Commit 0a87d54b by Steve Tonneau

### renaming constrained splines

parent c1bb699c
 ... ... @@ -29,17 +29,17 @@ namespace spline { /// \class cubic_zero_vel. /// \class spline_deriv_constraint. /// \brief Represents a set of cubic splines defining a continuous function /// crossing each of the waypoint given in its initialization. Additional constraints /// are used to increase the order of the last and first splines, to start and finish /// trajectory with zero velocity and acceleration. Thus the first and last splines /// are used to increase the order of the last spline, to start and finish /// trajectory with user defined velocity and acceleration. /// /// template, typename T_Point =std::vector > > struct cubic_zero_vel : public exact_cubic struct spline_deriv_constraint : public exact_cubic { typedef Point point_t; typedef T_Point t_point_t; ... ... @@ -57,20 +57,13 @@ struct cubic_zero_vel : public exact_cubic cubic_zero_vel(In wayPointsBegin, In wayPointsEnd, const spline_constraints& constraints = spline_constraints()) spline_deriv_constraint(In wayPointsBegin, In wayPointsEnd, const spline_constraints& constraints = spline_constraints()) : exact_cubic_t(computeWayPoints(wayPointsBegin, wayPointsEnd, constraints)) {} ///\brief Destructor ~cubic_zero_vel(){} ~spline_deriv_constraint(){} private: template ... ... @@ -135,11 +128,9 @@ struct cubic_zero_vel : public exact_cubic
 #include "spline/exact_cubic.h" #include "spline/exact_cubic_vel_acc_cons.h" #include "spline/bezier_curve.h" #include "spline/spline_curve.h" #include "spline/spline_deriv_constraint.h" #include #include ... ... @@ -16,9 +16,9 @@ typedef Eigen::Vector3d point_t; typedef std::vector > t_point_t; typedef spline_curve cubic_function_t; typedef exact_cubic exact_cubic_t; typedef cubic_zero_vel cubic_zero_vel_t; typedef spline_deriv_constraint spline_deriv_constraint_t; typedef bezier_curve bezier_curve_t; typedef cubic_zero_vel_t::spline_constraints spline_constraints_t; typedef spline_deriv_constraint_t::spline_constraints spline_constraints_t; typedef std::pair Waypoint; typedef std::vector T_Waypoint; ... ... @@ -352,7 +352,7 @@ void ExactCubicVelocityConstraintsTest(bool& error) } std::string errmsg("Error in ExactCubicVelocityConstraintsTest (1); while checking that given wayPoints are crossed (expected / obtained)"); spline_constraints_t constraints; cubic_zero_vel_t exactCubic(waypoints.begin(), waypoints.end()); spline_deriv_constraint_t exactCubic(waypoints.begin(), waypoints.end()); // now check that init and end velocity are 0 CheckWayPointConstraint(errmsg, 0.2, waypoints, &exactCubic, error); std::string errmsg3("Error in ExactCubicVelocityConstraintsTest (2); while checking derivative (expected / obtained)"); ... ... @@ -367,7 +367,7 @@ void ExactCubicVelocityConstraintsTest(bool& error) constraints.end_acc = point_t(4,5,6); constraints.init_acc = point_t(-4,-4,-6); std::string errmsg2("Error in ExactCubicVelocityConstraintsTest (3); while checking that given wayPoints are crossed (expected / obtained)"); cubic_zero_vel_t exactCubic2(waypoints.begin(), waypoints.end(),constraints); spline_deriv_constraint_t exactCubic2(waypoints.begin(), waypoints.end(),constraints); CheckWayPointConstraint(errmsg2, 0.2, waypoints, &exactCubic2, error); std::string errmsg4("Error in ExactCubicVelocityConstraintsTest (4); while checking derivative (expected / obtained)"); ... ...
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