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Guilhem Saurel
ndcurves
Commits
41f0d266
Commit
41f0d266
authored
Feb 06, 2020
by
Pierre Fernbach
Browse files
[SO3Linear] fix error in check of bounds in compute()
parent
8d201862
Changes
1
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Inline
Side-by-side
include/curves/so3_linear.h
View file @
41f0d266
...
...
@@ -97,8 +97,8 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, matrix3_t, point3_t > {
if
(
Safe
&
!
(
T_min_
<=
t
&&
t
<=
T_max_
))
{
throw
std
::
invalid_argument
(
"can't evaluate bezier curve, time t is out of range"
);
// TODO
}
if
(
t
>
T_max_
)
return
end_rot_
;
if
(
t
<
T_min_
)
return
init_rot_
;
if
(
t
>
=
T_max_
)
return
end_rot_
;
if
(
t
<
=
T_min_
)
return
init_rot_
;
Scalar
u
=
(
t
-
T_min_
)
/
(
T_max_
-
T_min_
);
return
init_rot_
.
slerp
(
u
,
end_rot_
);
}
...
...
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