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Jason Chemin
curves
Commits
0d2098ef
Commit
0d2098ef
authored
Oct 23, 2017
by
Steve Tonneau
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exposed bernstein
parent
91ffe2ee
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python/spline_python.cpp
python/spline_python.cpp
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python/spline_python.cpp
View file @
0d2098ef
...
...
@@ -4,6 +4,7 @@
#include "spline/spline_deriv_constraint.h"
#include "spline/curve_constraint.h"
#include "spline/bezier_polynom_conversion.h"
#include "spline/bernstein.h"
#include <vector>
...
...
@@ -37,12 +38,15 @@ typedef polynom_t::coeff_t coeff_t;
typedef
std
::
pair
<
real
,
point_t
>
waypoint_t
;
typedef
std
::
vector
<
waypoint_t
,
Eigen
::
aligned_allocator
<
point_t
>
>
t_waypoint_t
;
typedef
spline
::
Bern
<
double
>
bernstein_t
;
typedef
spline
::
spline_deriv_constraint
<
real
,
real
,
3
,
true
,
point_t
,
t_point_t
>
spline_deriv_constraint_t
;
typedef
spline
::
curve_constraints
<
point_t
>
curve_constraints_t
;
typedef
spline
::
curve_constraints
<
point6_t
>
curve_constraints6_t
;
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
bernstein_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
bezier_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
bezier6_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
polynom_t
)
...
...
@@ -302,6 +306,13 @@ BOOST_PYTHON_MODULE(spline)
;
/** END spline_deriv_constraints**/
/** BEGIN bernstein polynom**/
class_
<
bernstein_t
>
(
"bernstein"
,
init
<
const
unsigned
int
,
const
unsigned
int
>
())
.
def
(
"__call__"
,
&
bernstein_t
::
operator
())
;
/** END bernstein polynom**/
/** BEGIN Bezier to polynom conversion**/
def
(
"from_bezier"
,
from_bezier
<
bezier_t
,
polynom_t
>
);
/** END Bezier to polynom conversion**/
...
...
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