From 531c52178faa8843e9e2c89a084d98c8ce949cb8 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 16 Mar 2021 16:24:52 +0100
Subject: [PATCH] =?UTF-8?q?curves=20=E2=86=92=20ndcurves?=
MIME-Version: 1.0
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---
CMakeLists.txt | 4 +--
README.md | 4 +--
.../bezier-com-traj/common_solve_methods.hh | 2 +-
include/hpp/bezier-com-traj/data.hh | 2 +-
include/hpp/bezier-com-traj/definitions.hh | 8 +++---
include/hpp/bezier-com-traj/utils.hh | 15 +++++-----
python/test/binding_tests.py | 2 +-
src/CMakeLists.txt | 4 +--
src/common_solve_methods.cpp | 2 +-
src/computeCOMTraj.cpp | 8 +++---
src/solve_0_step.cpp | 10 +++----
src/utils.cpp | 6 ++--
tests/test-bezier-symbolic.cpp | 28 +++++++++----------
13 files changed, 48 insertions(+), 47 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4529abc..693d652 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,7 +34,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
# Project dependencies
ADD_PROJECT_DEPENDENCY(hpp-centroidal-dynamics REQUIRED)
-ADD_PROJECT_DEPENDENCY(curves REQUIRED)
+ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED)
IF(USE_GLPK)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/find-external/glpk")
@@ -85,7 +85,7 @@ endif(USE_GLPK)
ADD_LIBRARY(${PROJECT_NAME} SHARED
${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(${PROJECT_NAME} curves::curves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ndcurves::ndcurves hpp-centroidal-dynamics::hpp-centroidal-dynamics)
if(USE_GLPK)
TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${glpk_INCLUDE_DIR})
diff --git a/README.md b/README.md
index 92cb957..41bfa02 100644
--- a/README.md
+++ b/README.md
@@ -28,7 +28,7 @@ https://hal.archives-ouvertes.fr/hal-01726155v1
## Dependencies
* [centroidal-dynamics-lib](https://github.com/stonneau/centroidal-dynamics-lib) Centroidal dynamics computation library
-* [curves](https://github.com/loco-3d/curves) Bezier curves library
+* [ndcurves](https://github.com/loco-3d/ndcurves) Bezier curves library
* [glpk](https://www.gnu.org/software/glpk/) GNU Linear Programming Kit
## Additional dependencies for python bindings
@@ -77,7 +77,7 @@ to python.
For the zero step capturability, we will first define a contact phase using the objects from centroidal_dynamics:
```
#importing the libraries of interest
-import curves # noqa - necessary to register curves::bezier_curve
+import ndcurves # noqa - necessary to register ndcurves::bezier_curve
import numpy as np
from numpy import array
from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
diff --git a/include/hpp/bezier-com-traj/common_solve_methods.hh b/include/hpp/bezier-com-traj/common_solve_methods.hh
index 6f073e8..4719bae 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<curves::Bern<double> >& bernstein, int numSteps);
+ const std::vector<waypoint6_t>& wps, const std::vector<ndcurves::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 72f2caf..c32ccda 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 <curves/bezier_curve.h>
+#include <ndcurves/bezier_curve.h>
#include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
#include <Eigen/Dense>
diff --git a/include/hpp/bezier-com-traj/definitions.hh b/include/hpp/bezier-com-traj/definitions.hh
index 37a0bab..9f3c647 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 <curves/bezier_curve.h>
+#include <ndcurves/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 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 ndcurves::bezier_curve<double, double, true, point_t> bezier_t;
+typedef ndcurves::bezier_curve<double, double, true, waypoint_t> bezier_wp_t;
+typedef ndcurves::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 94ec423..879322d 100644
--- a/include/hpp/bezier-com-traj/utils.hh
+++ b/include/hpp/bezier-com-traj/utils.hh
@@ -34,15 +34,16 @@ struct waypoint_t {
static waypoint_t Zero(size_t dim) { return initwp(dim, dim); }
- size_t size() const{return second.size();}
+ size_t size() const { return second.size(); }
- bool isApprox(const waypoint_t& other, const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const{
- return first.isApprox(other.first,prec) && second.isApprox(other.second,prec);
+ bool isApprox(const waypoint_t& other,
+ const value_type prec = Eigen::NumTraits<value_type>::dummy_precision()) const {
+ return first.isApprox(other.first, prec) && second.isApprox(other.second, prec);
}
- bool operator==(const waypoint_t& other) const{ return isApprox(other); }
+ bool operator==(const waypoint_t& other) const { return isApprox(other); }
- bool operator!=(const waypoint_t& other) const{ return !(*this == other); }
+ bool operator!=(const waypoint_t& other) const { return !(*this == other); }
};
/**
@@ -50,7 +51,7 @@ struct waypoint_t {
* @param degree required degree
* @return the bernstein polynoms
*/
-BEZIER_COM_TRAJ_DLLAPI std::vector<curves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
+BEZIER_COM_TRAJ_DLLAPI std::vector<ndcurves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree);
/**
* @brief given the constraints of the problem, and a set of waypoints, return
@@ -141,7 +142,7 @@ Bezier bezier_com_traj::computeBezierCurve(const ConstraintFlag& flag, const dou
i++;
}
}
- return Bezier(wps.begin(), wps.end(), 0.,T);
+ return Bezier(wps.begin(), wps.end(), 0., T);
}
#endif
diff --git a/python/test/binding_tests.py b/python/test/binding_tests.py
index 44e29eb..f21667a 100644
--- a/python/test/binding_tests.py
+++ b/python/test/binding_tests.py
@@ -1,4 +1,4 @@
-import curves # noqa - necessary to register curves::bezier_curve
+import ndcurves # noqa - necessary to register ndcurves::bezier_curve
import numpy as np
from numpy import array
from hpp_centroidal_dynamics import Equilibrium, EquilibriumAlgorithm, SolverLP
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index bfb7bf5..a4ffd0e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -19,11 +19,11 @@ if (USE_GLPK)
endif(USE_GLPK)
ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES})
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ndcurves::ndcurves
+ hpp-centroidal-dynamics::hpp-centroidal-dynamics)
if (USE_GLPK)
TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${glpk_LIBRARY})
endif(USE_GLPK)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-centroidal-dynamics)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} curves)
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
diff --git a/src/common_solve_methods.cpp b/src/common_solve_methods.cpp
index 4ea7f7a..a74de59 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<curves::Bern<double> >& berns, int numSteps) {
+ const std::vector<ndcurves::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 08fed94..f8619e4 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<curves::Bern<double> > berns = ComputeBersteinPolynoms((int)wps.size() - 1);
+ std::vector<ndcurves::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(3,T);
+ res.dL_of_t_ = bezier_t::zero(3, T);
}
return res;
}
@@ -354,9 +354,9 @@ std::pair<MatrixXX, VectorX> computeConstraintsContinuous(const ProblemData& pDa
// create the curves for c and w with symbolic waypoints (ie. depend on y)
bezier_wp_t::t_point_t wps_c = computeConstantWaypointsSymbolic(pData, T);
bezier_wp_t::t_point_t wps_w = computeWwaypoints(pData, T);
- bezier_wp_t c(wps_c.begin(), wps_c.end(),0., T);
+ bezier_wp_t c(wps_c.begin(), wps_c.end(), 0., T);
bezier_wp_t ddc = c.compute_derivate(2);
- bezier_wp_t w(wps_w.begin(), wps_w.end(),0., T);
+ bezier_wp_t w(wps_w.begin(), wps_w.end(), 0., T);
// for each splitted curves : add the constraints for each waypoints
const long int num_ineq = computeNumIneqContinuous(pData, Ts, (int)c.degree_, (int)w.degree_, useDD);
diff --git a/src/solve_0_step.cpp b/src/solve_0_step.cpp
index 77a4322..309477f 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<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ std::vector<ndcurves::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<curves::Bern<double> > berns = ComputeBersteinPolynoms(4);
+ std::vector<ndcurves::Bern<double> > berns = ComputeBersteinPolynoms(4);
wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
}
return wps;
@@ -196,7 +196,7 @@ void computeC_of_T(const ProblemData& pData, const std::vector<double>& Ts, Resu
wps.push_back(pData.dc0_ * Ts[0] / 3 + pData.c0_);
wps.push_back(res.x.head(3));
wps.push_back(res.x.head(3));
- res.c_of_t_ = bezier_t(wps.begin(), wps.end(),0., Ts[0]);
+ res.c_of_t_ = bezier_t(wps.begin(), wps.end(), 0., Ts[0]);
}
void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, ResultDataCOMTraj& res) {
@@ -205,9 +205,9 @@ void computedL_of_T(const ProblemData& pData, const std::vector<double>& Ts, Res
wps.push_back(3 * (res.x.tail(3) - pData.l0_));
wps.push_back(3 * (-res.x.tail(3)));
wps.push_back(Vector3::Zero());
- res.dL_of_t_ = bezier_t(wps.begin(), wps.end(),0.,Ts[0], 1. / Ts[0]);
+ res.dL_of_t_ = bezier_t(wps.begin(), wps.end(), 0., Ts[0], 1. / Ts[0]);
} else
- res.dL_of_t_ = bezier_t::zero(3,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 2034708..ea84d2a 100644
--- a/src/utils.cpp
+++ b/src/utils.cpp
@@ -64,9 +64,9 @@ Matrix3 skew(point_t_tC x) {
return res;
}
-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));
+std::vector<ndcurves::Bern<double> > ComputeBersteinPolynoms(const unsigned int degree) {
+ std::vector<ndcurves::Bern<double> > res;
+ for (unsigned int i = 0; i <= (unsigned int)degree; ++i) res.push_back(ndcurves::Bern<double>(degree, i));
return res;
}
diff --git a/tests/test-bezier-symbolic.cpp b/tests/test-bezier-symbolic.cpp
index fe1c487..3154d05 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 <curves/bezier_curve.h>
+#include <ndcurves/bezier_curve.h>
using namespace bezier_com_traj;
const double T = 1.5;
@@ -70,8 +70,8 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_c) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(),0., T);
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_t c(pts.begin(), pts.end(), 0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
double t = 0.;
while (t < T) {
@@ -86,9 +86,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_dc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(),0., T);
+ bezier_t c(pts.begin(), pts.end(), 0., T);
bezier_t dc = c.compute_derivate(1);
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
bezier_wp_t dc_sym = c_sym.compute_derivate(1);
double t = 0.;
@@ -104,9 +104,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_ddc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(),0., T);
+ bezier_t c(pts.begin(), pts.end(), 0., T);
bezier_t ddc = c.compute_derivate(2);
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
bezier_wp_t ddc_sym = c_sym.compute_derivate(2);
double t = 0.;
@@ -122,9 +122,9 @@ BOOST_AUTO_TEST_CASE(symbolic_eval_jc) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(),0., T);
+ bezier_t c(pts.begin(), pts.end(), 0., T);
bezier_t jc = c.compute_derivate(3);
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
bezier_wp_t jc_sym = c_sym.compute_derivate(3);
double t = 0.;
@@ -140,8 +140,8 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_t c(pts.begin(), pts.end(),0., T);
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_t c(pts.begin(), pts.end(), 0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
double a, b, t, t1, t2;
for (size_t i = 0; i < 100; ++i) {
@@ -169,7 +169,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_c_bench) {
point_t y(1, 0.2, 4.5);
pts[2] = y;
- bezier_wp_t c_sym(wps.begin(), wps.end(),0., T);
+ bezier_wp_t c_sym(wps.begin(), wps.end(), 0., T);
std::vector<double> values;
for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
@@ -190,7 +190,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w) {
bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
point_t y(1, 0.2, 4.5);
- bezier_wp_t w(wps.begin(), wps.end(),0., T);
+ bezier_wp_t w(wps.begin(), wps.end(), 0., T);
double a, b, t, t1, t2;
for (size_t i = 0; i < 100; ++i) {
@@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE(symbolic_split_w_bench) {
bezier_wp_t::t_point_t wps = computeWwaypoints(buildPData(), T);
point_t y(1, 0.2, 4.5);
- bezier_wp_t w(wps.begin(), wps.end(),0., T);
+ bezier_wp_t w(wps.begin(), wps.end(), 0., T);
std::vector<double> values;
for (int i = 0; i < 100000; ++i) values.push_back((double)rand() / RAND_MAX);
--
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