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Jason Chemin
curves
Commits
4b1c4e8e
Commit
4b1c4e8e
authored
Apr 05, 2017
by
Steve Tonneau
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bindings for constraints bezier
parent
686f698b
Changes
2
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2 changed files
with
48 additions
and
31 deletions
+48
-31
python/spline_python.cpp
python/spline_python.cpp
+32
-29
python/test/test.py
python/test/test.py
+16
-2
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python/spline_python.cpp
View file @
4b1c4e8e
...
...
@@ -60,57 +60,56 @@ T_Point vectorFromEigenArray(const PointList& array)
return
res
;
}
bezier_t
*
wrapBezierConstructor
(
const
point_list_t
&
array
)
template
<
typename
Bezier
,
typename
PointList
,
typename
T_Point
>
Bezier
*
wrapBezierConstructorTemplate
(
const
PointList
&
array
,
const
real
lb
=
0.
,
const
real
ub
=
1.
)
{
t_point_t
asVector
=
vectorFromEigenArray
<
point_list_t
,
t_point_
t
>
(
array
);
return
new
bezier_t
(
asVector
.
begin
(),
asVector
.
end
()
);
T_Point
asVector
=
vectorFromEigenArray
<
PointList
,
T_Poin
t
>
(
array
);
return
new
Bezier
(
asVector
.
begin
(),
asVector
.
end
(),
lb
,
ub
);
}
template
<
typename
Bezier
,
typename
PointList
,
typename
T_Point
,
typename
CurveConstraints
>
Bezier
*
wrapBezierConstructorConstraintsTemplate
(
const
PointList
&
array
,
const
CurveConstraints
&
constraints
,
const
real
lb
=
0.
,
const
real
ub
=
1.
)
{
T_Point
asVector
=
vectorFromEigenArray
<
PointList
,
T_Point
>
(
array
);
return
new
Bezier
(
asVector
.
begin
(),
asVector
.
end
(),
constraints
,
lb
,
ub
);
}
/*3D constructors */
bezier_t
*
wrapBezierConstructor
(
const
point_list_t
&
array
)
{
return
wrapBezierConstructorTemplate
<
bezier_t
,
point_list_t
,
t_point_t
>
(
array
)
;
}
bezier_t
*
wrapBezierConstructorBounds
(
const
point_list_t
&
array
,
const
real
lb
,
const
real
ub
)
{
t_point_t
asVector
=
vectorFromEigenArray
<
point_list_t
,
t_point_t
>
(
array
);
return
new
bezier_t
(
asVector
.
begin
(),
asVector
.
end
(),
lb
,
ub
);
return
wrapBezierConstructorTemplate
<
bezier_t
,
point_list_t
,
t_point_t
>
(
array
,
lb
,
ub
)
;
}
bezier_t
*
wrapBezierConstructorConstraints
(
const
point_list_t
&
array
,
const
curve_constraints_t
&
constraints
)
{
t_point_t
asVector
=
vectorFromEigenArray
<
point_list_t
,
t_point_t
>
(
array
);
return
new
bezier_t
(
asVector
.
begin
(),
asVector
.
end
(),
constraints
);
return
wrapBezierConstructorConstraintsTemplate
<
bezier_t
,
point_list_t
,
t_point_t
,
curve_constraints_t
>
(
array
,
constraints
)
;
}
bezier_t
*
wrapBezierConstructorConstraintsBounds
(
const
point_list_t
&
array
,
const
curve_constraints_t
&
constraints
,
const
real
lb
,
const
real
ub
)
bezier_t
*
wrapBezierConstructorBoundsConstraints
(
const
point_list_t
&
array
,
const
curve_constraints_t
&
constraints
,
const
real
lb
,
const
real
ub
)
{
t_point_t
asVector
=
vectorFromEigenArray
<
point_list_t
,
t_point_t
>
(
array
);
return
new
bezier_t
(
asVector
.
begin
(),
asVector
.
end
(),
constraints
,
lb
,
ub
);
return
wrapBezierConstructorConstraintsTemplate
<
bezier_t
,
point_list_t
,
t_point_t
,
curve_constraints_t
>
(
array
,
constraints
,
lb
,
ub
)
;
}
/*END 3D constructors */
/*6D constructors */
bezier6_t
*
wrapBezierConstructor6
(
const
point_list6_t
&
array
)
{
t_point6_t
asVector
=
vectorFromEigenArray
<
point_list6_t
,
t_point6_t
>
(
array
);
return
new
bezier6_t
(
asVector
.
begin
(),
asVector
.
end
());
return
wrapBezierConstructorTemplate
<
bezier6_t
,
point_list6_t
,
t_point6_t
>
(
array
)
;
}
bezier6_t
*
wrapBezierConstructorBounds6
(
const
point_list6_t
&
array
,
const
real
lb
,
const
real
ub
)
{
t_point6_t
asVector
=
vectorFromEigenArray
<
point_list6_t
,
t_point6_t
>
(
array
);
return
new
bezier6_t
(
asVector
.
begin
(),
asVector
.
end
(),
lb
,
ub
);
return
wrapBezierConstructorTemplate
<
bezier6_t
,
point_list6_t
,
t_point6_t
>
(
array
,
lb
,
ub
)
;
}
bezier6_t
*
wrapBezierConstructor6Constraints
(
const
point_list6_t
&
array
,
const
curve_constraints6_t
&
constraints
)
{
t_point6_t
asVector
=
vectorFromEigenArray
<
point_list6_t
,
t_point6_t
>
(
array
);
return
new
bezier6_t
(
asVector
.
begin
(),
asVector
.
end
(),
constraints
);
return
wrapBezierConstructorConstraintsTemplate
<
bezier6_t
,
point_list6_t
,
t_point6_t
,
curve_constraints6_t
>
(
array
,
constraints
)
;
}
bezier6_t
*
wrapBezierConstructorBounds6Constraints
(
const
point_list6_t
&
array
,
const
curve_constraints6_t
&
constraints
,
const
real
lb
,
const
real
ub
)
{
t_point6_t
asVector
=
vectorFromEigenArray
<
point_list6_t
,
t_point6_t
>
(
array
);
return
new
bezier6_t
(
asVector
.
begin
(),
asVector
.
end
(),
constraints
,
lb
,
ub
);
return
wrapBezierConstructorConstraintsTemplate
<
bezier6_t
,
point_list6_t
,
t_point6_t
,
curve_constraints6_t
>
(
array
,
constraints
,
lb
,
ub
)
;
}
/*END 6D constructors */
spline_curve_t
*
wrapSplineConstructor
(
const
coeff_t
&
array
)
{
...
...
@@ -221,6 +220,8 @@ BOOST_PYTHON_MODULE(spline)
(
"bezier6"
,
no_init
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructor6
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructorBounds6
))
//.def("__init__", make_constructor(&wrapBezierConstructor6Constraints))
//.def("__init__", make_constructor(&wrapBezierConstructorBounds6Constraints))
.
def
(
"min"
,
&
bezier6_t
::
min
)
.
def
(
"max"
,
&
bezier6_t
::
max
)
.
def
(
"__call__"
,
&
bezier6_t
::
operator
())
...
...
@@ -238,6 +239,8 @@ BOOST_PYTHON_MODULE(spline)
(
"bezier"
,
no_init
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructor
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructorBounds
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructorConstraints
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapBezierConstructorBoundsConstraints
))
.
def
(
"min"
,
&
bezier_t
::
min
)
.
def
(
"max"
,
&
bezier_t
::
max
)
.
def
(
"__call__"
,
&
bezier_t
::
operator
())
...
...
@@ -274,7 +277,7 @@ BOOST_PYTHON_MODULE(spline)
/** END bezier curve**/
/** BEGIN
splin
e constraints**/
/** BEGIN
curv
e constraints**/
class_
<
curve_constraints_t
>
(
"curve_constraints"
,
init
<>
())
.
add_property
(
"init_vel"
,
&
get_init_vel
,
&
set_init_vel
)
...
...
@@ -282,7 +285,7 @@ BOOST_PYTHON_MODULE(spline)
.
add_property
(
"end_vel"
,
&
get_end_vel
,
&
set_end_vel
)
.
add_property
(
"end_acc"
,
&
get_end_acc
,
&
set_end_acc
)
;
/** END
splin
e constraints**/
/** END
curv
e constraints**/
/** BEGIN spline_deriv_constraints**/
...
...
python/test/test.py
View file @
4b1c4e8e
from
spline
import
bezier
,
spline
,
exact_cubic
,
curve_constraints
,
spline_deriv_constraint
from
spline
import
bezier
,
bezier6
,
spline
,
exact_cubic
,
curve_constraints
,
spline_deriv_constraint
from
numpy
import
matrix
from
numpy.linalg
import
norm
waypoints
=
matrix
([[
1.
,
2.
,
3.
],[
4.
,
5.
,
6.
]]).
transpose
()
waypoints6
=
matrix
([[
1.
,
2.
,
3.
,
7.
,
5.
,
5.
],[
4.
,
5.
,
6.
,
4.
,
5.
,
6.
]]).
transpose
()
time_waypoints
=
matrix
([
0.
,
1.
])
#testing bezier curve
a
=
bezier6
(
waypoints6
)
a
=
bezier
(
waypoints
,
-
1.
,
3.
)
a
=
bezier
(
waypoints
)
assert
(
a
.
degree
==
a
.
nbWaypoints
-
1
)
a
.
min
()
a
.
max
()
...
...
@@ -31,6 +33,18 @@ for i in range(10):
assert
(
prim
(
0
)
==
matrix
([
0.
,
0.
,
0.
])).
all
()
#testing bezier with constraints
c
=
curve_constraints
();
c
.
init_vel
=
matrix
([
0.
,
1.
,
1.
]);
c
.
end_vel
=
matrix
([
0.
,
1.
,
1.
]);
c
.
init_acc
=
matrix
([
0.
,
1.
,
-
1.
]);
c
.
end_acc
=
matrix
([
0.
,
100.
,
1.
]);
a
=
bezier
(
waypoints
,
c
)
assert
norm
(
a
.
derivate
(
0
,
1
)
-
c
.
init_vel
)
<
1e-10
assert
norm
(
a
.
derivate
(
1
,
2
)
-
c
.
end_acc
)
<
1e-10
#testing spline function
a
=
spline
(
waypoints
)
...
...
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