compute_derivate now return an object and not a pointer, but do not inherit from curve_abc

include/curves/bezier_curve.h

@@ -144,10 +144,10 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
   ///  Computes the derivative order N, \f$\frac{d^Nx(t)}{dt^N}\f$ of bezier curve of parametric equation x(t).
   ///  \param order : order of derivative.
   ///  \return \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the curve.
-  bezier_curve_t* compute_derivate(const std::size_t order) const {
+  bezier_curve_t compute_derivate(const std::size_t order) const {
     check_conditions();
     if (order == 0) {
-      return new bezier_curve_t(*this);
+      return *this;
     }
     t_point_t derived_wp;
     for (typename t_point_t::const_iterator pit = control_points_.begin(); pit != control_points_.end() - 1; ++pit) {
@@ -193,10 +193,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
   ///  \return \f$\frac{d^Nx(t)}{dt^N}\f$ point corresponding on derived curve of order N at time t.
   ///
   virtual point_t derivate(const time_t t, const std::size_t order) const {
-    bezier_curve_t* deriv = compute_derivate(order);
-    point_t res((*deriv)(t));
-    delete deriv;
-    return res;
+    return compute_derivate(order)(t);
   }
 
   /// \brief Evaluate all Bernstein polynomes for a certain degree.

include/curves/cubic_hermite_spline.h

@@ -113,7 +113,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
     return evalCubicHermiteSpline(t, order);
   }
 
-  cubic_hermite_spline_t* compute_derivate(const std::size_t /*order*/) const {
+  cubic_hermite_spline_t compute_derivate(const std::size_t /*order*/) const {
     throw std::logic_error("Compute derivate for cubic hermite spline is not implemented yet.");
   }
 

include/curves/optimization/integral_cost.h

@@ -32,10 +32,9 @@ quadratic_variable<Numeric> compute_integral_cost_internal(const problem_data<Po
   typedef bezier_curve<Numeric, Numeric, true, linear_variable<Numeric> > bezier_t;
   typedef typename bezier_t::t_point_t t_point_t;
   typedef typename t_point_t::const_iterator cit_point_t;
-  bezier_t* acc = pData.bezier->compute_derivate(num_derivate);
-  const t_point_t& wps = acc->waypoints();
+  bezier_t acc = pData.bezier->compute_derivate(num_derivate);
+  const t_point_t& wps = acc.waypoints();
   quadratic_variable<Numeric> res(bezier_product<Point, Numeric, cit_point_t>(wps.begin(), wps.end(), wps.begin(), wps.end(), pData.dim_));
-  delete acc;
   return res;
 }
 

include/curves/polynomial.h

@@ -273,10 +273,10 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
     return currentPoint_;
   }
 
-  polynomial_t* compute_derivate(const std::size_t order) const {
+  polynomial_t compute_derivate(const std::size_t order) const {
     check_if_not_empty();
     if (order == 0) {
-      return new polynomial_t(*this);
+      return *this;
     }
     coeff_t coeff_derivated = deriv_coeff(coefficients_);
     polynomial_t deriv(coeff_derivated, T_min_, T_max_);

include/curves/se3_curve.h

@@ -164,7 +164,7 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
     return res;
   }
 
-  SE3Curve_t* compute_derivate(const std::size_t /*order*/) const {
+  SE3Curve_t compute_derivate(const std::size_t /*order*/) const {
     throw std::logic_error("Compute derivate for SE3 is not implemented yet.");
   }
 

include/curves/so3_linear.h

@@ -125,7 +125,7 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric,
     }
   }
 
-  SO3Linear_t* compute_derivate(const std::size_t /*order*/) const {
+  SO3Linear_t compute_derivate(const std::size_t /*order*/) const {
     throw std::logic_error("Compute derivate for SO3Linear is not implemented yet.");
   }