Commit b26a590f authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
Browse files

[main - tests] Modify typedef of curves to use point of dynamic size

parent 5e0243f7
......@@ -18,23 +18,24 @@ using namespace std;
namespace curves
{
typedef Eigen::Vector3d point_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, true, point_t, t_point_t> polynomial_t;
typedef exact_cubic <double, double, true, point_t> exact_cubic_t;
typedef Eigen::VectorXd pointX_t;
typedef std::vector<pointX_t,Eigen::aligned_allocator<pointX_t> > t_point_t;
typedef curve_abc <double, double, true, pointX_t> curve_abc_t;
typedef polynomial <double, double, true, pointX_t, t_point_t> polynomial_t;
typedef exact_cubic <double, double, true, pointX_t> exact_cubic_t;
typedef exact_cubic <double, double, true, Eigen::Matrix<double,1,1> > exact_cubic_one;
typedef bezier_curve <double, double, true, point_t> bezier_curve_t;
typedef cubic_hermite_spline <double, double, true, point_t> cubic_hermite_spline_t;
typedef piecewise_curve <double, double, true, point_t, t_point_t, polynomial_t> piecewise_polynomial_curve_t;
typedef piecewise_curve <double, double, true, point_t, t_point_t, bezier_curve_t> piecewise_bezier_curve_t;
typedef piecewise_curve <double, double, true, point_t, t_point_t, cubic_hermite_spline_t> piecewise_cubic_hermite_curve_t;
typedef bezier_curve <double, double, true, pointX_t> bezier_curve_t;
typedef cubic_hermite_spline <double, double, true, pointX_t> cubic_hermite_spline_t;
typedef piecewise_curve <double, double, true, pointX_t, t_point_t, polynomial_t> piecewise_polynomial_curve_t;
typedef piecewise_curve <double, double, true, pointX_t, t_point_t, bezier_curve_t> piecewise_bezier_curve_t;
typedef piecewise_curve <double, double, true, pointX_t, t_point_t, cubic_hermite_spline_t> piecewise_cubic_hermite_curve_t;
typedef exact_cubic_t::spline_constraints spline_constraints_t;
typedef std::pair<double, point_t> Waypoint;
typedef std::pair<double, pointX_t> Waypoint;
typedef std::vector<Waypoint> T_Waypoint;
typedef Eigen::Matrix<double,1,1> point_one;
typedef std::pair<double, point_one> WaypointOne;
typedef std::vector<WaypointOne> T_WaypointOne;
typedef std::pair<point_t, point_t> pair_point_tangent_t;
typedef std::pair<pointX_t, pointX_t> pair_point_tangent_t;
typedef std::vector<pair_point_tangent_t,Eigen::aligned_allocator<pair_point_tangent_t> > t_pair_point_tangent_t;
const double margin = 1e-3;
......
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