From 829472742949e9bd5b1e8a4fee2785435601beaa Mon Sep 17 00:00:00 2001
From: steve tonneau <stevetonneau@hotmail.fr>
Date: Sat, 21 Dec 2013 15:10:06 +0100
Subject: [PATCH] error in cubic function t_min >= t_max
---
include/spline/bezier_curve.h | 2 +-
include/spline/cubic_function.h | 2 +-
include/spline/exact_cubic.h | 2 +-
src/tests/spline_test/Main.cpp | 56 +++++++++++++++++++++++++++++++++
4 files changed, 59 insertions(+), 3 deletions(-)
diff --git a/include/spline/bezier_curve.h b/include/spline/bezier_curve.h
index e02e4fa..85b06a7 100644
--- a/include/spline/bezier_curve.h
+++ b/include/spline/bezier_curve.h
@@ -72,7 +72,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
num_t nT = (t - minBound_) / (maxBound_ - minBound_);
if(Safe &! (0 <= nT && nT <= 1))
{
- throw; // TODO
+ //throw; // TODO
}
else
{
diff --git a/include/spline/cubic_function.h b/include/spline/cubic_function.h
index 8705375..c5acdf6 100644
--- a/include/spline/cubic_function.h
+++ b/include/spline/cubic_function.h
@@ -40,7 +40,7 @@ struct cubic_function : public curve_abc<Time, Numeric, Dim, Safe, Point>
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");
}
diff --git a/include/spline/exact_cubic.h b/include/spline/exact_cubic.h
index 3c2e641..6958f04 100644
--- a/include/spline/exact_cubic.h
+++ b/include/spline/exact_cubic.h
@@ -146,7 +146,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
virtual point_t operator()(time_t t) const
{
- if(Safe && (t < subSplines_.front()->t_min_ || t > subSplines_.back()->t_max_)){throw std::out_of_range("TODO");}
+ if(Safe && (t < subSplines_.front()->t_min_ || t > subSplines_.back()->t_max_)){throw std::out_of_range("TODO");}
for(CIT_cubic it = subSplines_.begin(); it != subSplines_.end(); ++ it)
{
if(t >= ((*it)->t_min_) && t <= ((*it)->t_max_))
diff --git a/src/tests/spline_test/Main.cpp b/src/tests/spline_test/Main.cpp
index 3fef0ca..0a120f6 100644
--- a/src/tests/spline_test/Main.cpp
+++ b/src/tests/spline_test/Main.cpp
@@ -18,6 +18,13 @@ typedef bezier_curve <double, double, 3, true, point_t> bezier_curve_t;
typedef std::pair<double, point_t> Waypoint;
typedef std::vector<Waypoint> T_Waypoint;
+
+typedef Eigen::Matrix<double,1,1> point_one;
+typedef cubic_function<double, double, 1, true, point_one> cubic_function_one;
+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;
+
bool QuasiEqual(const double a, const double b, const float margin)
{
if ((a <= 0 && b <= 0) || (a >= 0 && b>= 0))
@@ -56,6 +63,15 @@ void ComparePoints(const point_t& pt1, const point_t& pt2, const std::string& er
}
}
+void ComparePoints(const point_one& pt1, const point_one& pt2, const std::string& errmsg, bool& error)
+{
+ if(!(pt1 == pt2))
+ {
+ error = true;
+ std::cout << errmsg << pt1 << " ; " << pt2 << "\n";
+ }
+}
+
/*Cubic Function tests*/
void CubicFunctionTest(bool& error)
@@ -247,6 +263,44 @@ void ExactCubicNoErrorTest(bool& error)
}
}
+
+/*Exact Cubic Function tests*/
+void ExactCubicTwoPointsTest(bool& error)
+{
+ spline::T_Waypoint waypoints;
+ for(double i = 0; i < 2; ++i)
+ {
+ waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
+ }
+ exact_cubic_t exactCubic(waypoints.begin(), waypoints.end());
+
+ point_t res1 = exactCubic(0);
+ std::string errmsg("in ExactCubic 2 points Error While checking that given wayPoints are crossed (expected / obtained)");
+ ComparePoints(point_t(0,0,0), res1, errmsg, error);
+
+ res1 = exactCubic(1);
+ ComparePoints(point_t(1,1,1), res1, errmsg, error);
+}
+
+void ExactCubicOneDimTest(bool& error)
+{
+ spline::T_WaypointOne waypoints;
+ point_one zero; zero(0,0) = 9;
+ point_one one; one(0,0) = 14;
+ point_one two; two(0,0) = 25;
+ waypoints.push_back(std::make_pair(0., zero));
+ waypoints.push_back(std::make_pair(1., one));
+ waypoints.push_back(std::make_pair(2., two));
+ exact_cubic_one exactCubic(waypoints.begin(), waypoints.end());
+
+ point_one res1 = exactCubic(0);
+ std::string errmsg("in ExactCubicOneDim Error While checking that given wayPoints are crossed (expected / obtained)");
+ ComparePoints(zero, res1, errmsg, error);
+
+ res1 = exactCubic(1);
+ ComparePoints(one, res1, errmsg, error);
+}
+
void ExactCubicPointsCrossedTest(bool& error)
{
spline::T_Waypoint waypoints;
@@ -271,6 +325,8 @@ int main(int argc, char *argv[])
CubicFunctionTest(error);
ExactCubicNoErrorTest(error);
ExactCubicPointsCrossedTest(error); // checks that given wayPoints are crossed
+ ExactCubicTwoPointsTest(error);
+ ExactCubicOneDimTest(error);
//BezierCurveTest(error);
if(error)
{
--
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