From f8bd60de7e8ec24f6cf9d4ef70dfc7581dfbad96 Mon Sep 17 00:00:00 2001
From: pFernbach <pierre.fernbach@gmail.com>
Date: Wed, 15 Jan 2020 16:04:33 +0100
Subject: [PATCH] [C++] update to change in Bezier constructor : require T_min
before T_max
---
include/hpp/bezier-com-traj/utils.hh | 2 +-
src/computeCOMTraj.cpp | 4 ++--
src/solve_0_step.cpp | 4 ++--
tests/test-bezier-symbolic.cpp | 26 +++++++++++++-------------
4 files changed, 18 insertions(+), 18 deletions(-)
diff --git a/include/hpp/bezier-com-traj/utils.hh b/include/hpp/bezier-com-traj/utils.hh
index 9c20d04..94ec423 100644
--- a/include/hpp/bezier-com-traj/utils.hh
+++ b/include/hpp/bezier-com-traj/utils.hh
@@ -141,7 +141,7 @@ Bezier bezier_com_traj::computeBezierCurve(const ConstraintFlag& flag, const dou
i++;
}
}
- return Bezier(wps.begin(), wps.end(), T);
+ return Bezier(wps.begin(), wps.end(), 0.,T);
}
#endif
diff --git a/src/computeCOMTraj.cpp b/src/computeCOMTraj.cpp
index da5036f..08fed94 100644
--- a/src/computeCOMTraj.cpp
+++ b/src/computeCOMTraj.cpp
@@ -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(), 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(), 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 423667e..77a4322 100644
--- a/src/solve_0_step.cpp
+++ b/src/solve_0_step.cpp
@@ -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(), 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) {
@@ -205,7 +205,7 @@ 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(), 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]);
}
diff --git a/tests/test-bezier-symbolic.cpp b/tests/test-bezier-symbolic.cpp
index 88beaa9..94c3d87 100644
--- a/tests/test-bezier-symbolic.cpp
+++ b/tests/test-bezier-symbolic.cpp
@@ -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(), T);
- bezier_wp_t c_sym(wps.begin(), wps.end(), 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(), 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(), 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(), 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(), 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(), 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(), 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(), T);
- bezier_wp_t c_sym(wps.begin(), wps.end(), 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(), 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(), 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(), 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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