From f868dc371c0583c0acd2f3b1751c9ad6c201a63f Mon Sep 17 00:00:00 2001
From: Steve T <stonneau@hotmail.fr>
Date: Fri, 8 Feb 2019 00:38:04 +0100
Subject: [PATCH] removed switch in operator()
---
include/hpp/spline/bezier_curve.h | 33 +++----------------------------
1 file changed, 3 insertions(+), 30 deletions(-)
diff --git a/include/hpp/spline/bezier_curve.h b/include/hpp/spline/bezier_curve.h
index 40e149f..17f5483 100644
--- a/include/hpp/spline/bezier_curve.h
+++ b/include/hpp/spline/bezier_curve.h
@@ -139,37 +139,10 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/// \param t : the time when to evaluate the spine
/// \param return : the value x(t)
virtual point_t operator()(const time_t t) const
- {
- num_t nT = t / T_;
- if(Safe &! (0 <= t && t <= T_))
- {
- throw std::out_of_range("can't evaluate bezier curve, out of range"); // TODO
- }
- else
{
- num_t dt = (1 - nT);
- switch(size_)
- {
- case 1 :
- return mult_T_ * pts_[0];
- case 2 :
- return mult_T_ * (pts_[0] * dt + nT * pts_[1]);
- break;
- case 3 :
- return mult_T_ * (pts_[0] * dt * dt
- + 2 * pts_[1] * nT * dt
- + pts_[2] * nT * nT);
- break;
- case 4 :
- return mult_T_ * (pts_[0] * dt * dt * dt
- + 3 * pts_[1] * nT * dt * dt
- + 3 * pts_[2] * nT * nT * dt
- + pts_[3] * nT * nT *nT);
- default :
- return evalHorner(t);
- break;
- }
- }
+ if(Safe &! (0 <= t && t <= T_))
+ throw std::out_of_range("can't evaluate bezier curve, out of range"); // TODO
+ return evalHorner(t);
}
/// \brief Computes the derivative curve at order N.
--
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