Commit 6b64aaf9 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

cleaning

parent abcbbc02
......@@ -59,10 +59,6 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
/// \return \f$\frac{d^Nx(t)}{dt^N}\f$, point corresponding on derivative curve of order N at time t.
virtual point_derivate_t derivate(const time_t t, const std::size_t order) const = 0;
/// \brief Compute the derived curve at order N.
/// \param order : order of derivative.
/// \return \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the curve.
//virtual curve_t* compute_derivate(const std::size_t order) const = 0 ;
/*Operations*/
......
......@@ -281,7 +281,6 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
coeff_t coeff_derivated = deriv_coeff(coefficients_);
polynomial_t deriv(coeff_derivated, T_min_, T_max_);
return deriv.compute_derivate(order - 1);
}
/// \brief Compute the derived curve at order N.
......
......@@ -28,25 +28,7 @@ typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
typedef polynomial_t::coeff_t coeff_t;
typedef curves::Bern<double> bernstein_t;
/*
typedef double real;
typedef Eigen::Vector3d point3_t;
typedef Eigen::Vector3d tangent_t;
typedef Eigen::VectorXd vectorX_t;
typedef std::pair<point3_t, tangent_t> pair_point_tangent_t;
typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> point6_t;
typedef Eigen::Matrix<double, 3, 1, 0, 3, 1> ret_point_t;
typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> ret_point6_t;
typedef Eigen::VectorXd time_waypoints_t;
typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
typedef std::vector<point3_t, Eigen::aligned_allocator<point3_t> > t_point3_t;
typedef std::vector<point6_t, Eigen::aligned_allocator<point6_t> > t_point6_t;
typedef std::pair<real, point3_t> Waypoint;
typedef std::vector<Waypoint> T_Waypoint;
typedef std::pair<real, point6_t> Waypoint6;
typedef std::vector<Waypoint6> T_Waypoint6;
*/
template <typename PointList, typename T_Point>
T_Point vectorFromEigenArray(const PointList& array) {
T_Point res;
......
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