added description for the parameter count increase
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@ -131,7 +131,8 @@ PiecewiseFittedCurve<Dimension, NumberType, Kernel> fit_curve(
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for (size_t index = 0; index < observations.size(); ++index) {
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data_points.col(index) = observations[index] * sqrt_weights[index];
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}
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// parameters count is always increased by one to make the parametric space of the curve symmetric.
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// without this fix, the end of the curve is less flexible than the beginning
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size_t parameters_count = segments_count + 1 + 2 * endpoints_level_of_freedom;
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//Create weight matrix T for each point and each segment;
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Eigen::MatrixXf T(observation_points.size(), parameters_count);
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