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Jason Chemin
curves
Commits
3b8434c8
Commit
3b8434c8
authored
Nov 24, 2016
by
Steve Tonneau
Browse files
dim is now positive, added headers to test cmakelists
parent
c859bea8
Changes
6
Hide whitespace changes
Inline
Side-by-side
include/spline/bezier_curve.h
View file @
3b8434c8
...
...
@@ -21,7 +21,7 @@ namespace spline
/// \class BezierCurve
/// \brief Represents a curve
///
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
in
t
Dim
=
3
,
bool
Safe
=
false
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_
t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Dim
,
1
>
>
struct
bezier_curve
:
public
curve_abc
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>
{
...
...
include/spline/cubic_function.h
View file @
3b8434c8
...
...
@@ -27,7 +27,7 @@ namespace spline
/// [tBegin, tEnd]. It follows the equation
/// x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3
///
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
in
t
Dim
=
3
,
bool
Safe
=
false
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_
t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Dim
,
1
>
>
struct
cubic_function
:
public
curve_abc
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>
{
...
...
include/spline/curve_abc.h
View file @
3b8434c8
...
...
@@ -21,7 +21,7 @@ namespace spline
/// \struct curve_abc
/// \brief Represents a curve of dimension Dim
/// is Safe is false, no verification is made on the evaluation of the curve.
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
in
t
Dim
=
3
,
bool
Safe
=
false
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_
t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Dim
,
1
>
>
struct
curve_abc
:
std
::
unary_function
<
Time
,
Point
>
{
...
...
include/spline/exact_cubic.h
View file @
3b8434c8
...
...
@@ -34,7 +34,7 @@ namespace spline
/// \brief Represents a set of cubic splines defining a continuous function
/// crossing each of the waypoint given in its initialization
///
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
in
t
Dim
=
3
,
bool
Safe
=
false
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_
t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Dim
,
1
>
>
struct
exact_cubic
:
public
curve_abc
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>
{
...
...
include/spline/optimization/OptimizeSpline.h
View file @
3b8434c8
...
...
@@ -24,7 +24,7 @@ namespace spline
{
/// \class SplineOptimizer
/// \brief Mosek connection to produce optimized splines
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
in
t
Dim
=
3
,
bool
Safe
=
false
template
<
typename
Time
=
double
,
typename
Numeric
=
Time
,
std
::
size_
t
Dim
=
3
,
bool
Safe
=
false
,
typename
Point
=
Eigen
::
Matrix
<
Numeric
,
Dim
,
1
>
>
struct
SplineOptimizer
{
...
...
@@ -79,7 +79,7 @@ private:
typedef
std
::
vector
<
waypoint_t
>
T_waypoints_t
;
};
template
<
typename
Time
,
typename
Numeric
,
in
t
Dim
,
bool
Safe
,
typename
Point
>
template
<
typename
Time
,
typename
Numeric
,
std
::
size_
t
Dim
,
bool
Safe
,
typename
Point
>
template
<
typename
In
>
inline
void
SplineOptimizer
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>::
ComputeHMatrices
(
In
wayPointsBegin
,
In
wayPointsEnd
,
MatrixX
&
h1
,
MatrixX
&
h2
,
MatrixX
&
h3
,
MatrixX
&
h4
)
const
...
...
@@ -116,7 +116,7 @@ inline void SplineOptimizer<Time, Numeric, Dim, Safe, Point>::ComputeHMatrices(I
}
}
template
<
typename
Time
,
typename
Numeric
,
in
t
Dim
,
bool
Safe
,
typename
Point
>
template
<
typename
Time
,
typename
Numeric
,
std
::
size_
t
Dim
,
bool
Safe
,
typename
Point
>
template
<
typename
In
>
inline
exact_cubic
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>*
SplineOptimizer
<
Time
,
Numeric
,
Dim
,
Safe
,
Point
>::
GenerateOptimizedCurve
(
In
wayPointsBegin
,
In
wayPointsEnd
)
const
...
...
src/tests/spline_test/CMakeLists.txt
View file @
3b8434c8
...
...
@@ -2,7 +2,9 @@ cmake_minimum_required(VERSION 2.6)
include_directories
(
"
${
PROJECT_SOURCE_DIR
}
/include"
)
FILE
(
GLOB_RECURSE HeaderFiles
"
${
PROJECT_SOURCE_DIR
}
/include/spline/*.h"
)
add_executable
(
spline_tests Main.cpp
spline_tests
${
HeaderFiles
}
Main.cpp
)
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