HKUST-Aerial-Robotics/EPSILON

About formula in spline_generator

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I noticed that Line 443 in spline_generator.cc writes "Q = 2 * (Q + P);"

I wonder why this is the case? I think it's fine to multiply Q by 2 but we also need to multiply c by 2 as well, otherwise the objective function is not as expected.

Could you please take a look and explain to me? Thanks!