bug fix on h(3) and h(4)

changliuliu / TemporalOptimization

Speed profile planning via temporal optimization

MIT License

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Closed HongyiSun closed 5 years ago

HongyiSun commented 5 years ago

fix h(3) and h(4) representation and their derivative with the missing term (t(i-1)+t(i-2))
small bug fix on dh(3,1) & dh(4,1) wrong derivative

changliuliu commented 5 years ago

fixed #2