From 7cca53275702b4819b86cf647bb990d3912a0226 Mon Sep 17 00:00:00 2001
From: stonneau <stevetonneau@hotmail.fr>
Date: Thu, 27 Jun 2013 21:41:18 +0200
Subject: [PATCH] more cleaning
---
include/spline/bezier_curve.h | 5 +--
include/spline/cubic_function.h | 74 +++++++++++++++++----------------
include/spline/curve_abc.h | 7 +++-
include/spline/exact_cubic.h | 7 +---
src/tests/spline_test/Main.cpp | 24 ++++++++++-
5 files changed, 69 insertions(+), 48 deletions(-)
diff --git a/include/spline/bezier_curve.h b/include/spline/bezier_curve.h
index 7170c00..e02e4fa 100644
--- a/include/spline/bezier_curve.h
+++ b/include/spline/bezier_curve.h
@@ -63,7 +63,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/* Constructors - destructors */
/*Operations*/
- public:
public:
/// \brief Evaluation of the cubic spline at time t.
/// \param t : the time when to evaluate the spine
@@ -100,8 +99,8 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
/*Operations*/
/*Helpers*/
- virtual time_t MinBound() const{return minBound_;}
- virtual time_t MaxBound() const{return minBound_;}
+ virtual time_t min() const{return minBound_;}
+ virtual time_t max() const{return maxBound_;}
/*Helpers*/
public:
diff --git a/include/spline/cubic_function.h b/include/spline/cubic_function.h
index 13b6f4f..61f9c45 100644
--- a/include/spline/cubic_function.h
+++ b/include/spline/cubic_function.h
@@ -22,64 +22,66 @@
namespace spline
{
- /// \class CubicFunction
- /// \brief Represents a cubic spline defined on the interval
- /// [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, int Dim=3, bool Safe=false
- , typename Point= Eigen::Matrix<Numeric, Dim, 1> >
- struct cubic_function : public curve_abc<Time, Numeric, Dim, Safe, Point>
- {
+/// \class CubicFunction
+/// \brief Represents a cubic spline defined on the interval
+/// [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, int Dim=3, bool Safe=false
+, typename Point= Eigen::Matrix<Numeric, Dim, 1> >
+struct cubic_function : public curve_abc<Time, Numeric, Dim, Safe, Point>
+{
typedef Point point_t;
typedef Time time_t;
typedef Numeric num_t;
/* Constructors - destructors */
public:
- ///\brief Constructor
- cubic_function(point_t const& a, point_t const& b, point_t const& c, point_t const &d, time_t min, time_t max)
- :a_(a), b_(b), c_(c), d_(d), t_min_(min), t_max_(max)
+ ///\brief Constructor
+ cubic_function(point_t const& a, point_t const& b, point_t const& c, point_t const &d, time_t min, time_t max)
+ :a_(a), b_(b), c_(c), d_(d), t_min_(min), t_max_(max)
+ {
+ if(t_min_ >= t_max_ & Safe)
{
- if(t_min_ >= t_max_ & Safe)
- {
- std::out_of_range("TODO");
- }
+ std::out_of_range("TODO");
}
+ }
- ///\brief Destructor
- ~cubic_function()
- {
- // NOTHING
- }
+ ///\brief Destructor
+ ~cubic_function()
+ {
+ // NOTHING
+ }
private:
- //cubic_function(const cubic_function&);
- //cubic_function& operator=(const cubic_function&);
+ cubic_function(const cubic_function&);
+ cubic_function& operator=(const cubic_function&);
/* Constructors - destructors */
/*Operations*/
public:
- /// \brief Evaluation of the cubic spline at time t.
- /// \param t : the time when to evaluate the spine
- /// \param return : the value x(t)
- virtual point_t operator()(time_t t) const
- {
- if((t < t_min_ || t > t_max_) && Safe){ throw std::out_of_range("TODO");}
- time_t const dt (t-t_min_);
- return a_+ b_ * dt + c_ * dt*dt + d_ * dt*dt*dt;
- }
+ /// \brief Evaluation of the cubic spline at time t.
+ /// \param t : the time when to evaluate the spine
+ /// \param return : the value x(t)
+ virtual point_t operator()(time_t t) const
+ {
+ if((t < t_min_ || t > t_max_) && Safe){ throw std::out_of_range("TODO");}
+ time_t const dt (t-t_min_);
+ return a_+ b_ * dt + c_ * dt*dt + d_ * dt*dt*dt;
+ }
/*Operations*/
/*Helpers*/
public:
- num_t virtual MinBound() const {return t_min_;}
- num_t virtual MaxBound() const {return t_max_;}
+ /// \brief Returns the minimum time for wich curve is defined
+ num_t virtual min() const {return t_min_;}
+ /// \brief Returns the maximum time for wich curve is defined
+ num_t virtual max() const {return t_max_;}
/*Helpers*/
/*Attributes*/
public:
- const point_t a_, b_, c_ ,d_;
- const time_t t_min_, t_max_;
+ const point_t a_, b_, c_ ,d_;
+ const time_t t_min_, t_max_;
/*Attributes*/
}; //class CubicFunction
}
diff --git a/include/spline/curve_abc.h b/include/spline/curve_abc.h
index 88e02d9..da3874d 100644
--- a/include/spline/curve_abc.h
+++ b/include/spline/curve_abc.h
@@ -46,8 +46,11 @@ struct curve_abc : std::unary_function<Time, Point>
/*Operations*/
/*Helpers*/
- virtual time_t MinBound() const = 0;
- virtual time_t MaxBound() const = 0;
+ public:
+ /// \brief Returns the minimum time for wich curve is defined
+ virtual time_t min() const = 0;
+ /// \brief Returns the maximum time for wich curve is defined
+ virtual time_t max() const = 0;
/*Helpers*/
};
diff --git a/include/spline/exact_cubic.h b/include/spline/exact_cubic.h
index 13ae33a..3c2e641 100644
--- a/include/spline/exact_cubic.h
+++ b/include/spline/exact_cubic.h
@@ -27,9 +27,6 @@
#include <functional>
#include <vector>
-#include <Eigen/StdVector>
-
-#include <iostream>
namespace spline
{
@@ -162,8 +159,8 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
/*Helpers*/
public:
- num_t virtual MinBound() const{return subSplines_.front()->t_min_;}
- num_t virtual MaxBound() const{return subSplines_.back()->t_max_;}
+ num_t virtual min() const{return subSplines_.front()->t_min_;}
+ num_t virtual max() const{return subSplines_.back()->t_max_;}
/*Helpers*/
/*Attributes*/
diff --git a/src/tests/spline_test/Main.cpp b/src/tests/spline_test/Main.cpp
index 601646f..7f9da71 100644
--- a/src/tests/spline_test/Main.cpp
+++ b/src/tests/spline_test/Main.cpp
@@ -110,6 +110,16 @@ void CubicFunctionTest(bool& error)
{
std::cout << "Evaluation of cubic cf2 error, 1.1 should be an out of range value\n";
}
+ if(cf.max() != 1)
+ {
+ error = true;
+ std::cout << "Evaluation of exactCubic error, MaxBound should be equal to 1\n";
+ }
+ if(cf.min() != 0)
+ {
+ error = true;
+ std::cout << "Evaluation of exactCubic error, MinBound should be equal to 1\n";
+ }
}
/*bezier_curve Function tests*/
@@ -180,6 +190,16 @@ void BezierCurveTest(bool& error)
{
std::cout << "Evaluation of bezier cf error, 1.1 should be an out of range value\n";
}
+ if(cf.max() != 1)
+ {
+ error = true;
+ std::cout << "Evaluation of exactCubic error, MaxBound should be equal to 1\n";
+ }
+ if(cf.min() != 0)
+ {
+ error = true;
+ std::cout << "Evaluation of exactCubic error, MinBound should be equal to 1\n";
+ }
}
/*Exact Cubic Function tests*/
@@ -215,12 +235,12 @@ void ExactCubicNoErrorTest(bool& error)
{
std::cout << "Evaluation of exactCubic cf error, 1.2 should be an out of range value\n";
}
- if(exactCubic.MaxBound() != 1)
+ if(exactCubic.max() != 1)
{
error = true;
std::cout << "Evaluation of exactCubic error, MaxBound should be equal to 1\n";
}
- if(exactCubic.MinBound() != 0)
+ if(exactCubic.min() != 0)
{
error = true;
std::cout << "Evaluation of exactCubic error, MinBound should be equal to 1\n";
--
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