From b5c28ed054655beec121c357554530730ee724d4 Mon Sep 17 00:00:00 2001 From: John Flandy Date: Tue, 5 May 2026 15:14:39 +0200 Subject: [PATCH] fix(solver): Fix conversion from Hermite to power representation --- src/mighty/lbfgs_solver.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/mighty/lbfgs_solver.cpp b/src/mighty/lbfgs_solver.cpp index 2da57df..c8d131d 100644 --- a/src/mighty/lbfgs_solver.cpp +++ b/src/mighty/lbfgs_solver.cpp @@ -1629,9 +1629,9 @@ void SolverLBFGS::getPieceWisePol(PieceWiseQuinticPol& pwp) { double c0v = (axis == 0) ? C0.x() : (axis == 1) ? C0.y() : C0.z(); double c1v = (axis == 0) ? C1.x() : (axis == 1) ? C1.y() : C1.z(); double c2v = (axis == 0) ? C2.x() : (axis == 1) ? C2.y() : C2.z(); - double c = (10.0 * c0v - 4.0 * c1v + 0.5 * c2v) / T3; - double b = (-15.0 * c0v + 7.0 * c1v - c2v) / T4; - double a = (6.0 * c0v - 3.0 * c1v + 0.5 * c2v) / T5; + double c = (10.0 * c0v - 4.0 * c1v * T + 0.5 * c2v * T2) / T3; + double b = (-15.0 * c0v + 7.0 * c1v * T - c2v * T2) / T4; + double a = (6.0 * c0v - 3.0 * c1v * T + 0.5 * c2v * T2) / T5; Eigen::Matrix coeff; coeff << a, b, c, d, e, f; return coeff;