.00,0.00,0.00))
+t = 0.90
+[1,8]((0.00,0.11,0.65,0.24,0.00,0.00,0.00,0.00))  [1,9]((4.45,0.01,0.44,0.52,0.03,0.00,0.00,0.00,0.00))
+t = 1.00
+[1,8]((0.00,0.07,0.61,0.32,0.00,0.00,0.00,0.00))  [1,9]((6.10,0.01,0.40,0.55,0.04,0.00,0.00,0.00,0.00))
+t = 1.10
+[1,8]((0.00,0.04,0.55,0.40,0.01,0.00,0.00,0.00))  [1,9]((8.12,0.01,0.36,0.58,0.05,0.00,0.00,0.00,0.00))
+t = 1.20
+[1,8]((0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))  [1,9]((10.55,0.00,0.32,0.61,0.07,0.00,0.00,0.00,0.00))
+t = 1.30
+[1,8]((0.00,0.01,0.40,0.55,0.04,0.00,0.00,0.00))  [1,9]((13.41,0.00,0.27,0.63,0.09,0.00,0.00,0.00,0.00))
+t = 1.40
+[1,8]((0.00,0.00,0.32,0.61,0.07,0.00,0.00,0.00))  [1,9]((16.75,0.00,0.24,0.65,0.11,0.00,0.00,0.00,0.00))
+t = 1.50
+[1,8]((0.00,0.00,0.24,0.65,0.11,0.00,0.00,0.00))  [1,9]((20.60,0.00,0.20,0.66,0.14,0.00,0.00,0.00,0.00))
+t = 1.60
+[1,8]((0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))  [1,9]((25.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00,0.00))
+t = 1.70
+[1,8]((0.00,0.00,0.11,0.65,0.24,0.00,0.00,0.00))  [1,9]((29.88,0.00,0.14,0.66,0.20,0.00,0.00,0.00,0.00))
+t = 1.80
+[1,8]((0.00,0.00,0.07,0.61,0.32,0.00,0.00,0.00))  [1,9]((35.16,0.00,0.11,0.65,0.24,0.00,0.00,0.00,0.00))
+t = 1.90
+[1,8]((0.00,0.00,0.04,0.55,0.40,0.01,0.00,0.00))  [1,9]((40.82,0.00,0.09,0.63,0.27,0.00,0.00,0.00,0.00))
+t = 2.00
+[1,8]((0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))  [1,9]((46.88,0.00,0.07,0.61,0.32,0.00,0.00,0.00,0.00))
+t = 2.10
+[1,8]((0.00,0.00,0.01,0.40,0.55,0.04,0.00,0.00))  [1,9]((53.32,0.00,0.05,0.58,0.36,0.01,0.00,0.00,0.00))
+t = 2.20
+[1,8]((0.00,0.00,0.00,0.32,0.61,0.07,0.00,0.00))  [1,9]((60.16,0.00,0.04,0.55,0.40,0.01,0.00,0.00,0.00))
+t = 2.30
+[1,8]((0.00,0.00,0.00,0.24,0.65,0.11,0.00,0.00))  [1,9]((67.38,0.00,0.03,0.52,0.44,0.01,0.00,0.00,0.00))
+t = 2.40
+[1,8]((0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))  [1,9]((75.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00,0.00))
+t = 2.50
+[1,8]((0.00,0.00,0.00,0.11,0.65,0.24,0.00,0.00))  [1,9]((83.01,0.00,0.01,0.44,0.52,0.03,0.00,0.00,0.00))
+t = 2.60
+[1,8]((0.00,0.00,0.00,0.07,0.61,0.32,0.00,0.00))  [1,9]((91.41,0.00,0.01,0.40,0.55,0.04,0.00,0.00,0.00))
+t = 2.70
+[1,8]((0.00,0.00,0.00,0.04,0.55,0.40,0.01,0.00))  [1,9]((100.20,0.00,0.01,0.36,0.58,0.05,0.00,0.00,0.00))
+t = 2.80
+[1,8]((0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))  [1,9]((109.38,0.00,0.00,0.32,0.61,0.07,0.00,0.00,0.00))
+t = 2.90
+[1,8]((0.00,0.00,0.00,0.01,0.40,0.55,0.04,0.00))  [1,9]((118.95,0.00,0.00,0.27,0.63,0.09,0.00,0.00,0.00))
+t = 3.00
+[1,8]((0.00,0.00,0.00,0.00,0.32,0.61,0.07,0.00))  [1,9]((128.91,0.00,0.00,0.24,0.65,0.11,0.00,0.00,0.00))
+t = 3.10
+[1,8]((0.00,0.00,0.00,0.00,0.24,0.65,0.11,0.00))  [1,9]((139.26,0.00,0.00,0.20,0.66,0.14,0.00,0.00,0.00))
+t = 3.20
+[1,8]((0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))  [1,9]((150.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00,0.00))
+t = 3.30
+[1,8]((0.00,0.00,0.00,0.00,0.11,0.65,0.24,0.00))  [1,9]((160.73,0.00,0.00,0.14,0.66,0.20,0.00,0.00,0.00))
+t = 3.40
+[1,8]((0.00,0.00,0.00,0.00,0.07,0.61,0.32,0.00))  [1,9]((171.00,0.00,0.00,0.11,0.65,0.24,0.00,0.00,0.00))
+t = 3.50
+[1,8]((0.00,0.00,0.00,0.00,0.04,0.55,0.40,0.01))  [1,9]((180.73,0.00,0.00,0.09,0.63,0.27,0.00,0.00,0.00))
+t = 3.60
+[1,8]((0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))  [1,9]((189.84,0.00,0.00,0.07,0.61,0.32,0.00,0.00,0.00))
+t = 3.70
+[1,8]((0.00,0.00,0.00,0.00,0.01,0.40,0.55,0.04))  [1,9]((198.28,0.00,0.00,0.05,0.58,0.36,0.01,0.00,0.00))
+t = 3.80
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.32,0.61,0.07))  [1,9]((205.96,0.00,0.00,0.04,0.55,0.40,0.01,0.00,0.00))
+t = 3.90
+[1,8]((0.00,0.00,0.00,0.00,0.00,0.24,0.65,0.11))  [1,9]((212.81,0.00,0.00,0.03,0.52,0.44,0.01,0.00,0.00))
+t = 4.00
+N/A                                               [1,9]((218.75,0.00,0.00,0.02,0.48,0.48,0.02,0.00,0.00))
+t = 4.10
+N/A                                               [1,9]((223.72,0.00,0.00,0.01,0.44,0.52,0.03,0.00,0.00))
+t = 4.20
+N/A                                               [1,9]((227.64,0.00,0.00,0.01,0.40,0.55,0.04,0.00,0.00))
+t = 4.30
+N/A                                               [1,9]((230.43,0.00,0.00,0.01,0.36,0.58,0.05,0.00,0.00))
+t = 4.40
+N/A                                               [1,9]((232.03,0.00,0.00,0.00,0.32,0.61,0.07,0.00,0.00))
+t = 4.50
+N/A                                               [1,9]((232.36,0.00,0.00,0.00,0.27,0.63,0.09,0.00,0.00))
+t = 4.60
+N/A                                               [1,9]((231.35,0.00,0.00,0.00,0.24,0.65,0.11,0.00,0.00))
+t = 4.70
+N/A                                               [1,9]((228.92,0.00,0.00,0.00,0.20,0.66,0.14,0.00,0.00))
+t = 4.80
+N/A                                               [1,9]((225.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00,0.00))
+t = 4.90
+N/A                                               [1,9]((220.12,0.00,0.00,0.00,0.14,0.66,0.20,0.00,0.00))
+t = 5.00
+N/A                                               [1,9]((214.84,0.00,0.00,0.00,0.11,0.65,0.24,0.00,0.00))
+t = 5.10
+N/A                                               [1,9]((209.18,0.00,0.00,0.00,0.09,0.63,0.27,0.00,0.00))
+t = 5.20
+N/A                                               [1,9]((203.13,0.00,0.00,0.00,0.07,0.61,0.32,0.00,0.00))
+t = 5.30
+N/A                                               [1,9]((196.68,0.00,0.00,0.00,0.05,0.58,0.36,0.01,0.00))
+t = 5.40
+N/A                                               [1,9]((189.84,0.00,0.00,0.00,0.04,0.55,0.40,0.01,0.00))
+t = 5.50
+N/A                                               [1,9]((182.62,0.00,0.00,0.00,0.03,0.52,0.44,0.01,0.00))
+t = 5.60
+N/A                                               [1,9]((175.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02,0.00))
+t = 5.70
+N/A                                               [1,9]((166.99,0.00,0.00,0.00,0.01,0.44,0.52,0.03,0.00))
+t = 5.80
+N/A                                               [1,9]((158.59,0.00,0.00,0.00,0.01,0.40,0.55,0.04,0.00))
+t = 5.90
+N/A                                               [1,9]((149.80,0.00,0.00,0.00,0.01,0.36,0.58,0.05,0.00))
+t = 6.00
+N/A                                               [1,9]((140.63,0.00,0.00,0.00,0.00,0.32,0.61,0.07,0.00))
+t = 6.10
+N/A                                               [1,9]((131.05,0.00,0.00,0.00,0.00,0.27,0.63,0.09,0.00))
+t = 6.20
+N/A                                               [1,9]((121.09,0.00,0.00,0.00,0.00,0.24,0.65,0.11,0.00))
+t = 6.30
+N/A                                               [1,9]((110.74,0.00,0.00,0.00,0.00,0.20,0.66,0.14,0.00))
+t = 6.40
+N/A                                               [1,9]((100.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+t = 6.50
+N/A                                               [1,9]((89.26,0.00,0.00,0.00,0.00,0.14,0.66,0.20,0.00))
+t = 6.60
+N/A                                               [1,9]((78.96,0.00,0.00,0.00,0.00,0.11,0.65,0.24,0.00))
+t = 6.70
+N/A                                               [1,9]((69.11,0.00,0.00,0.00,0.00,0.09,0.63,0.27,0.00))
+t = 6.80
+N/A                                               [1,9]((59.77,0.00,0.00,0.00,0.00,0.07,0.61,0.32,0.00))
+t = 6.90
+N/A                                               [1,9]((50.96,0.00,0.00,0.00,0.00,0.05,0.58,0.36,0.01))
+t = 7.00
+N/A                                               [1,9]((42.72,0.00,0.00,0.00,0.00,0.04,0.55,0.40,0.01))
+t = 7.10
+N/A                                               [1,9]((35.10,0.00,0.00,0.00,0.00,0.03,0.52,0.44,0.01))
+t = 7.20
+N/A                                               [1,9]((28.13,0.00,0.00,0.00,0.00,0.02,0.48,0.48,0.02))
+t = 7.30
+N/A                                               [1,9]((21.83,0.00,0.00,0.00,0.00,0.01,0.44,0.52,0.03))
+t = 7.40
+N/A                                               [1,9]((16.26,0.00,0.00,0.00,0.00,0.01,0.40,0.55,0.04))
+t = 7.50
+N/A                                               [1,9]((11.44,0.00,0.00,0.00,0.00,0.01,0.36,0.58,0.05))
+t = 7.60
+N/A                                               [1,9]((7.42,0.00,0.00,0.00,0.00,0.00,0.32,0.61,0.07))
+t = 7.70
+N/A                                               [1,9]((4.23,0.00,0.00,0.00,0.00,0.00,0.27,0.63,0.09))
+t = 7.80
+N/A                                               [1,9]((1.90,0.00,0.00,0.00,0.00,0.00,0.24,0.65,0.11))
+t = 7.90
+N/A                                               [1,9]((0.48,0.00,0.00,0.00,0.00,0.00,0.20,0.66,0.14))
+t = 8.00
+N/A                                               [1,9]((0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
 
 
 Variation of the derivative w.r.t to parameters:
-[1,4]((0.00,0.00,0.00,0.00))                      [1,5]((0.00,0.00,0.00,0.00,0.00))
-[1,4]((-0.01,0.01,0.00,0.00))                     [1,5]((0.18,-0.00,0.00,0.00,0.00))
-[1,4]((-0.04,0.04,0.00,0.00))                     [1,5]((0.73,-0.00,0.00,0.00,0.00))
-[1,4]((-0.09,0.09,0.00,0.00))                     [1,5]((1.65,-0.01,0.01,0.00,0.00))
-[1,4]((-0.16,0.16,0.00,0.00))                     [1,5]((2.93,-0.02,0.02,0.00,0.00))
-[1,4]((-0.24,0.24,0.00,0.00))                     [1,5]((4.58,-0.03,0.03,0.00,0.00))
-[1,4]((-0.35,0.35,0.00,0.00))                     [1,5]((6.59,-0.04,0.04,0.00,0.00))
-[1,4]((-0.48,0.48,0.00,0.00))                     [1,5]((8.97,-0.06,0.06,0.00,0.00))
-[1,4]((-0.62,0.62,0.00,0.00))                     [1,5]((11.72,-0.08,0.08,0.00,0.00))
-[1,4]((-0.76,0.75,0.01,0.00))                     [1,5]((14.83,-0.10,0.10,0.00,0.00))
-[1,4]((-0.86,0.82,0.04,0.00))                     [1,5]((18.31,-0.12,0.12,0.00,0.00))
-[1,4]((-0.92,0.83,0.09,0.00))                     [1,5]((22.16,-0.15,0.15,0.00,0.00))
-[1,4]((-0.94,0.78,0.16,0.00))                     [1,5]((26.37,-0.18,0.18,0.00,0.00))
-[1,4]((-0.92,0.67,0.24,0.00))                     [1,5]((30.94,-0.21,0.21,0.00,0.00))
-[1,4]((-0.86,0.51,0.35,0.00))                     [1,5]((35.89,-0.24,0.24,0.00,0.00))
-[1,4]((-0.76,0.28,0.48,0.00))                     [1,5]((41.20,-0.27,0.27,0.00,0.00))
-[1,4]((-0.62,0.00,0.63,0.00))                     [1,5]((46.88,-0.31,0.31,0.00,0.00))
-[1,4]((-0.48,-0.28,0.75,0.01))                    [1,5]((50.78,-0.35,0.35,0.00,0.00))
-[1,4]((-0.35,-0.51,0.82,0.04))                    [1,5]((54.69,-0.38,0.38,0.00,0.00))
-[1,4]((-0.24,-0.67,0.83,0.09))                    [1,5]((58.59,-0.41,0.40,0.01,0.00))
-[1,4]((-0.16,-0.78,0.78,0.16))                    [1,5]((62.50,-0.43,0.41,0.02,0.00))
-[1,4]((-0.09,-0.83,0.67,0.24))                    [1,5]((66.41,-0.45,0.42,0.03,0.00))
-[1,4]((-0.04,-0.82,0.51,0.35))                    [1,5]((70.31,-0.46,0.42,0.04,0.00))
-[1,4]((-0.01,-0.75,0.28,0.48))                    [1,5]((74.22,-0.47,0.41,0.06,0.00))
-[1,4]((0.00,-0.62,0.00,0.63))                     [1,5]((78.13,-0.47,0.39,0.08,0.00))
-[1,4]((0.00,-0.48,-0.28,0.76))                    [1,5]((82.03,-0.47,0.37,0.10,0.00))
-[1,4]((0.00,-0.35,-0.51,0.86))                    [1,5]((85.94,-0.46,0.34,0.12,0.00))
-[1,4]((0.00,-0.24,-0.67,0.92))                    [1,5]((89.84,-0.45,0.30,0.15,0.00))
-[1,4]((0.00,-0.16,-0.78,0.94))                    [1,5]((93.75,-0.43,0.25,0.18,0.00))
-[1,4]((0.00,-0.09,-0.83,0.92))                    [1,5]((97.66,-0.41,0.20,0.21,0.00))
-[1,4]((0.00,-0.04,-0.82,0.86))                    [1,5]((101.56,-0.38,0.14,0.24,0.00))
-[1,4]((0.00,-0.01,-0.75,0.76))                    [1,5]((105.47,-0.35,0.07,0.27,0.00))
-[1,4]((0.00,0.00,-0.62,0.62))                     [1,5]((109.37,-0.31,0.00,0.31,0.00))
-[1,4]((0.00,0.00,-0.48,0.48))                     [1,5]((105.10,-0.27,-0.07,0.35,0.00))
-[1,4]((0.00,0.00,-0.35,0.35))                     [1,5]((100.10,-0.24,-0.14,0.38,0.00))
-[1,4]((0.00,0.00,-0.24,0.24))                     [1,5]((94.36,-0.21,-0.20,0.40,0.01))
-[1,4]((0.00,0.00,-0.16,0.16))                     [1,5]((87.89,-0.18,-0.25,0.41,0.02))
-[1,4]((0.00,0.00,-0.09,0.09))                     [1,5]((80.69,-0.15,-0.30,0.42,0.03))
-[1,4]((0.00,0.00,-0.04,0.04))                     [1,5]((72.75,-0.12,-0.34,0.42,0.04))
-[1,4]((0.00,0.00,-0.01,0.01))                     [1,5]((64.09,-0.10,-0.37,0.41,0.06))
-N/A                                               [1,5]((54.69,-0.08,-0.39,0.39,0.08))
-N/A                                               [1,5]((44.56,-0.06,-0.41,0.37,0.10))
-N/A                                               [1,5]((33.69,-0.04,-0.42,0.34,0.12))
-N/A                                               [1,5]((22.09,-0.03,-0.42,0.30,0.15))
-N/A                                               [1,5]((9.77,-0.02,-0.41,0.25,0.18))
-N/A                                               [1,5]((-3.30,-0.01,-0.40,0.20,0.21))
-N/A                                               [1,5]((-17.09,-0.00,-0.38,0.14,0.24))
-N/A                                               [1,5]((-31.62,-0.00,-0.35,0.07,0.27))
-N/A                                               [1,5]((-46.87,0.00,-0.31,0.00,0.31))
-N/A                                               [1,5]((-50.78,0.00,-0.27,-0.07,0.35))
-N/A                                               [1,5]((-54.69,0.00,-0.24,-0.14,0.38))
-N/A                                               [1,5]((-58.59,0.00,-0.21,-0.20,0.41))
-N/A                                               [1,5]((-62.50,0.00,-0.18,-0.25,0.43))
-N/A                                               [1,5]((-66.41,0.00,-0.15,-0.30,0.45))
-N/A                                               [1,5]((-70.31,0.00,-0.12,-0.34,0.46))
-N/A                                               [1,5]((-74.22,0.00,-0.10,-0.37,0.47))
-N/A                                               [1,5]((-78.12,0.00,-0.08,-0.39,0.47))
-N/A                                               [1,5]((-82.03,0.00,-0.06,-0.41,0.47))
-N/A                                               [1,5]((-85.94,0.00,-0.04,-0.42,0.46))
-N/A                                               [1,5]((-89.84,0.00,-0.03,-0.42,0.45))
-N/A                                               [1,5]((-93.75,0.00,-0.02,-0.41,0.43))
-N/A                                               [1,5]((-97.66,0.00,-0.01,-0.40,0.41))
-N/A                                               [1,5]((-101.56,0.00,-0.00,-0.38,0.38))
-N/A                                               [1,5]((-105.47,0.00,-0.00,-0.35,0.35))
-N/A                                               [1,5]((-109.37,0.00,0.00,-0.31,0.31))
-N/A                                               [1,5]((-105.29,0.00,0.00,-0.27,0.27))
-N/A                                               [1,5]((-100.83,0.00,0.00,-0.24,0.24))
-N/A                                               [1,5]((-96.01,0.00,0.00,-0.21,0.21))
-N/A                                               [1,5]((-90.82,0.00,0.00,-0.18,0.18))
-N/A                                               [1,5]((-85.27,0.00,0.00,-0.15,0.15))
-N/A                                               [1,5]((-79.35,0.00,0.00,-0.12,0.12))
-N/A                                               [1,5]((-73.06,0.00,0.00,-0.10,0.10))
-N/A                                               [1,5]((-66.41,0.00,0.00,-0.08,0.08))
-N/A                                               [1,5]((-59.39,0.00,0.00,-0.06,0.06))
-N/A                                               [1,5]((-52.00,0.00,0.00,-0.04,0.04))
-N/A                                               [1,5]((-44.25,0.00,0.00,-0.03,0.03))
-N/A                                               [1,5]((-36.13,0.00,0.00,-0.02,0.02))
-N/A                                               [1,5]((-27.65,0.00,0.00,-0.01,0.01))
-N/A                                               [1,5]((-18.80,0.00,0.00,-0.00,0.00))
-N/A                                               [1,5]((-9.58,0.00,0.00,-0.00,0.00))
-N/A                                               [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.48,-0.28,0.75,0.01,0.00,0.00,0.00,0.00)) [1,9]((0.18,-0.27,-0.07,0.35,0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.35,-0.51,0.82,0.04,0.00,0.00,0.00,0.00)) [1,9]((0.73,-0.24,-0.14,0.38,0.00,0.00,0.00,0.00,0.00))
+[1,8]((-0.24,-0.67,0.83,0.09,0.00,0.00,0.00,0.00)) [1,9]((1.65,-0.21,-0.20,0.40,0.01,0.00,0.00,0.00,0.00))
+[1,8]((-0.16,-0.78,0.78,0.16,0.00,0.00,0.00,0.00)) [1,9]((2.93,-0.18,-0.25,0.41,0.02,0.00,0.00,0.00,0.00))
+[1,8]((-0.09,-0.83,0.67,0.24,0.00,0.00,0.00,0.00)) [1,9]((4.58,-0.15,-0.30,0.42,0.03,0.00,0.00,0.00,0.00))
+[1,8]((-0.04,-0.82,0.51,0.35,0.00,0.00,0.00,0.00)) [1,9]((6.59,-0.12,-0.34,0.42,0.04,0.00,0.00,0.00,0.00))
+[1,8]((-0.01,-0.75,0.28,0.48,0.00,0.00,0.00,0.00)) [1,9]((8.97,-0.10,-0.37,0.41,0.06,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.63,0.00,0.62,0.00,0.00,0.00,0.00)) [1,9]((11.72,-0.08,-0.39,0.39,0.08,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.48,-0.28,0.75,0.01,0.00,0.00,0.00)) [1,9]((14.83,-0.06,-0.41,0.37,0.10,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.35,-0.51,0.82,0.04,0.00,0.00,0.00)) [1,9]((18.31,-0.04,-0.42,0.34,0.12,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.24,-0.67,0.83,0.09,0.00,0.00,0.00)) [1,9]((22.16,-0.03,-0.42,0.30,0.15,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.16,-0.78,0.78,0.16,0.00,0.00,0.00)) [1,9]((26.37,-0.02,-0.41,0.25,0.18,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.09,-0.83,0.67,0.24,0.00,0.00,0.00)) [1,9]((30.94,-0.01,-0.40,0.20,0.21,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.04,-0.82,0.51,0.35,0.00,0.00,0.00)) [1,9]((35.89,-0.00,-0.38,0.14,0.24,0.00,0.00,0.00,0.00))
+[1,8]((0.00,-0.01,-0.75,0.28,0.48,0.00,0.00,0.00)) [1,9]((41.20,-0.00,-0.35,0.07,0.27,0.00,0.00,0...
 
[truncated message content]

[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.4-12-g36195d7

From: Thomas M. <tho...@us...> - 2010-02-17 13:13:54

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       via  5a20441b7d305c229bec1263a1635f6beef95432 (commit)
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- Log -----------------------------------------------------------------
commit 36195d7f89600b45725e8734751c4a138cd88153
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Feb 17 14:12:57 2010 +0100

    Fix spline gradient computation.
    
    	* src/cubic-b-spline.cc: Fix bug in gradient computation.
    	* tests/free-time-trajectory.cc,
    	* tests/spline-gradient.stdout,
    	* tests/spline-optimization.cc,
    	* tests/spline-optimization.stdout,
    	* tests/spline-time-optimization.cc,
    	* tests/spline-time-optimization.stdout,
    	* tests/spline.cc,
    	* tests/stable-point-state-function.stdout,
    	* tests/state-function.stdout: Update and regenerate tests to
    	match new implementation.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index ea923a9..b784d5e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,20 @@
 2010-02-17  Thomas Moulard  <tho...@gm...>
 
+	Fix spline gradient computation.
+	* src/cubic-b-spline.cc: Fix bug in gradient computation.
+	* tests/free-time-trajectory.cc,
+	* tests/spline-gradient.stdout,
+	* tests/spline-optimization.cc,
+	* tests/spline-optimization.stdout,
+	* tests/spline-time-optimization.cc,
+	* tests/spline-time-optimization.stdout,
+	* tests/spline.cc,
+	* tests/stable-point-state-function.stdout,
+	* tests/state-function.stdout: Update and regenerate tests to
+	match new implementation.
+
+2010-02-17  Thomas Moulard  <tho...@gm...>
+
 	Update SPEC file.
 	* roboptim-trajectory.spec.in: Here.
 
diff --git a/src/cubic-b-spline.cc b/src/cubic-b-spline.cc
index 1488b7d..d4b4738 100644
--- a/src/cubic-b-spline.cc
+++ b/src/cubic-b-spline.cc
@@ -254,10 +254,10 @@ namespace roboptim
       default:
 	assert (0);
       }
-    noalias(subrange(jac, 0, n, (i-3)*n, (i-2)*n)) = b_i_3*In;
-    noalias(subrange(jac, 0, n, (i-2)*n, (i-1)*n)) = b_i_2*In;
-    noalias(subrange(jac, 0, n, (i-1)*n, i*n))   = b_i_1*In;
-    noalias(subrange(jac, 0, n, i*n, (i+1)*n)) = b_i*In;
+    noalias(subrange(jac, 0, n, (i-3)*n, (i-2)*n)) = (b_i_3)/(6*Dt_3)*In;
+    noalias(subrange(jac, 0, n, (i-2)*n, (i-1)*n)) = (b_i_2)/(6*Dt_3)*In;
+    noalias(subrange(jac, 0, n, (i-1)*n, i*n))   = (b_i_1)/(6*Dt_3)*In;
+    noalias(subrange(jac, 0, n, i*n, (i+1)*n)) = (b_i)/(6*Dt_3)*In;
     return jac;
   }
 
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index a45d702..c28914c 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -200,8 +200,9 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 
   std::cout << "Variation of the configuration w.r.t to parameters:" << std::endl;
   format fmterConfig ("%1.2f %|50t|%2.2f");
-  for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+  for (double t = fttTmin + 1e-3; t <= fttTmax + 1e-3; t += .1)
     {
+      std::cout << "t = " <<  t << std::endl;
       if (t > fttTmax)
 	t = fttTmax;
 
@@ -235,7 +236,7 @@ void printTable (const CubicBSpline& spline, const freeTime_t& freeTimeTraj)
 
   std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
   format fmterDeriv ("%1.2f %|50t|%2.2f");
-  for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+  for (double t = fttTmin + 1e-3; t <= fttTmax + 1e-3; t += .1)
     {
       if (t > fttTmax)
 	t = fttTmax;
diff --git a/tests/spline-gradient.stdout b/tests/spline-gradient.stdout
index 4f04741..b4131c7 100644
--- a/tests/spline-gradient.stdout
+++ b/tests/spline-gradient.stdout
@@ -1217,89 +1217,89 @@ plot '-' title 'spline 2nd derivative' with line
 e
 plot '-' title 'configuration (0)' with line
 
-0.00 1.00
-0.01 0.97
-0.02 0.94
-0.03 0.91
-0.04 0.88
-0.05 0.86
-0.06 0.83
-0.07 0.80
-0.08 0.78
-0.09 0.75
-0.10 0.73
-0.11 0.70
-0.12 0.68
-0.13 0.66
-0.14 0.64
-0.15 0.61
-0.16 0.59
-0.17 0.57
-0.18 0.55
-0.19 0.53
-0.20 0.51
-0.21 0.49
-0.22 0.47
-0.23 0.46
-0.24 0.44
-0.25 0.42
-0.26 0.41
-0.27 0.39
-0.28 0.37
-0.29 0.36
-0.30 0.34
-0.31 0.33
-0.32 0.31
-0.33 0.30
-0.34 0.29
-0.35 0.27
-0.36 0.26
-0.37 0.25
-0.38 0.24
-0.39 0.23
-0.40 0.22
-0.41 0.21
-0.42 0.20
-0.43 0.19
-0.44 0.18
-0.45 0.17
-0.46 0.16
-0.47 0.15
-0.48 0.14
-0.49 0.13
-0.50 0.12
-0.51 0.12
-0.52 0.11
-0.53 0.10
-0.54 0.10
-0.55 0.09
-0.56 0.09
-0.57 0.08
-0.58 0.07
-0.59 0.07
-0.60 0.06
-0.61 0.06
-0.62 0.05
-0.63 0.05
-0.64 0.05
-0.65 0.04
-0.66 0.04
-0.67 0.04
-0.68 0.03
-0.69 0.03
-0.70 0.03
-0.71 0.02
-0.72 0.02
-0.73 0.02
-0.74 0.02
-0.75 0.02
-0.76 0.01
-0.77 0.01
-0.78 0.01
-0.79 0.01
-0.80 0.01
-0.81 0.01
-0.82 0.01
+0.00 0.17
+0.01 0.16
+0.02 0.16
+0.03 0.15
+0.04 0.15
+0.05 0.14
+0.06 0.14
+0.07 0.13
+0.08 0.13
+0.09 0.13
+0.10 0.12
+0.11 0.12
+0.12 0.11
+0.13 0.11
+0.14 0.11
+0.15 0.10
+0.16 0.10
+0.17 0.10
+0.18 0.09
+0.19 0.09
+0.20 0.09
+0.21 0.08
+0.22 0.08
+0.23 0.08
+0.24 0.07
+0.25 0.07
+0.26 0.07
+0.27 0.06
+0.28 0.06
+0.29 0.06
+0.30 0.06
+0.31 0.05
+0.32 0.05
+0.33 0.05
+0.34 0.05
+0.35 0.05
+0.36 0.04
+0.37 0.04
+0.38 0.04
+0.39 0.04
+0.40 0.04
+0.41 0.03
+0.42 0.03
+0.43 0.03
+0.44 0.03
+0.45 0.03
+0.46 0.03
+0.47 0.02
+0.48 0.02
+0.49 0.02
+0.50 0.02
+0.51 0.02
+0.52 0.02
+0.53 0.02
+0.54 0.02
+0.55 0.02
+0.56 0.01
+0.57 0.01
+0.58 0.01
+0.59 0.01
+0.60 0.01
+0.61 0.01
+0.62 0.01
+0.63 0.01
+0.64 0.01
+0.65 0.01
+0.66 0.01
+0.67 0.01
+0.68 0.01
+0.69 0.00
+0.70 0.00
+0.71 0.00
+0.72 0.00
+0.73 0.00
+0.74 0.00
+0.75 0.00
+0.76 0.00
+0.77 0.00
+0.78 0.00
+0.79 0.00
+0.80 0.00
+0.81 0.00
+0.82 0.00
 0.83 0.00
 0.84 0.00
 0.85 0.00
@@ -1621,102 +1621,102 @@ plot '-' title 'configuration (0)' with line
 e
 plot '-' title 'derivative (0)' with line
 
-0.00 -3.00
-0.01 -2.94
-0.02 -2.88
-0.03 -2.82
-0.04 -2.76
-0.05 -2.71
-0.06 -2.65
-0.07 -2.59
-0.08 -2.54
-0.09 -2.48
-0.10 -2.43
-0.11 -2.38
-0.12 -2.32
-0.13 -2.27
-0.14 -2.22
-0.15 -2.17
-0.16 -2.12
-0.17 -2.07
-0.18 -2.02
-0.19 -1.97
-0.20 -1.92
-0.21 -1.87
-0.22 -1.83
-0.23 -1.78
-0.24 -1.73
-0.25 -1.69
-0.26 -1.64
-0.27 -1.60
-0.28 -1.56
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 plot '-' title '2nd derivative (0)' with line
 
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 plot '-' title 'configuration (1)' with line
 
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@@ -3237,206 +3237,206 @@ plot '-' title 'derivative (1)' with line
 e
 plot '-' title '2nd derivative (1)' with line
 
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@@ -3641,289 +3641,289 @@ plot '-' title '2nd derivative (1)' with line
 e
 plot '-' title 'configuration (2)' with line
 
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 e
 plot '-' title 'derivative (2)' with line
 
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 e
 plot '-' title '2nd derivative (2)' with line
 
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 2.00 0.00
-2.01 -0.12
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-2.03 -0.35
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-2.05 -0.58
-2.06 -0.69
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-2.98 -3.12
-2.99 -3.06
-3.00 -3.00
-3.01 -2.94
-3.02 -2.88
-3.03 -2.82
-3.04 -2.76
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-3.06 -2.65
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-3.08 -2.54
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-3.12 -2.32
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-3.14 -2.22
-3.15 -2.17
-3.16 -2.12
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-3.18 -2.02
-3.19 -1.97
-3.20 -1.92
-3.21 -1.87
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-3.23 -1.78
-3.24 -1.73
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-3.28 -1.56
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-3.30 -1.47
-3.31 -1.43
-3.32 -1.39
-3.33 -1.35
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-3.40 -1.08
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-3.43 -0.97
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-3.67 -0.33
-3.68 -0.31
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+2.64 -0.67
+2.65 -0.67
+2.66 -0.67
+2.67 ...
 
[truncated message content]

[roboptim-commit] [SCM] build-aux branch, master, updated. 527142d1b5d6635b7b20227ee67293a55a6fba76

From: Thomas M. <tho...@us...> - 2010-01-20 15:28:23

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  527142d1b5d6635b7b20227ee67293a55a6fba76 (commit)
      from  2478a6240e98e4a1e8ab014e0408607f60eaaa25 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 527142d1b5d6635b7b20227ee67293a55a6fba76
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 20 16:20:26 2010 +0100

    Add CORBA IDL generation rules.
    
    	* idl.mk: New.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 901d2b9..6e20ec0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2010-01-20  Thomas Moulard  <tho...@gm...>
+
+	Add CORBA IDL generation rules.
+	* idl.mk: New.
+
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
 	Add PACKAGE_TARNAME variable to pkgconfig file.
diff --git a/idl.mk b/idl.mk
new file mode 100644
index 0000000..f5678fa
--- /dev/null
+++ b/idl.mk
@@ -0,0 +1,61 @@
+#                                                                -*-Automake-*-
+# Copyright (C) 2010 by Thomas Moulard, CNRS.
+# This file is part of roboptim.
+#
+# roboptim is free software: you can redistribute it and/or modify it
+# under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# roboptim is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with roboptim.  If not, see <http://www.gnu.org/licenses/>.
+
+# ------ #
+# README #
+# ------ #
+#
+# This mk file contains omniORB IDL generation rules.
+#
+# To use this mk file, include init.mk and this file into
+# your Makefile.am.
+#
+# WARNING: This file uses GNU Make extension!
+
+IDL_PREFIX ?= idl
+IDL_DIRECTORY ?= $(IDL_PREFIX)/$(PACKAGE_TARNAME)
+IDL_SRC_STUB_SUFFIX ?= .stub.cc
+IDL_HEADER_STUB_SUFFIX ?= .stub.hh
+IDL_GUARD_PREFIX ?= "$(PACKAGE_TARNAME)_"
+
+# idl rules.
+SUFFIXES += $(IDL_SRC_STUB_SUFFIX) $(IDL_HEADER_STUB_SUFFIX)
+
+OMNIIDLFLAGS =						\
+		-I$(top_srcdir)/$(IDL_PREFIX)		\
+		-I$(top_builddir)/$(IDL_PREFIX)		\
+		-bcxx -Wbh="$(IDL_HEADER_STUB_SUFFIX)"	\
+		-Wbs="$(IDL_SRC_STUB_SUFFIX)" 		\
+		-Wbdll_includes -Wbkeep_inc_path	\
+		-Wbguard_prefix="$(IDL_GUARD_PREFIX)"
+
+%$(IDL_SRC_STUB_SUFFIX) %$(IDL_HEADER_STUB_SUFFIX):	\
+		$(top_srcdir)/$(IDL_DIRECTORY)/%.idl	\
+		$(top_builddir)/config.status
+	$(OMNIIDL) $(OMNIIDLFLAGS) "$<"
+
+%$(IDL_SRC_STUB_SUFFIX) %$(IDL_HEADER_STUB_SUFFIX):	\
+		$(top_builddir)/$(IDL_DIRECTORY)/%.idl	\
+		$(top_builddir)/config.status
+	$(OMNIIDL) $(OMNIIDLFLAGS) "$<"

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

Summary of changes:
 ChangeLog |    5 +++++
 idl.mk    |   61 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 66 insertions(+), 0 deletions(-)
 create mode 100644 idl.mk


hooks/post-receive
-- 
build-aux

[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.4-10-g9a9e1de

From: Thomas M. <tho...@us...> - 2010-01-14 12:15:11

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".

The branch, master has been updated
       via  9a9e1dead6c87d43a3aee65e1992761d7bad37e5 (commit)
       via  94b605d1c36d0c9eb93a2f5e28f05dd44c334084 (commit)
       via  059641e059aebb16249c7a7170c5b58b43dc8bf1 (commit)
       via  4b2b422c40447c0dd6bdd833c5e0806fc32d7965 (commit)
       via  9c63aecc1b4c5ea1773f251fd6f7ffbdffa2f34a (commit)
       via  a5229e05c1fc34834c1faeee5bd25c9374856fdc (commit)
       via  f766cb0e191d8510c11eaab6a8bbbfc43cd6837e (commit)
       via  0c05f3e416903837e67ce976e9f59385d7de8ddb (commit)
      from  20dfabb435e2297880a9550cc99624ae2e4af6df (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 9a9e1dead6c87d43a3aee65e1992761d7bad37e5
Author: Thomas Moulard <tmo...@la...>
Date:   Fri Dec 4 17:00:10 2009 +0100

    Adapt testsuite to new B-spline implementation.

diff --git a/ChangeLog b/ChangeLog
index a588c20..db9d16c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-12-04  Thomas Moulard  <tho...@gm...>
+
+	Fix test case.
+	* tests/anthropomorphic-cost-function.cc: Fix syntax error.
+
 2009-12-03  Florent Lamiraux  <fl...@la...>
 
 	Remove remaining Spline.
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index 696e373..f55be8e 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -51,7 +51,7 @@ using namespace roboptim::visualization::gnuplot;
 
 typedef CFSQPSolver::problem_t::constraints_t constraint_t;
 typedef CFSQPSolver solver_t;
-typedef FreeTimeTrajectory<Spline> freeTime_t;
+typedef FreeTimeTrajectory<CubicBSpline> freeTime_t;
 
 // Problem parameters.
 const unsigned configurationSpaceSize = 3;
@@ -188,10 +188,11 @@ int optimize (double initialX,
       return 1;
     }
 
-  CubicBSpline updatedSpline(optimizedTrajectory().timeRange (),
-			     optimizedTrajectory().outputSize (),
-			     optimizedTrajectory().paramters (),
-			     "after");
+  CubicBSpline updatedSpline
+    (optimizedTrajectory.timeRange (),
+     optimizedTrajectory.outputSize (),
+     optimizedTrajectory.parameters (),
+     "after");
 
   std::cerr
     << "Final time range: " << updatedSpline.timeRange () << std::endl

commit 94b605d1c36d0c9eb93a2f5e28f05dd44c334084
Author: florent <fl...@la...>
Date:   Thu Dec 3 21:54:06 2009 +0100

    Remove remaining Spline.
    
    	* include/roboptim/trajectory/fwd.hh: here.
    
    Signed-off-by: florent <fl...@la...>

diff --git a/ChangeLog b/ChangeLog
index 3f2f944..a588c20 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2009-12-03  Florent Lamiraux  <fl...@la...>
 
+	Remove remaining Spline.
+	* include/roboptim/trajectory/fwd.hh: here.
+
+2009-12-03  Florent Lamiraux  <fl...@la...>
+
 	Adapt test output to new spline implementation.
 	* tests/spline-gradient.stdout: Basis functions have changed at
 	beginning and end of interval of definition.
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/fwd.hh
index 16d0280..3b00df8 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/fwd.hh
@@ -36,7 +36,7 @@ namespace roboptim
   template <typename T>
   class TrajectoryCost;
 
-  class Spline;
+  class CubicBSpline;
   class SplineLength;
 } // end of namespace roboptim.
 

commit 059641e059aebb16249c7a7170c5b58b43dc8bf1
Author: florent <fl...@la...>
Date:   Thu Dec 3 20:52:19 2009 +0100

    Adapt test output to new spline implementation.
    
    	* tests/spline-gradient.stdout: Basis functions have changed at
    	beginning and end of interval of definition.
    
    Signed-off-by: florent <fl...@la...>

diff --git a/ChangeLog b/ChangeLog
index 527ca6e..3f2f944 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
 2009-12-03  Florent Lamiraux  <fl...@la...>
 
+	Adapt test output to new spline implementation.
+	* tests/spline-gradient.stdout: Basis functions have changed at
+	beginning and end of interval of definition.
+
+2009-12-03  Florent Lamiraux  <fl...@la...>
+
 	Add comments and fix bad gradients.
 	* tests/spline-gradient.cc: Do not check derivative by
 	* finite-difference at beginning and end of interval of definition.
diff --git a/tests/spline-gradient.stdout b/tests/spline-gradient.stdout
index fb61b98..4f04741 100644
--- a/tests/spline-gradient.stdout
+++ b/tests/spline-gradient.stdout
@@ -5,222 +5,222 @@ set ylabel 'spline value'
 set multiplot layout 5,3
 plot '-' title 'spline' with line
 
-0.00 1.00
-0.01 1.00
-0.02 1.00
-0.03 1.00
-0.04 1.00
-0.05 1.00
-0.06 1.00
-0.07 1.00
-0.08 1.00
-0.09 1.00
-0.10 1.00
-0.11 1.00
-0.12 1.00
-0.13 1.00
-0.14 1.00
-0.15 1.00
-0.16 1.00
-0.17 1.00
-0.18 1.00
-0.19 1.00
-0.20 1.00
-0.21 1.00
-0.22 1.00
-0.23 1.00
-0.24 1.00
-0.25 0.99
-0.26 0.99
-0.27 0.99
-0.28 0.99
-0.29 0.99
-0.30 0.99
-0.31 0.99
-0.32 0.99
-0.33 0.99
-0.34 0.99
-0.35 0.99
-0.36 0.98
-0.37 0.98
-0.38 0.98
-0.39 0.98
-0.40 0.98
-0.41 0.98
-0.42 0.98
-0.43 0.97
-0.44 0.97
-0.45 0.97
-0.46 0.97
-0.47 0.97
-0.48 0.96
-0.49 0.96
-0.50 0.96
-0.51 0.96
-0.52 0.95
-0.53 0.95
-0.54 0.95
-0.55 0.95
-0.56 0.94
-0.57 0.94
-0.58 0.94
-0.59 0.93
-0.60 0.93
-0.61 0.93
-0.62 0.92
-0.63 0.92
-0.64 0.91
-0.65 0.91
-0.66 0.91
-0.67 0.90
-0.68 0.90
-0.69 0.89
-0.70 0.89
-0.71 0.88
-0.72 0.88
-0.73 0.87
-0.74 0.87
-0.75 0.86
-0.76 0.86
-0.77 0.85
-0.78 0.85
-0.79 0.84
-0.80 0.83
-0.81 0.83
-0.82 0.82
-0.83 0.81
-0.84 0.81
-0.85 0.80
-0.86 0.79
-0.87 0.79
-0.88 0.78
-0.89 0.77
-0.90 0.76
-0.91 0.76
-0.92 0.75
-0.93 0.74
-0.94 0.73
-0.95 0.72
-0.96 0.72
-0.97 0.71
-0.98 0.70
-0.99 0.69
-1.00 0.68
-1.01 0.67
-1.02 0.66
-1.03 0.66
-1.04 0.65
-1.05 0.64
-1.06 0.63
-1.07 0.62
-1.08 0.61
-1.09 0.60
-1.10 0.59
-1.11 0.58
-1.12 0.57
-1.13 0.57
-1.14 0.56
-1.15 0.55
-1.16 0.54
-1.17 0.53
-1.18 0.52
-1.19 0.51
-1.20 0.50
-1.21 0.49
-1.22 0.48
-1.23 0.47
-1.24 0.46
-1.25 0.45
-1.26 0.44
-1.27 0.43
-1.28 0.43
-1.29 0.42
-1.30 0.41
-1.31 0.40
-1.32 0.39
-1.33 0.38
-1.34 0.37
-1.35 0.36
-1.36 0.35
-1.37 0.34
-1.38 0.34
-1.39 0.33
-1.40 0.32
-1.41 0.31
-1.42 0.30
-1.43 0.29
-1.44 0.28
-1.45 0.28
-1.46 0.27
-1.47 0.26
-1.48 0.25
-1.49 0.24
-1.50 0.24
-1.51 0.23
-1.52 0.22
-1.53 0.21
-1.54 0.21
-1.55 0.20
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 e
 plot '-' title 'spline derivative' with line
 
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@@ -813,246 +813,246 @@ plot '-' title 'spline derivative' with line
 e
 plot '-' title 'spline 2nd derivative' with line
 
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-2.80 0.02
-2.81 0.02
-2.82 0.02
-2.83 0.02
-2.84 0.02
-2.85 0.01
-2.86 0.01
-2.87 0.01
-2.88 0.01
-2.89 0.01
-2.90 0.01
-2.91 0.01
-2.92 0.01
-2.93 0.01
-2.94 0.01
-2.95 0.01
+2.60 0.06
+2.61 0.06
+2.62 0.05
+2.63 0.05
+2.64 0.05
+2.65 0.04
+2.66 0.04
+2.67 0.04
+2.68 0.03
+2.69 0.03
+2.70 0.03
+2.71 0.02
+2.72 0.02
+2.73 0.02
+2.74 0.02
+2.75 0.02
+2.76 0.01
+2.77 0.01
+2.78 0.01
+2.79 0.01
+2.80 0.01
+2.81 0.01
+2.82 0.01
+2.83 0.00
+2.84 0.00
+2.85 0.00
+2.86 0.00
+2.87 0.00
+2.88 0.00
+2.89 0.00
+2.90 0.00
+2.91 0.00
+2.92 0.00
+2.93 0.00
+2.94 0.00
+2.95 0.00
 2.96 0.00
 2.97 0.00
 2.98 0.00
@@ -2831,328 +4043,328 @@ plot '-' title 'configuration (1)' with line
 3.99 0.00
 4.00 0.00
 e
-plot '-' title 'derivative (1)' with line
+plot '-' title 'derivative (2)' with line
 
-0.00 0.00
-0.01 0.00
-0.02 0.00
-0.03 0.00
-0.04 0.00
-0.05 0.00
-0.06 0.00
-0.07 0.00
-0.08 0.01
-0.09 0.01
-0.10 0.01
-0.11 0.01
-0.12 0.01
-0.13 0.02
-0.14 0.02
-0.15 0.02
-0.16 0.02
-0.17 0.03
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-0.19 0.04
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-0.22 0.05
-0.23 0.05
-0.24 0.06
-0.25 0.06
-0.26 0.07
-0.27 0.07
-0.28 0.08
-0.29 0.08
-0.30 0.09
-0.31 0.09
-0.32 0.10
-0.33 0.11
-0.34 0.11
-0.35 0.12
-0.36 0.13
-0.37 0.13
-0.38 0.14
-0.39 0.15
-0.40 0.16
-0.41 0.16
-0.42 0.17
-0.43 0.18
-0.44 0.19
-0.45 0.20
-0.46 0.21
-0.47 0.22
-0.48 0.23
-0.49 0.23
-0.50 0.24
-0.51 0.25
-0.52 0.26
-0.53 0.27
-0.54 0.28
-0.55 0.30
-0.56 0.31
-0.57 0.32
-0.58 0.33
-0.59 0.34
-0.60 0.35
-0.61 0.36
-0.62 0.38
-0.63 0.39
-0.64 0.40
-0.65 0.41
-0.66 0.43
-0.67 0.44
-0.68 0.45
-0.69 0.46
-0.70 0.48
-0.71 0.49
-0.72 0.51
-0.73 0.52
-0.74 0.53
-0.75 0.55
-0.76 0.56
-0.77 0.58
-0.78 0.59
-0.79 0.61
-0.80 0.63
-0.81 0.64
-0.82 0.66
-0.83 0.67
-0.84 0.68
-0.85 0.70
-0.86 0.71
-0.87 0.72
-0.88 0.73
-0.89 0.74
-0.90 0.75
-0.91 0.76
-0.92 0.77
-0.93 0.78
-0.94 0.79
-0.95 0.79
-0.96 0.80
-0.97 0.81
-0.98 0.81
-0.99 0.82
-1.00 0.82
-1.01 0.82
-1.02 0.83
-1.03 0.83
-1.04 0.83
-1.05 0.83
-1.06 0.83
-1.07 0.83
-1.08 0.83
-1.09 0.83
-1.10 0.83
-1.11 0.83
-1.12 0.82
-1.13 0.82
-1.14 0.82
-1.15 0.81
-1.16 0.81
-1.17 0.80
-1.18 0.80
-1.19 0.79
-1.20 0.78
-1.21 0.77
-1.22 0.76
-1.23 0.76
-1.24 0.75
-1.25 0.73
-1.26 0.72
-1.27 0.71
-1.28 0.70
-1.29 0.69
-1.30 0.67
-1.31 0.66
-1.32 0.65
-1.33 0.63
-1.34 0.61
-1.35 0.60
-1.36 0.58
-1.37 0.56
-1.38 0.55
-1.39 0.53
-1.40 0.51
-1.41 0.49
-1.42 0.47
-1.43 0.45
-1.44 0.42
-1.45 0.40
-1.46 0.38
-1.47 0.36
-1.48 0.33
-1.49 0.31
-1.50 0.28
-1.51 0.26
-1.52 0.23
-1.53 0.20
-1.54 0.18
-1.55 0.15
-1.56 0.12
-1.57 0.09
-1.58 0.06
-1.59 0.03
-1.60 0.00
-1.61 -0.03
-1.62 -0.06
-1.63 -0.09
-1.64 -0.12
-1.65 -0.15
-1.66 -0.18
-1.67 -0.20
-1.68 -0.23
-1.69 -0.26
-1.70 -0.28
-1.71 -0.31
-1.72 -0.33
-1.73 -0.36
-1.74 -0.38
-1.75 -0.40
-1.76 -0.43
-1.77 -0.45
-1.78 -0.47
-1.79 -0.49
-1.80 -0.51
-1.81 -0.53
-1.82 -0.55
-1.83 -0.56
-1.84 -0.58
-1.85 -0.60
-1.86 -0.61
-1.87 -0.63
-1.88 -0.65
-1.89 -0.66
-1.90 -0.67
-1.91 -0.69
-1.92 -0.70
-1.93 -0.71
-1.94 -0.72
-1.95 -0.73
-1.96 -0.75
-1.97 -0.76
-1.98 -0.76
-1.99 -0.77
-2.00 -0.78
-2.01 -0.79
-2.02 -0.80
-2.03 -0.80
-2.04 -0.81
-2.05 -0.81
-2.06 -0.82
-2.07 -0.82
-2.08 -0.82
-2.09 -0.83
-2.10 -0.83
-2.11 -0.83
-2.12 -0.83
-2.13 -0.83
-2.14 -0.83
-2.15 -0.83
-2.16 -0.83
-2.17 -0.83
-2.18 -0.83
-2.19 -0.82
-2.20 -0.82
-2.21 -0.82
-2.22 -0.81
-2.23 -0.81
-2.24 -0.80
-2.25 -0.79
-2.26 -0.79
-2.27 -0.78
-2.28 -0.77
-2.29 -0.76
-2.30 -0.75
-2.31 -0.74
-2.32 -0.73
-2.33 -0.72
-2.34 -0.71
-2.35 -0.70
-2.36 -0.68
-2.37 -0.67
-2.38 -0.66
-2.39 -0.64
-2.40 -0.63
-2.41 -0.61
-2.42 -0.59
-2.43 -0.58
-2.44 -0.56
-2.45 -0.55
-2.46 -0.53
-2.47 -0.52
-2.48 -0.51
-2.49 -0.49
-2.50 -0.48
-2.51 -0.46
-2.52 -0.45
-2.53 -0.44
-2.54 -0.43
-2.55 -0.41
-2.56 -0.40
-2.57 -0.39
-2.58 -0.38
-2.59 -0.36
-2.60 -0.35
-2.61 -0.34
-2.62 -0.33
-2.63 -0.32
-2.64 -0.31
-2.65 -0.30
-2.66 -0.28
-2.67 -0.27
-2.68 -0.26
-2.69 -0.25
-2.70 -0.24
-2.71 -0.23
-2.72 -0.23
+0.00 3.00
+0.01 3.06
+0.02 3.12
+0.03 3.17
+0.04 3.23
+0.05 3.28
+0.06 3.33
+0.07 3.38
+0.08 ...
 
[truncated message content]

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.5-3-g567bdb3

From: Thomas M. <tho...@us...> - 2010-01-14 10:11:05

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  567bdb3ab6f4af76063e944f7868b2fe4c03f078 (commit)
      from  e6adc9b4ea8386775ce315b0317c4b70c37c1e01 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 567bdb3ab6f4af76063e944f7868b2fe4c03f078
Author: Thomas Moulard <tho...@gm...>
Date:   Thu Jan 14 11:10:42 2010 +0100

    Add ChangeLog information to spec file.
    
    	* roboptim-core.spec.in: Add ChangeLog information.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 8575420..791151d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-14  Thomas Moulard  <tho...@gm...>
 
+	Add ChangeLog information to spec file.
+	* roboptim-core.spec.in: Add ChangeLog information.
+
+2010-01-14  Thomas Moulard  <tho...@gm...>
+
 	Fix RPM spec file.
 	* roboptim-core.spec.in: Here.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index fb92661..6848056 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -99,6 +99,10 @@ rm -rf $RPM_BUILD_ROOT
 %postun -p /sbin/ldconfig
 
 %changelog
+* Thu Jan 14 2010 Thomas Moulard <tho...@gm...> - 0.5-2
+- Fix unowned directories problem.
+- Fix documentation packaging rules.
+
 * Wed Jan 13 2010 Thomas Moulard <tho...@gm...> - 0.5-1
 - Fix plug-in path (now packaged properly in a subdirectory).
 - Add missing build requirements (latex / dvips).

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

Summary of changes:
 ChangeLog             |    5 +++++
 roboptim-core.spec.in |    4 ++++
 2 files changed, 9 insertions(+), 0 deletions(-)


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.5-2-ge6adc9b

From: Thomas M. <tho...@us...> - 2010-01-14 09:34:02

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  e6adc9b4ea8386775ce315b0317c4b70c37c1e01 (commit)
      from  38003629dca182a85d90f75cc243cb00065003d7 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit e6adc9b4ea8386775ce315b0317c4b70c37c1e01
Author: Thomas Moulard <tho...@gm...>
Date:   Thu Jan 14 10:27:21 2010 +0100

    Fix RPM spec file.
    
    	* roboptim-core.spec.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 2d11e08..8575420 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2010-01-14  Thomas Moulard  <tho...@gm...>
+
+	Fix RPM spec file.
+	* roboptim-core.spec.in: Here.
+
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
 	Synchronize.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index bde7b13..fb92661 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -12,7 +12,7 @@ BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
 BuildRequires: boost-devel, libtool-ltdl-devel
 # Require Doxygen and its dependencies.
-BuildRequires: doxygen, texlive-latex, texlive-dvips
+BuildRequires: doxygen, tex(latex), tex(dvips)
 
 
 %description
@@ -46,7 +46,7 @@ Documentation for the RobOptim core library
 %setup -q
 
 %build
-%configure --docdir=%{_datadir}/doc/%{name}-%{version} --disable-static
+%configure --docdir=%{_docdir}/%{name}-%{version} --disable-static
 sed -i 's|^hardcode_libdir_flag_spec=.*|hardcode_libdir_flag_spec=""|g' libtool
 sed -i 's|^runpath_var=LD_RUN_PATH|runpath_var=DIE_RPATH_DIE|g' libtool
 
@@ -58,6 +58,10 @@ make %{?_smp_mflags}
 rm -rf $RPM_BUILD_ROOT
 make install DESTDIR="$RPM_BUILD_ROOT" INSTALL="install -p"
 
+# Install
+install -cpm 644 AUTHORS COPYING THANKS README NEWS \
+ $RPM_BUILD_ROOT%{_docdir}/%{name}-%{version}/
+
 # Get rid of Libtool files as they should not be installed.
 rm $RPM_BUILD_ROOT/%{_libdir}/*.la
 rm $RPM_BUILD_ROOT/%{_libdir}/%{name}/*.la
@@ -68,11 +72,18 @@ rm -rf $RPM_BUILD_ROOT
 
 %files
 %defattr(-,root,root,-)
+%dir %{_docdir}/%{name}-%{version}/
+
+# for COPYING, INSTALL, AUTHORS, etc.
+%{_docdir}/%{name}-%{version}/[A-Z]*
+
+# versioned shared library
 %{_libdir}/*.so.*
-%{_libdir}/%{name}/*.so.*
+
+# package whole directory:
 # ``.so'' file is also needed as ltdl_openext does not consider
 # versioned plug-ins.
-%{_libdir}/%{name}/*.so
+%{_libdir}/%{name}/
 
 %files devel
 %defattr(-,root,root,-)
@@ -82,8 +93,7 @@ rm -rf $RPM_BUILD_ROOT
 
 %files doc
 %defattr(-,root,root,-)
-%doc AUTHORS COPYING THANKS README NEWS
-%{_datadir}/doc/%{name}-%{version}/*
+%{_docdir}/%{name}-%{version}/doxygen-html/
 
 %post -p /sbin/ldconfig
 %postun -p /sbin/ldconfig

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

Summary of changes:
 ChangeLog             |    5 +++++
 roboptim-core.spec.in |   22 ++++++++++++++++------
 2 files changed, 21 insertions(+), 6 deletions(-)


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] roboptim-core annotated tag, v0.5, created. v0.5

From: Thomas M. <tho...@us...> - 2010-01-13 16:10:58

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The annotated tag, v0.5 has been created
        at  4f5023e95b0f2ecee0e45e41fe786658f38b79d9 (tag)
   tagging  e5649ada33d2e746d53097a1da76728464d79d4f (commit)
  replaces  v0.4
 tagged by  Thomas Moulard
        on  Wed Jan 13 17:10:35 2010 +0100

- Log -----------------------------------------------------------------
Release 0.5.
-----BEGIN PGP SIGNATURE-----
Version: GnuPG v1.4.9 (GNU/Linux)

iEYEABECAAYFAktN8HsACgkQ2c3AurFAup7dqwCfdE8W5/6xoN+5O8tXA6/0d0KS
l3UAoIfnTCOQSQ9+n931ze96spif/Tkd
=pBym
-----END PGP SIGNATURE-----

Thomas Moulard (14):
      Synchronize.
      Fix announce-gen download links.
      Fix spec file.
      Synchronize.
      Make Libtool generate dlls on Windows.
      Add tar-ustar support in Automake to allow long filename.
      Fix issues reported by Fedora reviewer.
      Fix issues reported by Fedora reviewer.
      Build plug-in in a separate directory.
      Fix rpm build requirements.
      Fix rpm spec file.
      Update rpm spec file ChangeLog.
      Fix rpm spec file.
      Fix rpm source URL.

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


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.4-15-g3800362

From: Thomas M. <tho...@us...> - 2010-01-13 16:09:37

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  38003629dca182a85d90f75cc243cb00065003d7 (commit)
       via  e5649ada33d2e746d53097a1da76728464d79d4f (commit)
       via  4a9397a7779556d25ffbf8d20a8558b015f143c8 (commit)
       via  43200b6e378cb2e7cd6436572382f9e70c276329 (commit)
       via  3a3c95d75417d3aa220a8ead585b0a1c80925ff5 (commit)
       via  6d502aba551173004739d47f0e92606fb97c1060 (commit)
      from  51fddb68fa8e5a0c56dbf1a4b9e2d221ccca56b5 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 38003629dca182a85d90f75cc243cb00065003d7
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 17:05:04 2010 +0100

    Synchronize.
    
    	* build-aux: Synchronize.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index b973fa1..2d11e08 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Synchronize.
+	* build-aux: Synchronize.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Fix rpm source URL.
 	* roboptim-core.spec.in: Fix wrong source URL.
 
diff --git a/build-aux b/build-aux
index a6cfdc7..2478a62 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit a6cfdc754979af63290cdca09f67a7d9fe13893a
+Subproject commit 2478a6240e98e4a1e8ab014e0408607f60eaaa25

commit e5649ada33d2e746d53097a1da76728464d79d4f
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 14:45:42 2010 +0100

    Fix rpm source URL.
    
    	* roboptim-core.spec.in: Fix wrong source URL.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 709f533..b973fa1 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Fix rpm source URL.
+	* roboptim-core.spec.in: Fix wrong source URL.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Fix rpm spec file.
 	* roboptim-core.spec.in: Distribute plug-in properly.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index f8830dd..bde7b13 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -6,7 +6,7 @@ Summary: The RobOptim core C++ library
 Group: Development/Libraries
 License: LGPLv3+
 URL: http://roboptim.sourceforge.net/
-Source0: http://downloads.sourceforge.net/%{name}/%{name}-%{version}.tar.gz
+Source0: http://downloads.sourceforge.net/roboptim/%{name}-%{version}.tar.gz
 
 BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 

commit 4a9397a7779556d25ffbf8d20a8558b015f143c8
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 14:18:06 2010 +0100

    Fix rpm spec file.
    
    	* roboptim-core.spec.in: Distribute plug-in properly.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index f80ac86..709f533 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Fix rpm spec file.
+	* roboptim-core.spec.in: Distribute plug-in properly.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Update rpm spec file ChangeLog.
 	* roboptim-core.spec.in: Here.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 7088a7e..f8830dd 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -70,13 +70,14 @@ rm -rf $RPM_BUILD_ROOT
 %defattr(-,root,root,-)
 %{_libdir}/*.so.*
 %{_libdir}/%{name}/*.so.*
-
+# ``.so'' file is also needed as ltdl_openext does not consider
+# versioned plug-ins.
+%{_libdir}/%{name}/*.so
 
 %files devel
 %defattr(-,root,root,-)
 %{_includedir}/*
 %{_libdir}/*.so
-%{_libdir}/%{name}/*.so
 %{_libdir}/pkgconfig/*
 
 %files doc

commit 43200b6e378cb2e7cd6436572382f9e70c276329
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 13:38:33 2010 +0100

    Update rpm spec file ChangeLog.
    
    	* roboptim-core.spec.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 40f2712..f80ac86 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Update rpm spec file ChangeLog.
+	* roboptim-core.spec.in: Here.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Fix rpm spec file.
 	* roboptim-core.spec.in: Remove ``.la'' file of the plug-in.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 18d54f6..7088a7e 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -88,6 +88,14 @@ rm -rf $RPM_BUILD_ROOT
 %postun -p /sbin/ldconfig
 
 %changelog
+* Wed Jan 13 2010 Thomas Moulard <tho...@gm...> - 0.5-1
+- Fix plug-in path (now packaged properly in a subdirectory).
+- Add missing build requirements (latex / dvips).
+- Add missing requirements (boost-devel, libtool-ltdl-devel in roboptim-devel).
+- Use "install -p" to preserve timestamps.
+- Update to release 0.5.
+- For more information see: https://bugzilla.redhat.com/show_bug.cgi?id=538820
+
 * Thu Nov 12 2009 Thomas Moulard <tho...@gm...> - 0.3.28-1
 - Fix rpmlint errors.
 - Handle Autotools issues (add -avoid-version and --distable-static).

commit 3a3c95d75417d3aa220a8ead585b0a1c80925ff5
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 11:48:55 2010 +0100

    Fix rpm spec file.
    
    	* roboptim-core.spec.in: Remove ``.la'' file of the plug-in.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 4674ab5..40f2712 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Fix rpm spec file.
+	* roboptim-core.spec.in: Remove ``.la'' file of the plug-in.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Fix rpm build requirements.
 	* roboptim-core.spec.in: Here.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index e8d9cc8..18d54f6 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -60,6 +60,7 @@ make install DESTDIR="$RPM_BUILD_ROOT" INSTALL="install -p"
 
 # Get rid of Libtool files as they should not be installed.
 rm $RPM_BUILD_ROOT/%{_libdir}/*.la
+rm $RPM_BUILD_ROOT/%{_libdir}/%{name}/*.la
 
 
 %clean

commit 6d502aba551173004739d47f0e92606fb97c1060
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 11:46:05 2010 +0100

    Fix rpm build requirements.
    
    	* roboptim-core.spec.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index e813fe3..4674ab5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Fix rpm build requirements.
+	* roboptim-core.spec.in: Here.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Build plug-in in a separate directory.
 
 	CAUTION: starting now, plug-in will be located in
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index ba9613a..e8d9cc8 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -12,7 +12,7 @@ BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
 BuildRequires: boost-devel, libtool-ltdl-devel
 # Require Doxygen and its dependencies.
-BuildRequires: doxygen, texlive-latex-2007, texlive-dvips-2007
+BuildRequires: doxygen, texlive-latex, texlive-dvips
 
 
 %description

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

Summary of changes:
 ChangeLog             |   30 ++++++++++++++++++++++++++++++
 build-aux             |    2 +-
 roboptim-core.spec.in |   18 ++++++++++++++----
 3 files changed, 45 insertions(+), 5 deletions(-)


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] build-aux branch, master, updated. 2478a6240e98e4a1e8ab014e0408607f60eaaa25

From: Thomas M. <tho...@us...> - 2010-01-13 16:02:10

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  2478a6240e98e4a1e8ab014e0408607f60eaaa25 (commit)
      from  14aa3be6d78cc04a7f009f2799edbdb1b8b76e05 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 2478a6240e98e4a1e8ab014e0408607f60eaaa25
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 17:01:49 2010 +0100

    Add PACKAGE_TARNAME variable to pkgconfig file.
    
    	* pkg-config.pc.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 01b5a40..901d2b9 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
 2010-01-13  Thomas Moulard  <tho...@gm...>
 
+	Add PACKAGE_TARNAME variable to pkgconfig file.
+	* pkg-config.pc.in: Here.
+
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
 	Fix doxygendocdir value in pkg-config file.
 	* pkg-config.pc.in: Here.
 
diff --git a/pkg-config.pc.in b/pkg-config.pc.in
index b5a0ae2..9906819 100644
--- a/pkg-config.pc.in
+++ b/pkg-config.pc.in
@@ -1,3 +1,4 @@
+PACKAGE_TARNAME=@PACKAGE_TARNAME@
 prefix=@prefix@
 exec_prefix=@exec_prefix@
 libdir=@libdir@

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

Summary of changes:
 ChangeLog        |    5 +++++
 pkg-config.pc.in |    1 +
 2 files changed, 6 insertions(+), 0 deletions(-)


hooks/post-receive
-- 
build-aux

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.4-9-g51fddb6

From: Thomas M. <tho...@us...> - 2010-01-13 10:28:15

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  51fddb68fa8e5a0c56dbf1a4b9e2d221ccca56b5 (commit)
      from  99f2ebbeb44b073a209f145c9f44c119afdb13d7 (commit)

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- Log -----------------------------------------------------------------
commit 51fddb68fa8e5a0c56dbf1a4b9e2d221ccca56b5
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 11:27:46 2010 +0100

    Build plug-in in a separate directory.
    
    	CAUTION: starting now, plug-in will be located in
    	in ``$(libdir)/roboptim-core'' which means that
    	users have to change LTDL_LIBRARY_PATH accordingly.
    
    	* roboptim-core.spec.in: Include plug-in in rpm.
    	* src/Makefile.am: Install plug-in in a separate directory.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 773ce77..e813fe3 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,14 @@
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
+	Build plug-in in a separate directory.
+
+	CAUTION: starting now, plug-in will be located in
+	in ``$(libdir)/roboptim-core'' which means that
+	users have to change LTDL_LIBRARY_PATH accordingly.
+
+	* roboptim-core.spec.in: Include plug-in in rpm.
+	* src/Makefile.am: Install plug-in in a separate directory.
+
 2010-01-08  Thomas Moulard  <tho...@gm...>
 
 	Fix issues reported by Fedora reviewer.
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 3f1e936..ba9613a 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -68,12 +68,14 @@ rm -rf $RPM_BUILD_ROOT
 %files
 %defattr(-,root,root,-)
 %{_libdir}/*.so.*
+%{_libdir}/%{name}/*.so.*
 
 
 %files devel
 %defattr(-,root,root,-)
 %{_includedir}/*
 %{_libdir}/*.so
+%{_libdir}/%{name}/*.so
 %{_libdir}/pkgconfig/*
 
 %files doc
diff --git a/src/Makefile.am b/src/Makefile.am
index b71a12f..9531757 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -34,7 +34,9 @@ libroboptim_core_la_SOURCES += 		\
 libroboptim_core_la_LDFLAGS = -version-info 1:1:0
 
 # Dummy plug-in.
-lib_LTLIBRARIES += roboptim-core-dummy-plugin.la
+plugindir = $(libdir)/$(PACKAGE_TARNAME)
+
+plugin_LTLIBRARIES = roboptim-core-dummy-plugin.la
 roboptim_core_dummy_plugin_la_SOURCES = roboptim-core-dummy-plugin.cc
 roboptim_core_dummy_plugin_la_LIBADD = libroboptim-core.la
 roboptim_core_dummy_plugin_la_LDFLAGS = -module -version-info 1:1:0

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

Summary of changes:
 ChangeLog             |   11 +++++++++++
 roboptim-core.spec.in |    2 ++
 src/Makefile.am       |    4 +++-
 3 files changed, 16 insertions(+), 1 deletions(-)


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] build-aux branch, master, updated. 14aa3be6d78cc04a7f009f2799edbdb1b8b76e05

From: Thomas M. <tho...@us...> - 2010-01-13 09:55:20

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  14aa3be6d78cc04a7f009f2799edbdb1b8b76e05 (commit)
      from  fc8dffa45c182ab7198d0905c83a4bc3866ea6a4 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 14aa3be6d78cc04a7f009f2799edbdb1b8b76e05
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Jan 13 10:55:07 2010 +0100

    Fix doxygendocdir value in pkg-config file.
    
    	* pkg-config.pc.in: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 7561a58..01b5a40 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2010-01-13  Thomas Moulard  <tho...@gm...>
+
+	Fix doxygendocdir value in pkg-config file.
+	* pkg-config.pc.in: Here.
+
 2010-01-11  Thomas Moulard  <tho...@gm...>
 
 	Add asciidoc related m4/mk files.
diff --git a/pkg-config.pc.in b/pkg-config.pc.in
index e986d2c..b5a0ae2 100644
--- a/pkg-config.pc.in
+++ b/pkg-config.pc.in
@@ -3,8 +3,8 @@ exec_prefix=@exec_prefix@
 libdir=@libdir@
 includedir=@includedir@
 datarootdir=@datarootdir@
-docdir=@datarootdir@/doc/@PACKAGE_TARNAME@
-doxygendocdir=@datarootdir@/doc/@PACKAGE_TARNAME@/doxygen-html
+docdir=@docdir@
+doxygendocdir=@htmldir@/doxygen-html
 
 Name: @PACKAGE@
 Description: @PKGCONFIG_DESCRIPTION@

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

Summary of changes:
 ChangeLog        |    5 +++++
 pkg-config.pc.in |    4 ++--
 2 files changed, 7 insertions(+), 2 deletions(-)


hooks/post-receive
-- 
build-aux

[roboptim-commit] [SCM] build-aux branch, master, updated. fc8dffa45c182ab7198d0905c83a4bc3866ea6a4

From: Thomas M. <tho...@us...> - 2010-01-11 17:33:31

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  fc8dffa45c182ab7198d0905c83a4bc3866ea6a4 (commit)
      from  6d7fc1db4a946e2b82334052de97d934a2fb0b10 (commit)

Those revisions listed above that are new to this repository have
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- Log -----------------------------------------------------------------
commit fc8dffa45c182ab7198d0905c83a4bc3866ea6a4
Author: Thomas Moulard <tho...@gm...>
Date:   Mon Jan 11 18:33:20 2010 +0100

    Add asciidoc related m4/mk files.
    
    	* asciidoc.m4: New.
    	* asciidoc.mk: New.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 1bbe697..7561a58 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2010-01-11  Thomas Moulard  <tho...@gm...>
+
+	Add asciidoc related m4/mk files.
+	* asciidoc.m4: New.
+	* asciidoc.mk: New.
+
 2009-12-03  Thomas Moulard  <tho...@gm...>
 
 	Do not assume in Kineo rules the library prefix.
diff --git a/asciidoc.m4 b/asciidoc.m4
new file mode 100644
index 0000000..11a970d
--- /dev/null
+++ b/asciidoc.m4
@@ -0,0 +1,70 @@
+#                                                                -*-Autoconf-*-
+# asciidoc.m4: asciidoc generation rules.
+# Copyright (C) 2010 by Thomas Moulard, CNRS.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+# serial 1
+
+# ------ #
+# README #
+# ------ #
+
+# This m4 file can be used to enable asciidoc support in Autoconf.
+
+m4_pattern_forbid([^JRL_])
+
+# JRL_PROG_ASCIIDOC([VARIABLE], [VERSION_MIN])
+# -----------------------------------------------------
+# Check that asciidoc and its dependencies are available and is
+# newer thatn VERSION_MIN
+AC_DEFUN([JRL_PROG_ASCIIDOC],
+[AC_CHECK_PROGS([$1], [asciidoc],
+	       AC_MSG_ERROR([failed to find asciidoc.]))
+
+# Required by asciidoc for source code syntax highlighting.
+AC_CHECK_PROGS([SOURCE_HIGHLIGHT], [source-highlight],
+	       AC_MSG_ERROR([Failed to find source-highlight.]))
+
+ASCIIDOC_REQUIRED_VERSION=$2
+AC_MSG_CHECKING([asciidoc is at least version $ASCIIDOC_REQUIRED_VERSION])
+ASCIIDOC_VERSION=`asciidoc --version 2> /dev/null | sed 's/^asciidoc //'`
+
+for i in 1 2 3; do
+ if test -z "$asciidoc_version_ok"; then
+  wantedversion=`echo "$ASCIIDOC_REQUIRED_VERSION" | cut -d'.' -f$i`
+  version=`echo "$ASCIIDOC_VERSION" | cut -d'.' -f$i`
+
+  if test $version -lt $wantedversion; then
+   asciidoc_version_ok=no
+  fi
+  if test $version -gt $wantedversion; then
+   asciidoc_version_ok=yes
+  fi
+ fi
+done
+
+if test x"$asciidoc_version_ok" = xno; then
+ AC_MSG_RESULT([no])
+else
+ AC_MSG_RESULT([yes])
+fi
+])
diff --git a/asciidoc.mk b/asciidoc.mk
new file mode 100644
index 0000000..9f2fd04
--- /dev/null
+++ b/asciidoc.mk
@@ -0,0 +1,40 @@
+#                                                                -*-Automake-*-
+# Copyright (C) 2010 by Thomas Moulard, CNRS.
+# This file is part of HPP.
+#
+# roboptim is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# Additional permission under section 7 of the GNU General Public
+# License, version 3 ("GPLv3"):
+#
+# If you convey this file as part of a work that contains a
+# configuration script generated by Autoconf, you may do so under
+# terms of your choice.
+#
+# roboptim is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with roboptim.  If not, see <http://www.gnu.org/licenses/>.
+
+# ------ #
+# README #
+# ------ #
+#
+# This mk file contains asciidoc generation rules.
+#
+# To use this mk file, include init.mk and this file into
+# your Makefile.am.
+
+SUFFIXES += .html
+
+ASCIIDOC_OPTIONS ?= -a icons
+
+
+.txt.html:
+	$(ASCIIDOC) $(ASCIIDOC_OPTIONS)  -o $@ $<

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

Summary of changes:
 ChangeLog                   |    6 ++++
 asciidoc.m4                 |   70 +++++++++++++++++++++++++++++++++++++++++++
 dist-sign.mk => asciidoc.mk |   22 +++++--------
 3 files changed, 85 insertions(+), 13 deletions(-)
 create mode 100644 asciidoc.m4
 copy dist-sign.mk => asciidoc.mk (68%)


hooks/post-receive
-- 
build-aux

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.4-8-g99f2ebb

From: Thomas M. <tho...@us...> - 2010-01-08 10:43:56

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  99f2ebbeb44b073a209f145c9f44c119afdb13d7 (commit)
       via  576c2f630bd4786f465e1b4244627e08154a3886 (commit)
      from  56b39d68d6d6418a4803a9153477adabc78b1c94 (commit)

Those revisions listed above that are new to this repository have
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- Log -----------------------------------------------------------------
commit 99f2ebbeb44b073a209f145c9f44c119afdb13d7
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Jan 8 11:43:33 2010 +0100

    Fix issues reported by Fedora reviewer.
    
    	* roboptim-core.spec.in: Fix dependencies as reported in ticket
    	https://bugzilla.redhat.com/show_bug.cgi?id=538820.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 14ac6c4..773ce77 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
 2010-01-08  Thomas Moulard  <tho...@gm...>
 
 	Fix issues reported by Fedora reviewer.
+	* roboptim-core.spec.in: Fix dependencies as reported in ticket
+	https://bugzilla.redhat.com/show_bug.cgi?id=538820.
+
+2010-01-08  Thomas Moulard  <tho...@gm...>
+
+	Fix issues reported by Fedora reviewer.
 	* roboptim-core.spec.in: Fix many problems reported in ticket
 	https://bugzilla.redhat.com/show_bug.cgi?id=538820.
 
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index 58dc527..3f1e936 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -10,7 +10,10 @@ Source0: http://downloads.sourceforge.net/%{name}/%{name}-%{version}.tar.gz
 
 BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
-BuildRequires: boost-devel, libtool-ltdl-devel, doxygen
+BuildRequires: boost-devel, libtool-ltdl-devel
+# Require Doxygen and its dependencies.
+BuildRequires: doxygen, texlive-latex-2007, texlive-dvips-2007
+
 
 %description
 RobOptim provide C++ numerical optimization libraries for robotics.
@@ -22,7 +25,8 @@ a back-end
 %package devel
 Summary: The Roboptim core headers and development-related files
 Group: Development/Libraries
-Requires: %{name} = %{version}-%{release}
+Requires: %{name} = %{version}-%{release}, boost-devel, libtool-ltdl-devel
+# pkg-config dependency is detected automatically on Fedora.
 %description devel
 Headers and shared object symlinks for the RobOptim core C++ library
 
@@ -30,7 +34,7 @@ Headers and shared object symlinks for the RobOptim core C++ library
 %package doc
 Summary: The RobOptim core documentation
 Group: Documentation
-Requires: %{name} = %{version}-%{release}, boost-devel, libtool-ltdl-devel
+Requires: %{name} = %{version}-%{release}
 %description doc
 Documentation for the RobOptim core library
 

commit 576c2f630bd4786f465e1b4244627e08154a3886
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Jan 8 11:13:41 2010 +0100

    Fix issues reported by Fedora reviewer.
    
    	* roboptim-core.spec.in: Fix many problems reported in ticket
    	https://bugzilla.redhat.com/show_bug.cgi?id=538820.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index af46cd5..14ac6c4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
 2010-01-08  Thomas Moulard  <tho...@gm...>
 
+	Fix issues reported by Fedora reviewer.
+	* roboptim-core.spec.in: Fix many problems reported in ticket
+	https://bugzilla.redhat.com/show_bug.cgi?id=538820.
+
+2010-01-08  Thomas Moulard  <tho...@gm...>
+
 	Add tar-ustar support in Automake to allow long filename.
 	* configure.ac: Add tar-ustar option in AM_INIT_AUTOMAKE
 	in order to package properly files with long names such	as
diff --git a/roboptim-core.spec.in b/roboptim-core.spec.in
index b660421..58dc527 100644
--- a/roboptim-core.spec.in
+++ b/roboptim-core.spec.in
@@ -6,12 +6,12 @@ Summary: The RobOptim core C++ library
 Group: Development/Libraries
 License: LGPLv3+
 URL: http://roboptim.sourceforge.net/
-Source0: http://dl.sf.net/sourceforge/%{name}/%{name}-%{version}.tar.gz
+Source0: http://downloads.sourceforge.net/%{name}/%{name}-%{version}.tar.gz
+
 BuildRoot: %{_tmppath}/%{name}-%{version}-%{release}-root-%(%{__id_u} -n)
 
 BuildRequires: boost-devel, libtool-ltdl-devel, doxygen
 
-
 %description
 RobOptim provide C++ numerical optimization libraries for robotics.
 RobOptim core focuses on providing abstractions for optimization problem
@@ -22,7 +22,7 @@ a back-end
 %package devel
 Summary: The Roboptim core headers and development-related files
 Group: Development/Libraries
-Requires: @PACKAGE_TARNAME@ = %{version}-%{release}, pkgconfig
+Requires: %{name} = %{version}-%{release}
 %description devel
 Headers and shared object symlinks for the RobOptim core C++ library
 
@@ -30,7 +30,7 @@ Headers and shared object symlinks for the RobOptim core C++ library
 %package doc
 Summary: The RobOptim core documentation
 Group: Documentation
-Requires: @PACKAGE_TARNAME@ = %{version}-%{release}
+Requires: %{name} = %{version}-%{release}, boost-devel, libtool-ltdl-devel
 %description doc
 Documentation for the RobOptim core library
 
@@ -52,7 +52,7 @@ make %{?_smp_mflags}
 
 %install
 rm -rf $RPM_BUILD_ROOT
-make install DESTDIR=$RPM_BUILD_ROOT
+make install DESTDIR="$RPM_BUILD_ROOT" INSTALL="install -p"
 
 # Get rid of Libtool files as they should not be installed.
 rm $RPM_BUILD_ROOT/%{_libdir}/*.la

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

Summary of changes:
 ChangeLog             |   12 ++++++++++++
 roboptim-core.spec.in |   14 +++++++++-----
 2 files changed, 21 insertions(+), 5 deletions(-)


hooks/post-receive
-- 
roboptim-core

[roboptim-commit] [SCM] roboptim-core branch, master, updated. v0.4-6-g56b39d6

From: Thomas M. <tho...@us...> - 2010-01-08 09:54:24

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".

The branch, master has been updated
       via  56b39d68d6d6418a4803a9153477adabc78b1c94 (commit)
      from  0b9eaa96ff81df218783e67800a664604df8f622 (commit)

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- Log -----------------------------------------------------------------
commit 56b39d68d6d6418a4803a9153477adabc78b1c94
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Jan 8 10:52:49 2010 +0100

    Add tar-ustar support in Automake to allow long filename.
    
    	* configure.ac: Add tar-ustar option in AM_INIT_AUTOMAKE
    	in order to package properly files with long names such	as
    	``msvc/roboptim-core-dummy-plugin/roboptim-core-dummy-plugin.vcproj''.
    	See http://www.gnu.org/software/automake/manual/automake.html#Options
    	for more information.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index ac07b6a..af46cd5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,12 @@
+2010-01-08  Thomas Moulard  <tho...@gm...>
+
+	Add tar-ustar support in Automake to allow long filename.
+	* configure.ac: Add tar-ustar option in AM_INIT_AUTOMAKE
+	in order to package properly files with long names such	as
+	``msvc/roboptim-core-dummy-plugin/roboptim-core-dummy-plugin.vcproj''.
+	See http://www.gnu.org/software/automake/manual/automake.html#Options
+	for more information.
+
 2009-11-25  Thomas Moulard  <tho...@gm...>
 
 	Make Libtool generate dlls on Windows.
diff --git a/configure.ac b/configure.ac
index 857a73a..1b4954c 100644
--- a/configure.ac
+++ b/configure.ac
@@ -18,7 +18,7 @@ AC_CONFIG_AUX_DIR([build-aux])
 AC_CONFIG_MACRO_DIR([build-aux])
 
 # Automake.
-AM_INIT_AUTOMAKE([1.9.6 dist-bzip2 -Wall nostdinc])
+AM_INIT_AUTOMAKE([1.9.6 dist-bzip2 -Wall nostdinc tar-ustar])
 
 ## ------------- ##
 ## C++ compiler  ##

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

Summary of changes:
 ChangeLog    |    9 +++++++++
 configure.ac |    2 +-
 2 files changed, 10 insertions(+), 1 deletions(-)


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roboptim-core

[roboptim-commit] [SCM] build-aux branch, master, updated. 6d7fc1db4a946e2b82334052de97d934a2fb0b10

From: Thomas M. <tho...@us...> - 2009-12-03 12:46:20

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  6d7fc1db4a946e2b82334052de97d934a2fb0b10 (commit)
      from  38ca1dc69291608a2c34e4770ef8e42954158515 (commit)

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- Log -----------------------------------------------------------------
commit 6d7fc1db4a946e2b82334052de97d934a2fb0b10
Author: Thomas Moulard <tho...@gm...>
Date:   Thu Dec 3 13:46:07 2009 +0100

    Do not assume in Kineo rules the library prefix.
    
    	* kineo.mk: Here.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index c321c7d..1bbe697 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-12-03  Thomas Moulard  <tho...@gm...>
+
+	Do not assume in Kineo rules the library prefix.
+	* kineo.mk: Here.
+
 2009-12-02  Thomas Moulard  <tho...@gm...>
 
 	Make Autotest more robust.
diff --git a/kineo.mk b/kineo.mk
index 65b964a..1d07072 100644
--- a/kineo.mk
+++ b/kineo.mk
@@ -52,13 +52,15 @@
 
 SUFFIXES += .kab
 
+KINEO_LIB_SUFFIX ?= -$(PACKAGE_VERSION)
+
 # Rules to generate Kineo license files from GNU Libtool libraries.
 # It deduces automatically where are the real shared libraries from
 # the Libtool file and call KineoAddonBuilder tool to sign it.
 
 # Shared library rule.
 .la.kab:
-	SOFILE=`echo ".libs/$<" | sed 's/.la$$/-$(PACKAGE_VERSION).so/'`; \
+	SOFILE=`echo ".libs/$<" | sed 's/.la$$/$(KINEO_LIB_SUFFIX).so/'`; \
 	KABSRCFILE=`echo "$$SOFILE" | sed 's/.so$$/.kab/'`;		  \
 	KABDSTFILE=`echo "$<" | sed 's/.la$$/.kab/'`; 			  \
 	LD_LIBRARY_PATH=$(KINEO_LIBDIR) 				  \

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

Summary of changes:
 ChangeLog |    5 +++++
 kineo.mk  |    4 +++-
 2 files changed, 8 insertions(+), 1 deletions(-)


hooks/post-receive
-- 
build-aux

[roboptim-commit] [SCM] build-aux branch, master, updated. 38ca1dc69291608a2c34e4770ef8e42954158515

From: Thomas M. <tho...@us...> - 2009-12-02 15:05:28

This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "build-aux".

The branch, master has been updated
       via  38ca1dc69291608a2c34e4770ef8e42954158515 (commit)
      from  a6cfdc754979af63290cdca09f67a7d9fe13893a (commit)

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- Log -----------------------------------------------------------------
commit 38ca1dc69291608a2c34e4770ef8e42954158515
Author: Thomas Moulard <tho...@gm...>
Date:   Wed Dec 2 16:05:12 2009 +0100

    Make Autotest more robust.
    
    	* autotest.at: Handle test binaries in relative	directories.
    	* autotest.mk: Handle test suite in a non-standard directory.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 7580343..c321c7d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-12-02  Thomas Moulard  <tho...@gm...>
+
+	Make Autotest more robust.
+	* autotest.at: Handle test binaries in relative	directories.
+	* autotest.mk: Handle test suite in a non-standard directory.
+
 2009-11-19  Thomas Moulard  <tho...@gm...>
 
 	Fix documentation dependencies.
diff --git a/autotest.at b/autotest.at
index d1f213b..f3407b2 100644
--- a/autotest.at
+++ b/autotest.at
@@ -47,7 +47,8 @@ AT_CHECK([if m4_default([$3], [false]); then
 
 AT_XFAIL_IF([m4_default([$4], [false])])
 
-cp $abs_srcdir/$1.stdout expout
+filename=`basename $1`;
+cp "$abs_srcdir/$filename.stdout" expout;
 
 # Update version in expout to avoid regenerating stdout files at each commit
 package_version=$ROBOPTIMCORE_VERSION
@@ -55,6 +56,8 @@ sed -i \
 -e "s/^\# Generated by RobOptim core library .*$/# Generated by RobOptim core library $package_version/" \
 expout
 
+echo $PATH
+echo $PYTHONPATH
 TESTCASE=`which $1`
 echo "$at_srcdir/AT_LINE: $CHECK_PREFIX $TESTCASE"
 AT_CHECK([$CHECK_PREFIX $TESTCASE], [0], [expout], [ignore])
diff --git a/autotest.mk b/autotest.mk
index 1308305..c880fdf 100644
--- a/autotest.mk
+++ b/autotest.mk
@@ -62,6 +62,8 @@ PACKAGE_M4_IN=$(top_srcdir)/tests/package.m4.in
 # Define m4 dependencies.
 TESTSUITE_AT = $(top_srcdir)/build-aux/autotest.at
 
+TESTSUITEDIR ?= '$(top_builddir)/tests'
+
 
 # ----- #
 # RULES #
@@ -80,7 +82,7 @@ clean-local:
 $(TESTSUITE): $(PACKAGE_M4_IN) $(srcdir)/testsuite.at $(TESTSUITE_AT) \
 	      $(top_srcdir)/configure
 	$(AUTOTEST) -I'$(srcdir)' -I'$(top_srcdir)/build-aux' \
-	-I'$(top_builddir)/tests' $@.at -o $@.tmp
+	-I$(TESTSUITEDIR) $@.at -o $@.tmp
 	mv $@.tmp $@
 
 atconfig: $(top_builddir)/config.status

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

Summary of changes:
 ChangeLog   |    6 ++++++
 autotest.at |    5 ++++-
 autotest.mk |    4 +++-
 3 files changed, 13 insertions(+), 2 deletions(-)


hooks/post-receive
-- 
build-aux

[roboptim-commit] buildbot failure in RobOptim on roboptim-core

From: <no-...@ro...> - 2009-12-02 02:06:31

The Buildbot has finished a build of roboptim-core on RobOptim.
Full details are available at:
 http://cleo.laas.fr:8010/builders/roboptim-core/builds/43

Buildbot URL: http://cleo.laas.fr:8010/

Buildslave for this Build: cleo

Build Reason: The Nightly scheduler named 'nightly' triggered this build
Build Source Stamp: HEAD
Blamelist: 

BUILD FAILED: failed shell_4

sincerely,
 -The Buildbot

[roboptim-commit] buildbot failure in RobOptim on roboptim-trajectory

From: <no-...@ro...> - 2009-12-02 02:04:28

The Buildbot has finished a build of roboptim-trajectory on RobOptim.
Full details are available at:
 http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/30

Buildbot URL: http://cleo.laas.fr:8010/

Buildslave for this Build: cleo

Build Reason: The Nightly scheduler named 'nightly' triggered this build
Build Source Stamp: HEAD
Blamelist: 

BUILD FAILED: failed shell_4

sincerely,
 -The Buildbot

1 message has been excluded from this view by a project administrator.

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