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Fix dynamic allocation in trajectory.hpp #214

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Dec 8, 2024
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Fix dynamic allocation in trajectory.hpp #214

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4 changes: 2 additions & 2 deletions include/ruckig/trajectory.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,8 @@ class Trajectory {
#endif

//! Calculates the base values to then integrate from
using SetIntegrate = std::function<void(size_t, double, double, double, double, double)>;
void state_to_integrate_from(double time, size_t& new_section, const SetIntegrate& set_integrate) const {
template<typename Func>
void state_to_integrate_from(double time, size_t& new_section, Func&& set_integrate) const {
if (time >= duration) {
// Keep constant acceleration
new_section = profiles.size();
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