double DMPTrajectoryGenerator::evaluateBasisFunctionNonExponential(double x, int fun) {
int mypos = fun / sigmassize;
int sigmapos = fun % sigmassize;
double my = baseDef.at(mypos).getMy();
double sigma = baseDef.at(mypos).getSigmas().at(sigmapos);
double base = exp( -pow( x - my , 2 ) / (2 * pow(sigma, 2)) ) * x;
double normVal = computeNormalization(x);
return base / normVal;
}
void SHVector::staticInitialization() {
m_normalization = new Float[SH_NORMTBL_SIZE*(SH_NORMTBL_SIZE+1)/2];
for (int l=0; l<SH_NORMTBL_SIZE; ++l)
for (int m=0; m<=l; ++m)
m_normalization[l*(l+1)/2 + m] = computeNormalization(l, m);
}
