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Commit edf6cbc9 authored by JasonChmn's avatar JasonChmn Committed by Pierre Fernbach
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[python binding] Edit name of all curves of dimension 3 / delete bezier dimension 6

parent b6633721
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python/curves_python.cpp
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python/test/test.py
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......@@ -6,10 +6,12 @@ from numpy.linalg import norm
#from curves import ( serialize_polynomial, deserialize_polynomial, serialize_piecewise_polynomial_curve, deserialize_piecewise_polynomial_curve )
from curves import (bezier3, bezier6, bezier_from_hermite, bezier_from_polynomial, cubic_hermite_spline,
curve_constraints, exact_cubic, hermite_from_bezier, hermite_from_polynomial,
piecewise_bezier3_curve, piecewise_bezier6_curve, piecewise_cubic_hermite_curve,
piecewise_polynomial_curve, polynomial, polynomial_from_bezier, polynomial_from_hermite)
from curves import (bezier_from_hermite, bezier_from_polynomial, hermite_from_polynomial,
hermite_from_bezier, polynomial_from_hermite, polynomial_from_bezier,
cubic_hermite_spline3, curve_constraints3, exact_cubic3, bezier3,
piecewise_bezier3_curve, piecewise_cubic_hermite3_curve,
piecewise_polynomial3_curve, polynomial3
)
#import curves
......@@ -30,10 +32,8 @@ class TestCurves(unittest.TestCase):
self.assertTrue(norm(a(t) - matrix([1., 2., 3.]).T) < __EPS)
t += 0.1
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
# Create bezier6 and bezier3
a6 = bezier6(waypoints6)
a = bezier3(waypoints, 0., 3.)
# Test : Degree, min, max, derivate
#self.print_str(("test 1")
......@@ -71,7 +71,7 @@ class TestCurves(unittest.TestCase):
self.assertTrue(norm(prim0(t) - prim1(t * 3) / 3.) < __EPS)
self.assertTrue((prim(0) == matrix([0., 0., 0.])).all())
# testing bezier with constraints
c = curve_constraints()
c = curve_constraints3()
c.init_vel = matrix([0., 1., 1.]).transpose()
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., -1.]).transpose()
......@@ -88,12 +88,6 @@ class TestCurves(unittest.TestCase):
b = bezier3()
b.loadFromText("serialization_curve.test")
self.assertTrue((a(0.4) == b(0.4)).all())
# Test serialization : Bezier 6
a6.saveAsText("serialization_curve.test")
b6 = bezier6()
b6.loadFromText("serialization_curve.test")
self.assertTrue((a6(0.4) == b6(0.4)).all())
os.remove("serialization_curve.test")
return
......@@ -102,8 +96,8 @@ class TestCurves(unittest.TestCase):
# - Functions : constructor, min, max, derivate, serialize, deserialize
waypoints_0 = matrix([[0.,0.,0.], [0.,0.,0.]]).transpose()
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = polynomial(waypoints) # Defined on [0.,1.]
a = polynomial(waypoints, -1., 3.) # Defined on [-1.,3.]
a = polynomial3(waypoints) # Defined on [0.,1.]
a = polynomial3(waypoints, -1., 3.) # Defined on [-1.,3.]
a.min()
a.max()
a(0.4)
......@@ -113,7 +107,7 @@ class TestCurves(unittest.TestCase):
self.assertTrue((a.derivate(0.4, 1) == a_derivated(0.4)).all())
# Test serialization
a.saveAsText("serialization_curve.test")
b = polynomial()
b = polynomial3()
b.loadFromText("serialization_curve.test")
self.assertTrue((a(0.4) == b(0.4)).all())
os.remove("serialization_curve.test")
......@@ -123,7 +117,7 @@ class TestCurves(unittest.TestCase):
points = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_points = matrix([0., 1.]).transpose()
a = cubic_hermite_spline(points, tangents, time_points)
a = cubic_hermite_spline3(points, tangents, time_points)
a.min()
a.max()
a(0.4)
......@@ -131,7 +125,7 @@ class TestCurves(unittest.TestCase):
a.derivate(0.4, 2)
# Test serialization
a.saveAsText("serialization_curve.test")
b = cubic_hermite_spline()
b = cubic_hermite_spline3()
b.loadFromText("serialization_curve.test")
self.assertTrue((a(0.4) == b(0.4)).all())
os.remove("serialization_curve.test")
......@@ -143,10 +137,10 @@ class TestCurves(unittest.TestCase):
waypoints0 = matrix([[0., 0., 0.]]).transpose()
waypoints1 = matrix([[1., 1., 1.]]).transpose()
waypoints2 = matrix([[1., 1., 1.], [1., 1., 1.]]).transpose()
pol0 = polynomial(waypoints0, 0., 0.1)
a = polynomial(waypoints1, 0., 1.)
b = polynomial(waypoints2, 1., 3.)
pc = piecewise_polynomial_curve(a)
pol0 = polynomial3(waypoints0, 0., 0.1)
a = polynomial3(waypoints1, 0., 1.)
b = polynomial3(waypoints2, 1., 3.)
pc = piecewise_polynomial3_curve(a)
pc.add_curve(b)
pc.min()
pc.max()
......@@ -157,7 +151,7 @@ class TestCurves(unittest.TestCase):
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
pc_test = piecewise_polynomial_curve()
pc_test = piecewise_polynomial3_curve()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
......@@ -186,29 +180,6 @@ class TestCurves(unittest.TestCase):
os.remove("serialization_pc.test")
return
def test_piecewise_bezier6_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
waypoints = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
a = bezier6(waypoints, 0., 1.)
b = bezier6(waypoints, 1., 2.)
pc = piecewise_bezier6_curve(a)
pc.add_curve(b)
pc.min()
pc.max()
pc(0.4)
self.assertTrue((pc.derivate(0.4, 0) == pc(0.4)).all())
pc.derivate(0.4, 2)
pc.is_continuous(0)
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
pc_test = piecewise_bezier6_curve()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
return
def test_piecewise_cubic_hermite_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
......@@ -216,9 +187,9 @@ class TestCurves(unittest.TestCase):
tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_points0 = matrix([0., 1.]).transpose()
time_points1 = matrix([1., 2.]).transpose()
a = cubic_hermite_spline(points, tangents, time_points0)
b = cubic_hermite_spline(points, tangents, time_points1)
pc = piecewise_cubic_hermite_curve(a)
a = cubic_hermite_spline3(points, tangents, time_points0)
b = cubic_hermite_spline3(points, tangents, time_points1)
pc = piecewise_cubic_hermite3_curve(a)
pc.add_curve(b)
pc.min()
pc.max()
......@@ -229,7 +200,7 @@ class TestCurves(unittest.TestCase):
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
pc_test = piecewise_cubic_hermite_curve()
pc_test = piecewise_cubic_hermite3_curve()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
......@@ -240,7 +211,7 @@ class TestCurves(unittest.TestCase):
# - Functions : constructor, min, max, derivate, getNumberSplines, getSplineAt
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a = exact_cubic3(waypoints, time_waypoints)
a.min()
a.max()
a(0.4)
......@@ -250,7 +221,7 @@ class TestCurves(unittest.TestCase):
a.getSplineAt(0)
# Test serialization
a.saveAsText("serialization_pc.test")
b = exact_cubic()
b = exact_cubic3()
b.loadFromText("serialization_pc.test")
self.assertTrue((a(0.4) == b(0.4)).all())
os.remove("serialization_pc.test")
......@@ -261,7 +232,7 @@ class TestCurves(unittest.TestCase):
# - Functions : constructor, min, max, derivate
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
c = curve_constraints()
c = curve_constraints3()
c.init_vel
c.end_vel
c.init_acc
......@@ -270,8 +241,8 @@ class TestCurves(unittest.TestCase):
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., 1.]).transpose()
c.end_acc = matrix([0., 1., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a = exact_cubic(waypoints, time_waypoints, c)
a = exact_cubic3(waypoints, time_waypoints)
a = exact_cubic3(waypoints, time_waypoints, c)
return
def test_conversion_curves(self):
......
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