Commit ce872cf6 authored by Wolfgang Merkt's avatar Wolfgang Merkt
Browse files

Address review comments

parent e977fc88
...@@ -174,7 +174,7 @@ problem_data<Point, Numeric, Safe> setup_control_points(const problem_definition ...@@ -174,7 +174,7 @@ problem_data<Point, Numeric, Safe> setup_control_points(const problem_definition
// add remaining variables (only if no end_pos constraints) // add remaining variables (only if no end_pos constraints)
for (; i < numControlPoints; ++i) variables_.push_back(var_t::Zero(pDef.dim_)); for (; i < numControlPoints; ++i) variables_.push_back(var_t::Zero(pDef.dim_));
if (numControlPoints < numConstants) { if (numControlPoints <= numConstants) {
throw std::runtime_error("numControlPoints < numConstants"); throw std::runtime_error("numControlPoints < numConstants");
} }
if (numControlPoints != variables_.size()) { if (numControlPoints != variables_.size()) {
...@@ -281,7 +281,7 @@ quadratic_variable<Numeric> bezier_product(In PointsBegin1, In PointsEnd1, In Po ...@@ -281,7 +281,7 @@ quadratic_variable<Numeric> bezier_product(In PointsBegin1, In PointsEnd1, In Po
typedef Eigen::Matrix<Numeric, Eigen::Dynamic, 1> vector_x_t; typedef Eigen::Matrix<Numeric, Eigen::Dynamic, 1> vector_x_t;
unsigned int nPoints1 = (unsigned int)(std::distance(PointsBegin1, PointsEnd1)), unsigned int nPoints1 = (unsigned int)(std::distance(PointsBegin1, PointsEnd1)),
nPoints2 = (unsigned int)(std::distance(PointsBegin2, PointsEnd2)); nPoints2 = (unsigned int)(std::distance(PointsBegin2, PointsEnd2));
if (nPoints1 < 0 || nPoints2 < 0) { if (nPoints1 <= 0 || nPoints2 <= 0) {
throw std::runtime_error("This should never happen because an unsigned int cannot go negative without underflowing."); throw std::runtime_error("This should never happen because an unsigned int cannot go negative without underflowing.");
} }
unsigned int deg1 = nPoints1 - 1, deg2 = nPoints2 - 1; unsigned int deg1 = nPoints1 - 1, deg2 = nPoints2 - 1;
......
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