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- Log -----------------------------------------------------------------
commit 65953273cad3111b250d6b432cdeadf60dce396b
Author: Thomas Moulard <thomas.moul...@gmail.com>
Date: Thu Mar 4 15:59:15 2010 +0100
Debug CubicBSpline start/end points freezing.
* include/roboptim/trajectory/cubic-b-spline.hxx: Debug.
* tests/spline-time-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <thomas.moul...@gmail.com>
diff --git a/ChangeLog b/ChangeLog
index ad163c0..094959a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2010-03-04 Thomas Moulard <thomas.moul...@gmail.com>
+ Debug CubicBSpline start/end points freezing.
+ * include/roboptim/trajectory/cubic-b-spline.hxx: Debug.
+ * tests/spline-time-optimization.stdout: Regenerate.
+
+2010-03-04 Thomas Moulard <thomas.moul...@gmail.com>
+
Fix start/end freezing constriant for CubicBSpline.
* include/roboptim/trajectory/cubic-b-spline.hh,
* include/roboptim/trajectory/cubic-b-spline.hxx: Fix constraint
diff --git a/include/roboptim/trajectory/cubic-b-spline.hxx
b/include/roboptim/trajectory/cubic-b-spline.hxx
index 0f0f974..1bddcce 100644
--- a/include/roboptim/trajectory/cubic-b-spline.hxx
+++ b/include/roboptim/trajectory/cubic-b-spline.hxx
@@ -63,9 +63,9 @@ namespace roboptim
A.clear ();
b.clear ();
- A (0, paramSize - 1 - i - 0. * outputSize ()) = 1. / 6.;
- A (0, paramSize - 1 - i - 1. * outputSize ()) = 2. / 3.;
- A (0, paramSize - 1 - i - 2. * outputSize ()) = 1. / 6.;
+ A (0, offset + paramSize - 1 - i - 0. * outputSize ()) = 1. / 6.;
+ A (0, offset + paramSize - 1 - i - 1. * outputSize ()) = 2. / 3.;
+ A (0, offset + paramSize - 1 - i - 2. * outputSize ()) = 1. / 6.;
b (0) = -parameters ()[paramSize - 1 - i];
NumericLinearFunction* boundaryCond = new NumericLinearFunction (A, b);
shared_ptr<LinearFunction> boundaryCondShPtr (boundaryCond);
diff --git a/tests/spline-time-optimization.stdout
b/tests/spline-time-optimization.stdout
index b921506..a697f59 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -16,11 +16,11 @@ Solver:
Constraint 1
Numeric linear function
- A =
[1,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17,0.00))
+ A =
[1,16]((0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.67,0.17))
B = [1](-200.00)
Bounds: (0.00, 0.00)
Scales: 1.00
- Initial value: [1](-3.33) (constraint not satisfied)
+ Initial value: [1](-0.00) (constraint not satisfied)
Constraint 2
speed limit (0.00662252) (derivable function)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
include/roboptim/trajectory/cubic-b-spline.hxx | 6 +++---
tests/spline-time-optimization.stdout | 4 ++--
3 files changed, 11 insertions(+), 5 deletions(-)
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