[Dynamic dim - hermite] Remove dimension from template

include/curves/cubic_hermite_spline.h

@@ -30,7 +30,7 @@ namespace curves
   /// - crosses each of the waypoint given in its initialization (\f$P_0\f$, \f$P_1\f$,...,\f$P_N\f$).
   /// - has its derivatives on \f$P_i\f$ and \f$P_{i+1}\f$ are \f$p'(t_{P_i}) = m_i\f$ and \f$p'(t_{P_{i+1}}) = m_{i+1}\f$.
   ///
-  template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
+  template<typename Time= double, typename Numeric=Time, bool Safe=false,
            typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
   struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
   {

python/curves_python.cpp

@@ -36,7 +36,7 @@ typedef std::vector<pair_point3_tangent_t,Eigen::aligned_allocator<pair_point3_t
 typedef curves::bezier_curve  <real, real, 3, true, point3_t> bezier3_t;
 typedef curves::polynomial  <real, real, 3, true, point3_t, t_point3_t> polynomial3_t;
 typedef curves::exact_cubic  <real, real, 3, true, point3_t, t_point3_t> exact_cubic3_t;
-typedef curves::cubic_hermite_spline <real, real, 3, true, point3_t> cubic_hermite_spline3_t;
+typedef curves::cubic_hermite_spline <real, real, true, point3_t> cubic_hermite_spline3_t;
 typedef polynomial3_t::coeff_t coeff_t;
 typedef std::pair<real, point3_t> waypoint3_t;
 typedef std::vector<waypoint3_t, Eigen::aligned_allocator<point3_t> > t_waypoint3_t;

python/test/test.py

@@ -129,6 +129,22 @@ class TestCurves(unittest.TestCase):
         b.loadFromText("serialization_curve.test")
         self.assertTrue((a(0.4) == b(0.4)).all())
         os.remove("serialization_curve.test")
+        # test dim 4
+        points = matrix([[1., 2., 3., 4.], [4., 5., 6., 7.]]).transpose()
+        tangents = matrix([[1., 2., 3., 4.], [4., 5., 6., 7.]]).transpose()
+        time_points = matrix([0., 1.]).transpose()
+        a = cubic_hermite_spline3(points, tangents, time_points)
+        a.min()
+        a.max()
+        a(0.4)
+        self.assertTrue((a.derivate(0.4, 0) == a(0.4)).all())
+        a.derivate(0.4, 2)
+        # Test serialization
+        a.saveAsText("serialization_curve.test")
+        b = cubic_hermite_spline3()
+        b.loadFromText("serialization_curve.test")
+        self.assertTrue((a(0.4) == b(0.4)).all())
+        os.remove("serialization_curve.test")
         return
 
     def test_piecewise_polynomial_curve(self):

tests/Main.cpp

@@ -32,7 +32,7 @@ namespace curves
   typedef exact_cubic   <double, double, 1, true, point_one> exact_cubic_one;
   typedef std::pair<double, point_one> WaypointOne;
   typedef std::vector<WaypointOne> T_WaypointOne;
-  typedef cubic_hermite_spline <double, double, 3, true, point_t> cubic_hermite_spline_t;
+  typedef cubic_hermite_spline <double, double, true, point_t> cubic_hermite_spline_t;
   typedef std::pair<point_t, tangent_t> pair_point_tangent_t;
   typedef std::vector<pair_point_tangent_t,Eigen::aligned_allocator<pair_point_tangent_t> > t_pair_point_tangent_t;
   typedef piecewise_curve <double, double, 3, true, point_t, t_point_t, polynomial_t> piecewise_polynomial_curve_t;
@@ -1245,7 +1245,7 @@ void curveAbcDimDynamicTest(bool& error)
   typedef exact_cubic <double, double, 3, true> exact_cubic_test_t;
   typedef exact_cubic_test_t::spline_constraints spline_constraints_test_t;
   typedef bezier_curve  <double, double, 3, true> bezier_curve_test_t;
-  typedef cubic_hermite_spline <double, double, 3, true> cubic_hermite_spline_test_t;
+  typedef cubic_hermite_spline <double, double, true> cubic_hermite_spline_test_t;
   curve_abc_test_t * pt_curve_abc;
   // POLYNOMIAL
   point_t a(1,1,1);