Only one static vartiable MARGIN

include/curves/MathDefs.h

@@ -48,5 +48,7 @@ Matrix3 skew(const Point&  x) {
   return res;
 }
 
+static const double MARGIN(0.001);
+
 }  // namespace curves
 #endif  //_SPLINEMATH

include/curves/bezier_curve.h

@@ -566,7 +566,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
 
 
   void assert_operator_compatible(const bezier_curve_t& other) const{
-    if ((fabs(min() - other.min()) > bezier_curve_t::MARGIN) || (fabs(max() - other.max()) > bezier_curve_t::MARGIN)){
+    if ((fabs(min() - other.min()) > MARGIN) || (fabs(max() - other.max()) > MARGIN)){
         throw std::invalid_argument("Can't perform base operation (+ - ) on two Bezier curves with different time ranges");
     }
   }
@@ -601,7 +601,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
   /*const*/ std::size_t degree_;
   /*const*/ std::vector<Bern<Numeric> > bernstein_;
   /*const*/ t_point_t control_points_;
-  static const double MARGIN;
   /* Attributes */
 
   static bezier_curve_t zero(const std::size_t dim, const time_t T = 1.) {
@@ -630,9 +629,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
   }
 };  // End struct bezier_curve
 
-template <typename Time, typename Numeric, bool Safe, typename Point>
-const double bezier_curve<Time, Numeric, Safe, Point>::MARGIN(0.001);
-
 template <typename T, typename N, bool S, typename P >
 bezier_curve<T,N,S,P> operator+(const bezier_curve<T,N,S,P>& p1, const bezier_curve<T,N,S,P>& p2) {
   bezier_curve<T,N,S,P> res(p1);

include/curves/cross_implementation.h

 /**
- * \file cubic_hermite_spline.h
+ * \file cross_implementation.h
  * \brief class allowing to create a cubic hermite spline of any dimension.
- * \author Justin Carpentier <jcarpent@laas.fr> modified by Jason Chemin <jchemin@laas.fr>
- * \date 05/2019
+ * \author Steve Tonneau
+ * \date 09/2020
  */
 
 #ifndef _CLASS_CROSSIMP

include/curves/linear_variable.h

@@ -111,7 +111,7 @@ struct linear_variable : public serialization::Serializable {
         throw std::invalid_argument("Can't perform cross product on linear variables more than one unknown ");
     if (isZero() || other.isZero())
         return linear_variable_t::Zero(3);
-    if ((B().squaredNorm() -  B().diagonal().squaredNorm() > linear_variable_t::MARGIN ) || (other.B().squaredNorm() -  other.B().diagonal().squaredNorm() > linear_variable_t::MARGIN ) )
+    if ((B().squaredNorm() -  B().diagonal().squaredNorm() > MARGIN ) || (other.B().squaredNorm() -  other.B().diagonal().squaredNorm() > MARGIN ) )
         throw std::invalid_argument("Can't perform cross product on linear variables if B is not diagonal ");
     // (B1 x + c1) X (B2 x + c2) = (-c2X B1) x + (bX B2) x + b1Xb2
     typename linear_variable_t::matrix_3_t newB = skew<typename linear_variable_t::matrix_3_t, typename linear_variable_t::vector_3_t>(-other.c()) * B() +
@@ -167,7 +167,6 @@ struct linear_variable : public serialization::Serializable {
   matrix_x_t B_;
   vector_x_t c_;
   bool zero;
-  static const double MARGIN;
 };
 
 template <typename N, bool S>
@@ -218,9 +217,6 @@ std::ostream &operator<<(std::ostream &os, const linear_variable<N, S>& l) {
     return os << "linear_variable: \n \t B:\n"<< l.B() << "\t c: \n" << l.c().transpose();
 }
 
-template<typename N, bool S>
-const double linear_variable<N,S>::MARGIN(0.001);
-
 }  // namespace curves
 
 DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Numeric, bool Safe),

include/curves/piecewise_curve.h

@@ -582,7 +582,6 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point, Point_deri
   t_time_t time_curves_;  // for curves 0/1/2 : [ Tmin0, Tmax0,Tmax1,Tmax2 ]
   std::size_t size_;      // Number of segments in piecewise curve = size of curves_
   Time T_min_, T_max_;
-  static const double MARGIN;
   /* Attributes */
 
   // Serialization of the class
@@ -602,10 +601,6 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point, Point_deri
     ar& boost::serialization::make_nvp("T_max", T_max_);
   }
 };  // End struct piecewise curve
-
-template <typename Time, typename Numeric, bool Safe, typename Point, typename Point_derivate, typename CurveType>
-const double piecewise_curve<Time, Numeric, Safe, Point, Point_derivate, CurveType>::MARGIN(0.001);
-
 }  // namespace curves
 
 DEFINE_CLASS_TEMPLATE_VERSION(SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point,

include/curves/polynomial.h

@@ -42,7 +42,6 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
   typedef Eigen::Ref<coeff_t> coeff_t_ref;
   typedef polynomial<Time, Numeric, Safe, Point, T_Point> polynomial_t;
   typedef typename curve_abc_t::curve_ptr_t curve_ptr_t;
-  static const double MARGIN;
 
   /* Constructors - destructors */
  public:
@@ -462,7 +461,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
     }
     // remove last degrees is they are equal to 0
     long final_degree = new_degree;
-    while(nCoeffs.col(final_degree).norm() <= polynomial_t::MARGIN){
+    while(nCoeffs.col(final_degree).norm() <= curves::MARGIN){
         --final_degree;
     }
     return polynomial_t(nCoeffs.leftCols(final_degree+1), min(), max());
@@ -478,7 +477,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
  private:
 
   void assert_operator_compatible(const polynomial_t& other) const{
-      if ((fabs(min() - other.min()) > polynomial_t::MARGIN) || (fabs(max() - other.max()) > polynomial_t::MARGIN) || dim() != other.dim()){
+      if ((fabs(min() - other.min()) > curves::MARGIN) || (fabs(max() - other.max()) > curves::MARGIN) || dim() != other.dim()){
           throw std::invalid_argument("Can't perform base operation (+ - ) on two polynomials with different time ranges or different dimensions");
       }
   }
@@ -514,9 +513,6 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
 
 };  // class polynomial
 
-template <typename T, typename N, bool S, typename P, typename TP >
-const double polynomial<T,N,S,P,TP>::MARGIN(0.001);
-
 template <typename T, typename N, bool S, typename P, typename TP >
 polynomial<T,N,S,P,TP> operator+(const polynomial<T,N,S,P,TP>& p1, const polynomial<T,N,S,P,TP>& p2) {
   polynomial<T,N,S,P,TP> res(p1);