From ceafea3784f7ecc278bb696c59afda925f76ea37 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Wed, 14 Feb 2018 11:44:51 +0100
Subject: [PATCH] Expose computeBernstein() and add a parameter : degree of
polynome
---
include/bezier-com-traj/solve.hh | 1 +
src/solve.cpp | 10 +++++-----
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/include/bezier-com-traj/solve.hh b/include/bezier-com-traj/solve.hh
index c14b623..c11bc65 100644
--- a/include/bezier-com-traj/solve.hh
+++ b/include/bezier-com-traj/solve.hh
@@ -24,6 +24,7 @@ namespace bezier_com_traj
BEZIER_COM_TRAJ_DLLAPI ResultDataCOMTraj solve0step(const ProblemData& pData, const std::vector<double>& Ts, const double timeStep = -1);
+ std::vector<spline::Bern<double> > ComputeBersteinPolynoms(int degree);
/// Methods for transition test :
diff --git a/src/solve.cpp b/src/solve.cpp
index c8e3052..42d09f2 100644
--- a/src/solve.cpp
+++ b/src/solve.cpp
@@ -111,11 +111,11 @@ waypoint_t u4 (point_t_tC /*l0*/, const double /*alpha*/)
}
-std::vector<spline::Bern<double> > ComputeBersteinPolynoms()
+std::vector<spline::Bern<double> > ComputeBersteinPolynoms(int degree)
{
std::vector<spline::Bern<double> > res;
- for (unsigned int i =0; i <5; ++i)
- res.push_back(spline::Bern<double>(4,i));
+ for (unsigned int i =0; i <= degree; ++i)
+ res.push_back(spline::Bern<double>(degree,i));
return res;
}
@@ -141,7 +141,7 @@ std::vector<waypoint_t> ComputeAllWaypoints(point_t_tC p0, point_t_tC dc0, point
wps.push_back(w4(p0, p1, g, p0X, p1X, gX, alpha));
if (numSteps > 0)
{
- std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms();
+ std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms(4);
wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
}
return wps;
@@ -159,7 +159,7 @@ std::vector<waypoint_t> ComputeAllWaypointsAngularMomentum(point_t_tC l0, const
wps.push_back(u4(l0, alpha));
if (numSteps > 0)
{
- std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms();
+ std::vector<spline::Bern<double> > berns = ComputeBersteinPolynoms(4);
wps = ComputeDiscretizedWaypoints(wps, berns, numSteps);
}
return wps;
--
GitLab