Commit 93a9491c authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
Browse files

[Serialization] Add template on save and load function for serialization =>...

[Serialization] Add template on save and load function for serialization => Now able to load in abstract pointer
parent e0cb8315
......@@ -39,7 +39,7 @@ namespace curves
/// \brief Computes a Bernstein polynome.
///
template <typename Numeric = double>
struct Bern : public serialization::Serializable< Bern<Numeric> > {
struct Bern {
Bern(){}
Bern(const unsigned int m, const unsigned int i)
:m_minus_i(m - i),
......@@ -63,7 +63,6 @@ namespace curves
// Serialization of the class
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version){
if (version) {
......
......@@ -33,8 +33,7 @@ namespace curves
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< bezier_curve<Time, Numeric, Dim, Safe, Point> >
struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point>
{
typedef Point point_t;
typedef Time time_t;
......
......@@ -36,8 +36,7 @@ namespace curves
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< cubic_hermite_spline<Time, Numeric, Dim, Safe, Point, Tangent> >
struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
{
typedef std::pair<Point, Tangent> pair_point_tangent_t;
typedef std::vector< pair_point_tangent_t ,Eigen::aligned_allocator<Point> > t_pair_point_tangent_t;
......
......@@ -23,9 +23,10 @@ namespace curves
/// \struct curve_abc.
/// \brief Represents a curve of dimension Dim.
/// If value of parameter Safe is false, no verification is made on the evaluation of the curve.
template<typename Time= double, typename Numeric=Time, bool Safe=false
, typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct curve_abc : std::unary_function<Time, Point>
template<typename Time= double, typename Numeric=Time, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct curve_abc : std::unary_function<Time, Point>,
public serialization::Serializable
{
typedef Point point_t;
typedef Time time_t;
......@@ -62,6 +63,14 @@ namespace curves
std::pair<time_t, time_t> timeRange() {return std::make_pair(min(), max());}
/*Helpers*/
// Serialization of the class
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version){
if (version) {
// Do something depending on version ?
}
}
};
} // namespace curves
#endif //_STRUCT_CURVE_ABC
......
......@@ -45,8 +45,7 @@ namespace curves
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> >,
typename SplineBase=polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase>//,
//public serialization::Serializable< exact_cubic<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase> >
struct exact_cubic : public piecewise_curve<Time, Numeric, Dim, Safe, Point, T_Point, SplineBase>
{
typedef Point point_t;
typedef T_Point t_point_t;
......@@ -257,13 +256,12 @@ namespace curves
public:
// Serialization of the class
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version){
if (version) {
// Do something depending on version ?
}
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(exact_cubic_t);
ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(piecewise_curve_t);
}
};
} // namespace curves
......
......@@ -29,9 +29,7 @@ namespace curves
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
typename T_Point= std::vector<Point,Eigen::aligned_allocator<Point> >,
typename Curve= curve_abc<Time, Numeric, Safe, Point> >
struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< piecewise_curve<Time, Numeric, Dim, Safe,
Point, T_Point, Curve> >
struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point>
{
typedef Point point_t;
typedef T_Point t_point_t;
......
......@@ -36,8 +36,7 @@ namespace curves
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>, typename T_Point =std::vector<Point,Eigen::aligned_allocator<Point> > >
struct polynomial : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
{
typedef Point point_t;
typedef T_Point t_point_t;
......
......@@ -21,22 +21,24 @@ namespace curves
{
namespace serialization
{
template<class Derived>
struct Serializable
{
private:
template<class Derived>
Derived & derived() { return *static_cast<Derived*>(this); }
template<class Derived>
const Derived & derived() const { return *static_cast<const Derived*>(this); }
public:
/// \brief Loads a Derived object from a text file.
template<class Derived>
void loadFromText(const std::string & filename) throw (std::invalid_argument)
{
std::ifstream ifs(filename.c_str());
if(ifs)
{
boost::archive::text_iarchive ia(ifs);
ia >> derived();
ia >> derived<Derived>();
}
else
{
......@@ -46,13 +48,14 @@ namespace curves
}
/// \brief Saved a Derived object as a text file.
template<class Derived>
void saveAsText(const std::string & filename) const throw (std::invalid_argument)
{
std::ofstream ofs(filename.c_str());
if(ofs)
{
boost::archive::text_oarchive oa(ofs);
oa << derived();
oa << derived<Derived>();
}
else
{
......@@ -62,6 +65,7 @@ namespace curves
}
/// \brief Loads a Derived object from an XML file.
template<class Derived>
void loadFromXML(const std::string & filename, const std::string & tag_name) throw (std::invalid_argument)
{
assert(!tag_name.empty());
......@@ -69,7 +73,7 @@ namespace curves
if(ifs)
{
boost::archive::xml_iarchive ia(ifs);
ia >> boost::serialization::make_nvp(tag_name.c_str(),derived());
ia >> boost::serialization::make_nvp(tag_name.c_str(),derived<Derived>());
}
else
{
......@@ -79,6 +83,7 @@ namespace curves
}
/// \brief Saved a Derived object as an XML file.
template<class Derived>
void saveAsXML(const std::string & filename, const std::string & tag_name) const throw (std::invalid_argument)
{
assert(!tag_name.empty());
......@@ -86,7 +91,7 @@ namespace curves
if(ofs)
{
boost::archive::xml_oarchive oa(ofs);
oa << boost::serialization::make_nvp(tag_name.c_str(),derived());
oa << boost::serialization::make_nvp(tag_name.c_str(),derived<Derived>());
}
else
{
......@@ -96,13 +101,14 @@ namespace curves
}
/// \brief Loads a Derived object from an binary file.
template<class Derived>
void loadFromBinary(const std::string & filename) throw (std::invalid_argument)
{
std::ifstream ifs(filename.c_str());
if(ifs)
{
boost::archive::binary_iarchive ia(ifs);
ia >> derived();
ia >> derived<Derived>();
}
else
{
......@@ -112,13 +118,14 @@ namespace curves
}
/// \brief Saved a Derived object as an binary file.
template<class Derived>
void saveAsBinary(const std::string & filename) const throw (std::invalid_argument)
{
std::ofstream ofs(filename.c_str());
if(ofs)
{
boost::archive::binary_oarchive oa(ofs);
oa << derived();
oa << derived<Derived>();
}
else
{
......
......@@ -5,6 +5,7 @@
#define __curves_python_serialization_archive_hpp__
#include <boost/python.hpp>
#include "curves/curve_abc.h"
namespace curves
{
......@@ -13,16 +14,21 @@ namespace curves
struct SerializableVisitor
: public boost::python::def_visitor< SerializableVisitor<Derived> >
{
// TO DO !!!!! Try to fix and remove all the .def for serialization in curves_python
template<class PyClass>
void visit(PyClass& cl) const
{
cl
.def("saveAsText",&Derived::saveAsText,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&Derived::loadFromText,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&Derived::saveAsXML,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&Derived::loadFromXML,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&Derived::saveAsBinary,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&Derived::loadFromBinary,bp::args("filename"),"Loads *this from a binary file.")
/*
.def("saveAsText",&Derived::saveAsText<Derived>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",Derived::loadFromText<Derived>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",Derived::saveAsXML<Derived>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",Derived::loadFromXML<Derived>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",Derived::saveAsBinary<Derived>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",Derived::loadFromBinary<Derived>,bp::args("filename"),"Loads *this from a binary file.")
*/
;
}
......
......@@ -310,6 +310,12 @@ namespace curves
.def("compute_derivate", &bezier6_t::compute_derivate)
.def("compute_primitive", &bezier6_t::compute_primitive)
.def("waypoints", &wayPointsToList<bezier6_t,6>)
.def("saveAsText", &bezier6_t::saveAsText<bezier6_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&bezier6_t::loadFromText<bezier6_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&bezier6_t::saveAsXML<bezier6_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&bezier6_t::loadFromXML<bezier6_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&bezier6_t::saveAsBinary<bezier6_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&bezier6_t::loadFromBinary<bezier6_t>,bp::args("filename"),"Loads *this from a binary file.")
.def_readonly("degree", &bezier6_t::degree_)
.def_readonly("nbWaypoints", &bezier6_t::size_)
.def(SerializableVisitor<bezier6_t>())
......@@ -328,9 +334,15 @@ namespace curves
.def("compute_derivate", &bezier3_t::compute_derivate)
.def("compute_primitive", &bezier3_t::compute_primitive)
.def("waypoints", &wayPointsToList<bezier3_t,3>)
.def("saveAsText", &bezier3_t::saveAsText<bezier3_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&bezier3_t::loadFromText<bezier3_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&bezier3_t::saveAsXML<bezier3_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&bezier3_t::loadFromXML<bezier3_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&bezier3_t::saveAsBinary<bezier3_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&bezier3_t::loadFromBinary<bezier3_t>,bp::args("filename"),"Loads *this from a binary file.")
.def_readonly("degree", &bezier3_t::degree_)
.def_readonly("nbWaypoints", &bezier3_t::size_)
.def(SerializableVisitor<bezier3_t>())
//.def(SerializableVisitor<bezier3_t>())
;
/** END bezier curve**/
/** BEGIN variable points bezier curve**/
......@@ -374,7 +386,13 @@ namespace curves
.def("__call__", &polynomial_t::operator(),"Evaluate the spline at the given time.")
.def("derivate", &polynomial_t::derivate,"Evaluate the derivative of order N of curve at time t.",args("self","t","N"))
.def("compute_derivate", &polynomial_t::compute_derivate,"Compute derivative of order N of curve at time t.")
.def(SerializableVisitor<polynomial_t>())
.def("saveAsText", &polynomial_t::saveAsText<polynomial_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&polynomial_t::loadFromText<polynomial_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&polynomial_t::saveAsXML<polynomial_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&polynomial_t::loadFromXML<polynomial_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&polynomial_t::saveAsBinary<polynomial_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&polynomial_t::loadFromBinary<polynomial_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<polynomial_t>())
;
/** END polynomial function**/
......@@ -391,7 +409,13 @@ namespace curves
"Add a new curve to piecewise curve, which should be defined in T_{min},T_{max}] "
"where T_{min} is equal toT_{max} of the actual piecewise curve.")
.def("is_continuous", &piecewise_polynomial_curve_t::is_continuous,"Check if the curve is continuous at the given order.")
.def(SerializableVisitor<piecewise_polynomial_curve_t>())
.def("saveAsText", &piecewise_polynomial_curve_t::saveAsText<piecewise_polynomial_curve_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&piecewise_polynomial_curve_t::loadFromText<piecewise_polynomial_curve_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&piecewise_polynomial_curve_t::saveAsXML<piecewise_polynomial_curve_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&piecewise_polynomial_curve_t::loadFromXML<piecewise_polynomial_curve_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&piecewise_polynomial_curve_t::saveAsBinary<piecewise_polynomial_curve_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&piecewise_polynomial_curve_t::loadFromBinary<piecewise_polynomial_curve_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<piecewise_polynomial_curve_t>())
;
class_<piecewise_bezier3_curve_t>
("piecewise_bezier3_curve", init<>())
......@@ -402,7 +426,13 @@ namespace curves
.def("derivate", &piecewise_bezier3_curve_t::derivate)
.def("add_curve", &piecewise_bezier3_curve_t::add_curve)
.def("is_continuous", &piecewise_bezier3_curve_t::is_continuous)
.def(SerializableVisitor<piecewise_bezier3_curve_t>())
.def("saveAsText", &piecewise_bezier3_curve_t::saveAsText<piecewise_bezier3_curve_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&piecewise_bezier3_curve_t::loadFromText<piecewise_bezier3_curve_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&piecewise_bezier3_curve_t::saveAsXML<piecewise_bezier3_curve_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&piecewise_bezier3_curve_t::loadFromXML<piecewise_bezier3_curve_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&piecewise_bezier3_curve_t::saveAsBinary<piecewise_bezier3_curve_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&piecewise_bezier3_curve_t::loadFromBinary<piecewise_bezier3_curve_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<piecewise_bezier3_curve_t>())
;
class_<piecewise_bezier6_curve_t>
("piecewise_bezier6_curve", init<>())
......@@ -413,7 +443,13 @@ namespace curves
.def("derivate", &piecewise_bezier6_curve_t::derivate)
.def("add_curve", &piecewise_bezier6_curve_t::add_curve)
.def("is_continuous", &piecewise_bezier6_curve_t::is_continuous)
.def(SerializableVisitor<piecewise_bezier6_curve_t>())
.def("saveAsText", &piecewise_bezier6_curve_t::saveAsText<piecewise_bezier6_curve_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&piecewise_bezier6_curve_t::loadFromText<piecewise_bezier6_curve_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&piecewise_bezier6_curve_t::saveAsXML<piecewise_bezier6_curve_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&piecewise_bezier6_curve_t::loadFromXML<piecewise_bezier6_curve_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&piecewise_bezier6_curve_t::saveAsBinary<piecewise_bezier6_curve_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&piecewise_bezier6_curve_t::loadFromBinary<piecewise_bezier6_curve_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<piecewise_bezier6_curve_t>())
;
class_<piecewise_cubic_hermite_curve_t>
("piecewise_cubic_hermite_curve", init<>())
......@@ -424,7 +460,13 @@ namespace curves
.def("derivate", &piecewise_cubic_hermite_curve_t::derivate)
.def("add_curve", &piecewise_cubic_hermite_curve_t::add_curve)
.def("is_continuous", &piecewise_cubic_hermite_curve_t::is_continuous)
.def(SerializableVisitor<piecewise_cubic_hermite_curve_t>())
.def("saveAsText", &piecewise_cubic_hermite_curve_t::saveAsText<piecewise_cubic_hermite_curve_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&piecewise_cubic_hermite_curve_t::loadFromText<piecewise_cubic_hermite_curve_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&piecewise_cubic_hermite_curve_t::saveAsXML<piecewise_cubic_hermite_curve_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&piecewise_cubic_hermite_curve_t::loadFromXML<piecewise_cubic_hermite_curve_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&piecewise_cubic_hermite_curve_t::saveAsBinary<piecewise_cubic_hermite_curve_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&piecewise_cubic_hermite_curve_t::loadFromBinary<piecewise_cubic_hermite_curve_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<piecewise_cubic_hermite_curve_t>())
;
/** END piecewise curve function **/
/** BEGIN exact_cubic curve**/
......@@ -438,7 +480,13 @@ namespace curves
.def("derivate", &exact_cubic_t::derivate)
.def("getNumberSplines", &exact_cubic_t::getNumberSplines)
.def("getSplineAt", &exact_cubic_t::getSplineAt)
.def(SerializableVisitor<exact_cubic_t>())
.def("saveAsText", &exact_cubic_t::saveAsText<exact_cubic_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&exact_cubic_t::loadFromText<exact_cubic_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&exact_cubic_t::saveAsXML<exact_cubic_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&exact_cubic_t::loadFromXML<exact_cubic_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&exact_cubic_t::saveAsBinary<exact_cubic_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&exact_cubic_t::loadFromBinary<exact_cubic_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<exact_cubic_t>())
;
/** END exact_cubic curve**/
/** BEGIN cubic_hermite_spline **/
......@@ -449,7 +497,13 @@ namespace curves
.def("max", &cubic_hermite_spline_t::max)
.def("__call__", &cubic_hermite_spline_t::operator())
.def("derivate", &cubic_hermite_spline_t::derivate)
.def(SerializableVisitor<cubic_hermite_spline_t>())
.def("saveAsText", &cubic_hermite_spline_t::saveAsText<cubic_hermite_spline_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&cubic_hermite_spline_t::loadFromText<cubic_hermite_spline_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&cubic_hermite_spline_t::saveAsXML<cubic_hermite_spline_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&cubic_hermite_spline_t::loadFromXML<cubic_hermite_spline_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&cubic_hermite_spline_t::saveAsBinary<cubic_hermite_spline_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&cubic_hermite_spline_t::loadFromBinary<cubic_hermite_spline_t>,bp::args("filename"),"Loads *this from a binary file.")
//.def(SerializableVisitor<cubic_hermite_spline_t>())
;
/** END cubic_hermite_spline **/
/** BEGIN curve constraints**/
......
......@@ -20,6 +20,7 @@ namespace curves
typedef Eigen::Vector3d point_t;
typedef Eigen::Vector3d tangent_t;
typedef std::vector<point_t,Eigen::aligned_allocator<point_t> > t_point_t;
typedef curve_abc <double, double, true, point_t> curve_abc_t;
typedef polynomial <double, double, 3, true, point_t, t_point_t> polynomial_t;
typedef exact_cubic <double, double, 3, true, point_t> exact_cubic_t;
typedef bezier_curve <double, double, 3, true, point_t> bezier_curve_t;
......@@ -158,13 +159,13 @@ void PolynomialCubicFunctionTest(bool& error)
// Order 1
polynomial_t cf_derivated = cf.compute_derivate(1);
ComparePoints(cf.derivate(0,1), cf_derivated(0), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.3,1), cf_derivated(0.5), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.3,1), cf_derivated(0.3), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.5,1), cf_derivated(0.5), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(1,1), cf_derivated(1), errMsg+" - derivate order 1 : ", error);
// Order 2
polynomial_t cf_derivated_2 = cf.compute_derivate(2);
ComparePoints(cf.derivate(0,2), cf_derivated_2(0), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.3,2), cf_derivated_2(0.5), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.3,2), cf_derivated_2(0.3), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(0.5,2), cf_derivated_2(0.5), errMsg+" - derivate order 1 : ", error);
ComparePoints(cf.derivate(1,2), cf_derivated_2(1), errMsg+" - derivate order 1 : ", error);
}
......@@ -1365,6 +1366,7 @@ void serializationCurvesTest(bool& error)
std::string errMsg3("in serializationCurveTest, Error While serializing Cubic Hermite : ");
std::string errMsg4("in serializationCurveTest, Error While serializing Piecewise curves : ");
std::string errMsg5("in serializationCurveTest, Error While serializing Exact cubic : ");
std::string errMsg6("in serializationCurveTest, Error While serializing using abstract pointers : ");
point_t a(1,1,1); // in [0,1[
point_t b(2,1,1); // in [1,2[
point_t c(3,1,1); // in [2,3]
......@@ -1380,41 +1382,42 @@ void serializationCurvesTest(bool& error)
ppc.add_curve(pol2);
ppc.add_curve(pol3);
std::string fileName("fileTest.test");
std::string fileName1("fileTest1.test");
// Simple curves
// Test serialization on Polynomial
pol1.saveAsText(fileName);
pol1.saveAsText<polynomial_t>(fileName1);
polynomial_t pol_test;
pol_test.loadFromText(fileName);
pol_test.loadFromText<polynomial_t>(fileName1);
CompareCurves<polynomial_t, polynomial_t>(pol1, pol_test, errMsg1, error);
// Test serialization on Bezier
bezier_curve_t bc = bezier_from_curve<bezier_curve_t, polynomial_t>(pol1);
bc.saveAsText(fileName);
bc.saveAsText<bezier_curve_t>(fileName);
bezier_curve_t bc_test;
bc_test.loadFromText(fileName);
bc_test.loadFromText<bezier_curve_t>(fileName);
CompareCurves<polynomial_t, bezier_curve_t>(pol1, bc_test, errMsg2, error);
// Test serialization on Cubic Hermite
cubic_hermite_spline_t chs = hermite_from_curve<cubic_hermite_spline_t, polynomial_t>(pol1);
chs.saveAsText(fileName);
chs.saveAsText<cubic_hermite_spline_t>(fileName);
cubic_hermite_spline_t chs_test;
chs_test.loadFromText(fileName);
chs_test.loadFromText<cubic_hermite_spline_t>(fileName);
CompareCurves<polynomial_t, cubic_hermite_spline_t>(pol1, chs_test, errMsg3, error);
// Piecewise curves
// Test serialization on Piecewise Polynomial curve
ppc.saveAsText(fileName);
ppc.saveAsText<piecewise_polynomial_curve_t>(fileName);
piecewise_polynomial_curve_t ppc_test;
ppc_test.loadFromText(fileName);
ppc_test.loadFromText<piecewise_polynomial_curve_t>(fileName);
CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc, ppc_test, errMsg4, error);
// Test serialization on Piecewise Bezier curve
piecewise_bezier_curve_t pbc = ppc.convert_piecewise_curve_to_bezier<bezier_curve_t>();
pbc.saveAsText(fileName);
pbc.saveAsText<piecewise_bezier_curve_t>(fileName);
piecewise_bezier_curve_t pbc_test;
pbc_test.loadFromText(fileName);
pbc_test.loadFromText<piecewise_bezier_curve_t>(fileName);
CompareCurves<piecewise_polynomial_curve_t,piecewise_bezier_curve_t>(ppc, pbc_test, errMsg4, error);
// Test serialization on Piecewise Cubic Hermite curve
piecewise_cubic_hermite_curve_t pchc = ppc.convert_piecewise_curve_to_cubic_hermite<cubic_hermite_spline_t>();
pchc.saveAsText(fileName);
pchc.saveAsText<piecewise_cubic_hermite_curve_t>(fileName);
piecewise_cubic_hermite_curve_t pchc_test;
pchc_test.loadFromText(fileName);
pchc_test.loadFromText<piecewise_cubic_hermite_curve_t>(fileName);
CompareCurves<piecewise_polynomial_curve_t,piecewise_cubic_hermite_curve_t>(ppc, pchc_test, errMsg4, error);
// Test serialization on exact cubic
curves::T_Waypoint waypoints;
......@@ -1423,15 +1426,38 @@ void serializationCurvesTest(bool& error)
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
}
spline_constraints_t constraints;
constraints.end_vel = point_t(0,0,0);
constraints.init_vel = point_t(0,0,0);
constraints.end_acc = point_t(0,0,0);
constraints.init_acc = point_t(0,0,0);
constraints.end_vel = point_t(0.1,0,0);
constraints.init_vel = point_t(0.2,0,0);
constraints.end_acc = point_t(0.01,0,0);
constraints.init_acc = point_t(0.01,0,0);
exact_cubic_t ec(waypoints.begin(), waypoints.end(), constraints);
ec.saveAsText(fileName);
ec.saveAsText<exact_cubic_t>(fileName);
exact_cubic_t ec_test;
ec_test.loadFromText(fileName);
ec_test.loadFromText<exact_cubic_t>(fileName);
CompareCurves<exact_cubic_t,exact_cubic_t>(ec, ec_test, errMsg5, error);
// Test with pointer on abstract struct curve_abc
// Polynomial
curve_abc_t * pt_0;
curve_abc_t * pt_1;
pol_test = polynomial_t();
pt_0 = &pol1;
pt_1 = &pol_test;
(*pt_0).saveAsText<polynomial_t>(fileName);
(*pt_1).loadFromText<polynomial_t>(fileName);
CompareCurves<polynomial_t,polynomial_t>(pol1,
(*dynamic_cast<polynomial_t*>(pt_1)),
errMsg6, error);
// Piecewise Polynomial
pt_0 = NULL;
pt_1 = NULL;
ppc_test = piecewise_polynomial_curve_t();
pt_0 = &ppc;
pt_1 = &ppc_test;
(*pt_0).saveAsText<piecewise_polynomial_curve_t>(fileName);
(*pt_1).loadFromText<piecewise_polynomial_curve_t>(fileName);
CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc,
(*dynamic_cast<piecewise_polynomial_curve_t*>(pt_1)),
errMsg6, error);
}
int main(int /*argc*/, char** /*argv[]*/)
......@@ -1439,6 +1465,7 @@ int main(int /*argc*/, char** /*argv[]*/)
std::cout << "performing tests... \n";
bool error = false;
PolynomialCubicFunctionTest(error);
/*
ExactCubicNoErrorTest(error);
ExactCubicPointsCrossedTest(error); // checks that given wayPoints are crossed
ExactCubicTwoPointsTest(error);
......@@ -1462,6 +1489,7 @@ int main(int /*argc*/, char** /*argv[]*/)
toPolynomialConversionTest(error);
cubicConversionTest(error);
curveAbcDimDynamicTest(error);
*/
serializationCurvesTest(error);
if(error)
{
......
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