hermite spline should be implemented as a Bezier curve
Original issue : https://gepgitlab.laas.fr/loco-3d/multicontact-api/issues/11
Summary of the original discussion, please correct me if I'm wrong:
- Current class
cubic_hermite_spline
have a misleading name as it is actually an array of cubic hermite spline. - Internal maths of the
cubic_hermite_spline
(like the evaluation and the derivative) are similar to thebezier
formulation.
Proposition :
-
cubic_hermite_spline
should be reworked to inherit frombezier
and factorize as much as possible the code for evaluation/derivative. It should simply add a constructor taking a pair of points and theirs derivative and correctly build a bezier from this. - Current usage of
cubic_hermite_spline
in multicontact-API package should be replaced bypiecewise<cubic_hermite_spline>
(already implemented). - An helper should be added to build a
piecewise<cubic_hermite_spline>
from a list of points/derivatives and timing (already implemented forpiecewise<polynomial>
so it's easy to add it), as done is multicontact-api.