Commit 49a95d7f authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
Browse files

[Binding python] Delete references to point of dimension 6 / Edit name of...

[Binding python] Delete references to point of dimension 6 / Edit name of variable with point of dimension 3
parent 91c4e3a9
......@@ -23,10 +23,10 @@ using namespace curves;
typedef double real;
typedef Eigen::Vector3d point3_t;
typedef Eigen::Matrix<double, 3, 1, 0, 3, 1> ret_point3_t;
typedef Eigen::VectorXd point_t;
typedef std::pair<point3_t, point3_t> pair_point3_tangent_t;
typedef Eigen::VectorXd time_waypoints_t;
typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point3_list_t;
typedef std::vector<point3_t,Eigen::aligned_allocator<point3_t> > t_point3_t;
typedef std::pair<real, point3_t> Waypoint;
typedef std::vector<Waypoint> T_Waypoint;
......@@ -82,28 +82,28 @@ namespace curves
/* End Template constructor bezier */
/*3D constructors bezier */
bezier3_t* wrapBezierConstructor3(const point_list_t& array)
bezier3_t* wrapBezierConstructor3(const point3_list_t& array)
{
return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point3_t>(array) ;
return wrapBezierConstructorTemplate<bezier3_t, point3_list_t, t_point3_t>(array) ;
}
bezier3_t* wrapBezierConstructorBounds3(const point_list_t& array, const real T_min, const real T_max)
bezier3_t* wrapBezierConstructorBounds3(const point3_list_t& array, const real T_min, const real T_max)
{
return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point3_t>(array, T_min, T_max) ;
return wrapBezierConstructorTemplate<bezier3_t, point3_list_t, t_point3_t>(array, T_min, T_max) ;
}
bezier3_t* wrapBezierConstructor3Constraints(const point_list_t& array, const curve_constraints3_t& constraints)
bezier3_t* wrapBezierConstructor3Constraints(const point3_list_t& array, const curve_constraints3_t& constraints)
{
return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point3_t, curve_constraints3_t>(array, constraints) ;
return wrapBezierConstructorConstraintsTemplate<bezier3_t, point3_list_t, t_point3_t, curve_constraints3_t>(array, constraints) ;
}
bezier3_t* wrapBezierConstructorBounds3Constraints(const point_list_t& array, const curve_constraints3_t& constraints,
bezier3_t* wrapBezierConstructorBounds3Constraints(const point3_list_t& array, const curve_constraints3_t& constraints,
const real T_min, const real T_max)
{
return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point3_t, curve_constraints3_t>(array, constraints,
return wrapBezierConstructorConstraintsTemplate<bezier3_t, point3_list_t, t_point3_t, curve_constraints3_t>(array, constraints,
T_min, T_max) ;
}
/*END 3D constructors bezier */
/* Wrap Cubic hermite spline */
t_pair_point3_tangent_t getPairsPointTangent(const point_list_t& points, const point_list_t& tangents)
t_pair_point3_tangent_t getPairsPointTangent(const point3_list_t& points, const point3_list_t& tangents)
{
t_pair_point3_tangent_t res;
if (points.size() != tangents.size())
......@@ -117,7 +117,7 @@ namespace curves
return res;
}
cubic_hermite_spline3_t* wrapCubicHermiteSplineConstructor(const point_list_t& points, const point_list_t& tangents,
cubic_hermite_spline3_t* wrapCubicHermiteSplineConstructor(const point3_list_t& points, const point3_list_t& tangents,
const time_waypoints_t& time_pts)
{
t_pair_point3_tangent_t ppt = getPairsPointTangent(points, tangents);
......@@ -256,9 +256,7 @@ namespace curves
/** BEGIN eigenpy init**/
eigenpy::enableEigenPy();
eigenpy::enableEigenPySpecific<point3_t,point3_t>();
eigenpy::enableEigenPySpecific<ret_point3_t,ret_point3_t>();
eigenpy::enableEigenPySpecific<point_list_t,point_list_t>();
eigenpy::enableEigenPySpecific<point_list6_t,point_list6_t>();
eigenpy::enableEigenPySpecific<point3_list_t,point3_list_t>();
eigenpy::enableEigenPySpecific<coeff_t,coeff_t>();
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
......
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