From 0051a8f2ff8de4908fe12353ca8ec8fe54ccaffc Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 15 Jan 2020 16:03:56 +0100
Subject: [PATCH] [C++] refactor hpp-spline -> curves
---
include/hpp/bezier-com-traj/common_solve_methods.hh | 2 +-
include/hpp/bezier-com-traj/data.hh | 6 +++---
include/hpp/bezier-com-traj/definitions.hh | 8 ++++----
include/hpp/bezier-com-traj/utils.hh | 2 +-
src/common_solve_methods.cpp | 2 +-
src/computeCOMTraj.cpp | 4 ++--
src/solve_0_step.cpp | 6 +++---
src/utils.cpp | 6 +++---
tests/test-bezier-symbolic.cpp | 2 +-
9 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/include/hpp/bezier-com-traj/common_solve_methods.hh b/include/hpp/bezier-com-traj/common_solve_methods.hh
index 7d6bf24..6f073e8 100644
--- a/include/hpp/bezier-com-traj/common_solve_methods.hh
+++ b/include/hpp/bezier-com-traj/common_solve_methods.hh
@@ -24,7 +24,7 @@ namespace bezier_com_traj {
* @return a vector of waypoint representing the discretization of the curve
*/
BEZIER_COM_TRAJ_DLLAPI std::vector<waypoint6_t> ComputeDiscretizedWaypoints(
- const std::vector<waypoint6_t>& wps, const std::vector<spline::Bern<double> >& bernstein, int numSteps);
+ const std::vector<waypoint6_t>& wps, const std::vector<curves::Bern<double> >& bernstein, int numSteps);
/**
* @brief compute6dControlPointInequalities Given linear and angular control waypoints,
diff --git a/include/hpp/bezier-com-traj/data.hh b/include/hpp/bezier-com-traj/data.hh
index 12b1363..72f2caf 100644
--- a/include/hpp/bezier-com-traj/data.hh
+++ b/include/hpp/bezier-com-traj/data.hh
@@ -11,7 +11,7 @@
#include <hpp/bezier-com-traj/definitions.hh>
#include <hpp/bezier-com-traj/utils.hh>
#include <hpp/bezier-com-traj/solver/solver-abstract.hpp>
-#include <hpp/spline/bezier_curve.h>
+#include <curves/bezier_curve.h>
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include <Eigen/Dense>
@@ -117,8 +117,8 @@ typedef solvers::ResultData ResultData;
struct BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj : public ResultData {
ResultDataCOMTraj()
: ResultData(),
- c_of_t_(bezier_t::zero()),
- dL_of_t_(bezier_t::zero()),
+ c_of_t_(bezier_t::zero(3)),
+ dL_of_t_(bezier_t::zero(3)),
dc1_(point_t::Zero()),
ddc1_(point_t::Zero()) {}
~ResultDataCOMTraj() {}
diff --git a/include/hpp/bezier-com-traj/definitions.hh b/include/hpp/bezier-com-traj/definitions.hh
index 4d68b1d..37a0bab 100644
--- a/include/hpp/bezier-com-traj/definitions.hh
+++ b/include/hpp/bezier-com-traj/definitions.hh
@@ -7,7 +7,7 @@
#define BEZIER_COM_TRAJ_DEFINITIONS_H
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
-#include <hpp/spline/bezier_curve.h>
+#include <curves/bezier_curve.h>
#include <Eigen/Dense>
namespace bezier_com_traj {
@@ -51,9 +51,9 @@ typedef std::pair<matrix3_t, point3_t> waypoint3_t;
typedef std::pair<Matrix39, point3_t> waypoint9_t;
struct waypoint_t; // forward declaration
-typedef spline::bezier_curve<double, double, 3, true, point_t> bezier_t;
-typedef spline::bezier_curve<double, double, 3, true, waypoint_t> bezier_wp_t;
-typedef spline::bezier_curve<double, double, 6, true, point6_t> bezier6_t;
+typedef curves::bezier_curve<double, double, true, point_t> bezier_t;
+typedef curves::bezier_curve<double, double, true, waypoint_t> bezier_wp_t;
+typedef curves::bezier_curve<double, double, true, point6_t> bezier6_t;
typedef std::vector<std::pair<double, int> > T_time;
typedef T_time::const_iterator CIT_time;
diff --git a/include/hpp/bezier-com-traj/utils.hh b/include/hpp/bezier-com-traj/utils.hh
index aaf39f4..9c20d04 100644
--- a/include/hpp/bezier-com-traj/utils.hh
+++ b/include/hpp/bezier-com-traj/utils.hh
@@ -50,7 +50,7 @@ struct waypoint_t {
* @param degree required degree
* @return the bernstein polynoms
*/
-BEZIER_COM_TRAJ_DLLAPI std::vector<spline::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
+BEZIER_COM_TRAJ_DLLAPI std::vector<curves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
/**
* @brief given the constraints of the problem, and a set of waypoints, return
diff --git a/src/common_solve_methods.cpp b/src/common_solve_methods.cpp
index 27e54c8..4ea7f7a 100644
--- a/src/common_solve_methods.cpp
+++ b/src/common_solve_methods.cpp
@@ -6,7 +6,7 @@
namespace bezier_com_traj {
std::vector<waypoint6_t> ComputeDiscretizedWaypoints(const std::vector<waypoint6_t>& wps,
- const std::vector<spline::Bern<double> >& berns, int numSteps) {
+ const std::vector<curves::Bern<double> >& berns, int numSteps) {
double dt = 1. / double(numSteps);
std::vector<waypoint6_t> res;
for (int i = 0; i < numSteps + 1; ++i) {
diff --git a/src/computeCOMTraj.cpp b/src/computeCOMTraj.cpp
index 1a0da0d..da5036f 100644
--- a/src/computeCOMTraj.cpp
+++ b/src/computeCOMTraj.cpp
@@ -25,7 +25,7 @@ bezier_wp_t::t_point_t computeDiscretizedWwaypoints(const ProblemData& pData, do
bezier_wp_t::t_point_t wps = computeWwaypoints(pData, T);
bezier_wp_t::t_point_t res;
const int DIM_VAR = (int)dimVar(pData);
- std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms((int)wps.size() - 1);
+ std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms((int)wps.size() - 1);
double t, b;
for (CIT_time cit = timeArray.begin(); cit != timeArray.end(); ++cit) {
waypoint_t w = initwp(6, DIM_VAR);
@@ -277,7 +277,7 @@ ResultDataCOMTraj genTraj(ResultData resQp, const ProblemData& pData, const doub
res.c_of_t_ = computeBezierCurve<bezier_t, point_t>(pData.constraints_.flag_, T, pis, res.x);
computeFinalVelocity(res);
computeFinalAcceleration(res);
- res.dL_of_t_ = bezier_t::zero(T);
+ res.dL_of_t_ = bezier_t::zero(3,T);
}
return res;
}
diff --git a/src/solve_0_step.cpp b/src/solve_0_step.cpp
index c4afa0f..423667e 100644
--- a/src/solve_0_step.cpp
+++ b/src/solve_0_step.cpp
@@ -121,7 +121,7 @@ std::vector<waypoint6_t> ComputeAllWaypoints(point_t_tC p0, point_t_tC dc0, poin
wps.push_back(w3(p0, p1, g, p0X, p1X, gX, alpha));
wps.push_back(w4(p0, p1, g, p0X, p1X, gX, alpha));
if (numSteps > 0) {
- std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
}
return wps;
@@ -137,7 +137,7 @@ std::vector<waypoint6_t> ComputeAllWaypointsAngularMomentum(point_t_tC l0, const
wps.push_back(u3(l0, alpha));
wps.push_back(u4(l0, alpha));
if (numSteps > 0) {
- std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ std::vector<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
}
return wps;
@@ -207,7 +207,7 @@ void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, Res
wps.push_back(Vector3::Zero());
res.dL_of_t_ = bezier_t(wps.begin(), wps.end(), Ts[0], 1. / Ts[0]);
} else
- res.dL_of_t_ = bezier_t::zero(Ts[0]);
+ res.dL_of_t_ = bezier_t::zero(3,Ts[0]);
}
// no angular momentum for now
diff --git a/src/utils.cpp b/src/utils.cpp
index 75f4e66..ce7abfe 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -64,9 +64,9 @@ Matrix3 skew(point_t_tC x) {
return res;
}
-std::vector<spline::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree) {
- std::vector<spline::Bern<double> > res;
- for (unsigned int i = 0; i <= (unsigned int)degree; ++i) res.push_back(spline::Bern<double>(degree, i));
+std::vector<curves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree) {
+ std::vector<curves::Bern<double> > res;
+ for (unsigned int i = 0; i <= (unsigned int)degree; ++i) res.push_back(curves::Bern<double>(degree, i));
return res;
}
diff --git a/tests/test-bezier-symbolic.cpp b/tests/test-bezier-symbolic.cpp
index d06373f..88beaa9 100644
--- a/tests/test-bezier-symbolic.cpp
+++ b/tests/test-bezier-symbolic.cpp
@@ -23,7 +23,7 @@
#include <hpp/bezier-com-traj/data.hh>
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include "test_helper.hh"
-#include <hpp/spline/bezier_curve.h>
+#include <curves/bezier_curve.h>
using namespace bezier_com_traj;
const double T = 1.5;
--
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