38 #include <console_bridge/console.h>
56 if(coef.size()%2 == 1) {
61 coef_.push_back(coef[i]);
83 if(num_points <=2)
return(
false);
85 std::vector<double> xv;
88 for(
int i=0; i<num_states; i++){
96 double value = start_value - (
num_coef_/2)*start_slope;
103 for(
int j=1; j<num_points-1; j++){
114 end_value += end_slope;
120 sum += xv[k]*
coef_[k];