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Jason Chemin
curves
Commits
e6c495d0
Commit
e6c495d0
authored
Mar 14, 2017
by
Steve Tonneau
Browse files
fixed property accessing for derivative constraints
parent
d6b06346
Changes
2
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Inline
Side-by-side
python/spline_python.cpp
View file @
e6c495d0
...
...
@@ -96,6 +96,48 @@ spline_deriv_constraint_t* wrapSplineDerivConstraintNoConstraints(const coeff_t&
return
new
spline_deriv_constraint_t
(
wps
.
begin
(),
wps
.
end
());
}
point_t
get_init_vel
(
const
spline_constraints_t
&
c
)
{
return
c
.
init_vel
;
}
point_t
get_init_acc
(
const
spline_constraints_t
&
c
)
{
return
c
.
init_acc
;
}
point_t
get_end_vel
(
const
spline_constraints_t
&
c
)
{
return
c
.
end_vel
;
}
point_t
get_end_acc
(
const
spline_constraints_t
&
c
)
{
return
c
.
end_acc
;
}
void
set_init_vel
(
spline_constraints_t
&
c
,
const
point_t
&
val
)
{
c
.
init_vel
=
val
;
}
void
set_init_acc
(
spline_constraints_t
&
c
,
const
point_t
&
val
)
{
c
.
init_acc
=
val
;
}
void
set_end_vel
(
spline_constraints_t
&
c
,
const
point_t
&
val
)
{
c
.
end_vel
=
val
;
}
void
set_end_acc
(
spline_constraints_t
&
c
,
const
point_t
&
val
)
{
c
.
end_acc
=
val
;
}
BOOST_PYTHON_MODULE
(
spline
)
{
/** BEGIN eigenpy init**/
...
...
@@ -147,10 +189,10 @@ BOOST_PYTHON_MODULE(spline)
/** 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
)
.
add_property
(
"init_vel"
,
&
get_init_vel
,
&
set_
init_vel
)
.
add_property
(
"init_acc"
,
&
get_init_acc
,
&
set_
init_acc
)
.
add_property
(
"end_vel"
,
&
get_end_vel
,
&
set_
end_vel
)
.
add_property
(
"end_acc"
,
&
get_end_acc
,
&
set_
end_acc
)
;
/** END spline constraints**/
...
...
python/test/test.py
View file @
e6c495d0
...
...
@@ -32,10 +32,16 @@ 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_vel
;
# TODO: error in reading DATA at the time ...
c
.
end_vel
;
c
.
init_acc
;
c
.
end_acc
;
c
.
init_vel
=
matrix
([
0.
,
1.
,
1.
]);
c
.
end_vel
=
matrix
([
0.
,
1.
,
1.
]);
c
.
init_acc
=
matrix
([
0.
,
1.
,
1.
]);
#~
c.end_acc;
c
.
end_acc
=
matrix
([
0.
,
1.
,
1.
])
;
a
=
spline_deriv_constraint
(
waypoints
,
time_waypoints
)
a
=
spline_deriv_constraint
(
waypoints
,
time_waypoints
,
c
)
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