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Jason Chemin
curves
Commits
d6b06346
Commit
d6b06346
authored
Mar 14, 2017
by
Steve Tonneau
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Plain Diff
added constrained_splines, but reading variables does not work
parent
a58c324d
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2
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2 changed files
with
59 additions
and
1 deletion
+59
-1
python/spline_python.cpp
python/spline_python.cpp
+48
-0
python/test/test.py
python/test/test.py
+11
-1
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python/spline_python.cpp
View file @
d6b06346
#include "spline/bezier_curve.h"
#include "spline/spline_curve.h"
#include "spline/exact_cubic.h"
#include "spline/spline_deriv_constraint.h"
#include <vector>
...
...
@@ -12,6 +13,7 @@
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
typedef
double
real
;
typedef
Eigen
::
Vector3d
point_t
;
typedef
Eigen
::
Matrix
<
double
,
3
,
1
,
0
,
3
,
1
>
ret_point_t
;
typedef
Eigen
::
VectorXd
time_waypoints_t
;
typedef
Eigen
::
Matrix
<
real
,
3
,
Eigen
::
Dynamic
>
point_list_t
;
typedef
std
::
vector
<
point_t
,
Eigen
::
aligned_allocator
<
point_t
>
>
t_point_t
;
...
...
@@ -24,9 +26,17 @@ typedef spline::exact_cubic <real, real, 3, true, point_t, t_point_t> exact_cub
typedef
spline_curve_t
::
coeff_t
coeff_t
;
typedef
std
::
pair
<
real
,
point_t
>
waypoint_t
;
typedef
std
::
vector
<
waypoint_t
,
Eigen
::
aligned_allocator
<
point_t
>
>
t_waypoint_t
;
typedef
spline
::
spline_deriv_constraint
<
real
,
real
,
3
,
true
,
point_t
,
t_point_t
>
spline_deriv_constraint_t
;
typedef
spline_deriv_constraint_t
::
spline_constraints
spline_constraints_t
;
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
bezier_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
spline_curve_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
exact_cubic_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
spline_constraints_t
)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION
(
spline_deriv_constraint_t
)
namespace
spline
{
...
...
@@ -74,12 +84,25 @@ exact_cubic_t* wrapExactCubicConstructor(const coeff_t& array, const time_waypoi
}
spline_deriv_constraint_t
*
wrapSplineDerivConstraint
(
const
coeff_t
&
array
,
const
time_waypoints_t
&
time_wp
,
const
spline_constraints_t
&
constraints
)
{
t_waypoint_t
wps
=
getWayPoints
(
array
,
time_wp
);
return
new
spline_deriv_constraint_t
(
wps
.
begin
(),
wps
.
end
(),
constraints
);
}
spline_deriv_constraint_t
*
wrapSplineDerivConstraintNoConstraints
(
const
coeff_t
&
array
,
const
time_waypoints_t
&
time_wp
)
{
t_waypoint_t
wps
=
getWayPoints
(
array
,
time_wp
);
return
new
spline_deriv_constraint_t
(
wps
.
begin
(),
wps
.
end
());
}
BOOST_PYTHON_MODULE
(
spline
)
{
/** BEGIN eigenpy init**/
eigenpy
::
enableEigenPy
();
eigenpy
::
enableEigenPySpecific
<
point_t
,
point_t
>
();
eigenpy
::
enableEigenPySpecific
<
ret_point_t
,
ret_point_t
>
();
eigenpy
::
enableEigenPySpecific
<
point_list_t
,
point_list_t
>
();
eigenpy
::
enableEigenPySpecific
<
coeff_t
,
coeff_t
>
();
/*eigenpy::exposeAngleAxis();
...
...
@@ -120,6 +143,31 @@ BOOST_PYTHON_MODULE(spline)
;
/** END bezier curve**/
/** BEGIN spline constraints**/
class_
<
spline_constraints_t
>
(
"spline_constraints"
,
init
<>
())
.
def_readwrite
(
"init_vel"
,
&
spline_constraints_t
::
init_vel
)
.
def_readwrite
(
"init_acc"
,
&
spline_constraints_t
::
init_acc
)
.
def_readwrite
(
"end_vel"
,
&
spline_constraints_t
::
end_vel
)
.
def_readwrite
(
"end_acc"
,
&
spline_constraints_t
::
end_acc
)
;
/** END spline constraints**/
/** BEGIN spline_deriv_constraints**/
class_
<
spline_deriv_constraint_t
>
(
"spline_deriv_constraint"
,
no_init
)
.
def
(
"__init__"
,
make_constructor
(
&
wrapSplineDerivConstraint
))
.
def
(
"__init__"
,
make_constructor
(
&
wrapSplineDerivConstraintNoConstraints
))
.
def
(
"min"
,
&
exact_cubic_t
::
min
)
.
def
(
"max"
,
&
exact_cubic_t
::
max
)
.
def
(
"__call__"
,
&
exact_cubic_t
::
operator
())
.
def
(
"derivate"
,
&
exact_cubic_t
::
derivate
)
;
/** END spline_deriv_constraints**/
}
}
// namespace spline
python/test/test.py
View file @
d6b06346
from
spline
import
bezier
,
spline
,
exact_cubic
from
spline
import
bezier
,
spline
,
exact_cubic
,
spline_constraints
,
spline_constraints
,
spline_deriv_constraint
from
numpy
import
matrix
...
...
@@ -29,3 +29,13 @@ a.max()
a
(
0.4
)
assert
((
a
.
derivate
(
0.4
,
0
)
==
a
(
0.4
)).
all
())
a
.
derivate
(
0.4
,
2
)
#testing spline_deriv_constraints
c
=
spline_constraints
();
#~ c.init_vel; // TODO: error in reading DATA at the time ...
#~ c.end_vel;
c
.
init_acc
=
matrix
([
0.
,
1.
,
1.
]);
#~ c.end_acc;
a
=
spline_deriv_constraint
(
waypoints
,
time_waypoints
)
a
=
spline_deriv_constraint
(
waypoints
,
time_waypoints
,
c
)
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