[BUG FIX] evalXXX methods do not consider time

include/hpp/spline/bezier_curve.h

@@ -141,7 +141,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     virtual point_t operator()(const time_t t) const
 	{
         num_t nT = t /  T_;
-		if(Safe &! (0 <= nT && nT <= 1))
+                if(Safe &! (0 <= t && t <= T_))
 		{
             throw std::out_of_range("can't evaluate bezier curve, out of range"); // TODO
         }
@@ -166,7 +166,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
 						+ 3 * pts_[2] * nT * nT * dt 
                         + pts_[3] * nT * nT *nT);
                 default :
-                    return mult_T_ * evalHorner(nT);
+                    return evalHorner(t);
 				break;
 			}
 		}
@@ -227,20 +227,22 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     ///
     point_t evalBernstein(const Numeric u) const
     {
+        const Numeric t = u/T_;
         point_t res = point_t::Zero(Dim);
         typename t_point_t::const_iterator pts_it = pts_.begin();
         for(typename std::vector<Bern<Numeric> >::const_iterator cit = bernstein_.begin();
             cit !=bernstein_.end(); ++cit, ++pts_it)
-            res += cit->operator()(u) * (*pts_it);
-        return res;
+            res += cit->operator()(t) * (*pts_it);
+        return res*mult_T_;
     }
 
 
     ///
     /// \brief Evaluates all Bernstein polynomes for a certain degree using horner's scheme
     ///
-    point_t evalHorner(const Numeric t) const
+    point_t evalHorner(const Numeric v) const
     {
+        const Numeric t = v/T_;
         typename t_point_t::const_iterator pts_it = pts_.begin();
         Numeric u, bc, tn;
         u = 1.0 - t;
@@ -253,7 +255,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
             bc = bc*((num_t)(degree_-i+1))/i;
             tmp = (tmp + tn*bc*(*pts_it))*u;
         }
-        return (tmp + tn*t*(*pts_it));
+        return (tmp + tn*t*(*pts_it))*mult_T_;
     }
 
     const t_point_t& waypoints() const {return pts_;}

tests/Main.cpp

@@ -181,11 +181,14 @@ void BezierCurveTest(bool& error)
     ComparePoints(d, res1, errMsg + "3(1) ", error);
 
     //testing bernstein polynomes
+    bezier_curve_t cf5(params.begin(), params.end(),2.);
     std::string errMsg2("In test BezierCurveTest ; Bernstein polynoms do not evaluate as analytical evaluation");
-    for(double d = 0.; d <1.; d+=0.1)
+    for(double d = 0.; d <2.; d+=0.1)
     {
-        ComparePoints( cf3.evalBernstein(d) , cf3 (d), errMsg2, error);
-        ComparePoints( cf3.evalHorner(d) , cf3 (d), errMsg2, error);
+        ComparePoints( cf5.evalBernstein(d) , cf5 (d), errMsg2, error);
+        ComparePoints( cf5.evalHorner(d) , cf5 (d), errMsg2, error);
+        ComparePoints( cf5.compute_derivate(1).evalBernstein(d) , cf5.compute_derivate(1) (d), errMsg2, error);
+        ComparePoints( cf5.compute_derivate(1).evalHorner(d) , cf5.compute_derivate(1) (d), errMsg2, error);
     }
 
     bool error_in(true);