curves → ndcurves

CMakeLists.txt

@@ -38,7 +38,7 @@ SET(CMAKE_CXX_STANDARD 11)
 ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES "pinocchio >= 2.0.0")
 ADD_PROJECT_DEPENDENCY(ndcurves 1.0.0 REQUIRED PKG_CONFIG_REQUIRES "ndcurves >= 0.5.1")
 IF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
-  MESSAGE(FATAL_ERROR "you need to use a curves version compiled with pinocchio support")
+  MESSAGE(FATAL_ERROR "you need to use a ndcurves version compiled with pinocchio support")
 ENDIF(NOT CURVES_WITH_PINOCCHIO_SUPPORT)
 SET(BOOST_COMPONENTS unit_test_framework serialization)
 

README.md

@@ -7,13 +7,13 @@
 This package is extracted from an original work of Justin Carpentier (jcarpent@laas.fr),
 with the goal to simplify the library, make it more generic and remove old dependencies.
 
-This package provide C++ structures with python bindings used to define and store contact phases and contact sequences. 
+This package provide C++ structures with python bindings used to define and store contact phases and contact sequences.
 
 # Dependencies
 
 * Eigen
 * [Pinocchio](https://github.com/stack-of-tasks/pinocchio)
-* [Curves](https://github.com/loco-3d/curves)
+* [NDCurves](https://github.com/loco-3d/ndcurves)
 * [Eigenpy](https://github.com/stack-of-tasks/eigenpy) (Only for python bindings)
 
 # Installation procedure
@@ -25,7 +25,7 @@ This package is available as binary in [robotpkg/wip](http://robotpkg.openrobots
 Install the required dependencies, eg. (choose for python version):
 
 ```
-sudo apt-get install robotpkg-py35-pinocchio robotpkg-py35-curves
+sudo apt-get install robotpkg-py35-pinocchio robotpkg-py3\*-curves
 ```
 
 Clone the repository and build the package:
@@ -45,7 +45,7 @@ This package define 3 main classes representing physical concepts of legged loco
 
 ### Contact Patch
 
-A contact patch define the placement (in SE(3), in the world frame) of a contact as long as the friction coefficient for this contact. 
+A contact patch define the placement (in SE(3), in the world frame) of a contact as long as the friction coefficient for this contact.
 
 Future work will also include the type of contact (eg planar, punctual, bilateral ...), a representation of the friction cone or additional information about the contact.
 
@@ -53,7 +53,7 @@ Future work will also include the type of contact (eg planar, punctual, bilatera
 
 A contact phase is defined by a constant set of contact points.
 In the context of bipedal walking, two examples of contact phases are the single and double support phases.
-A contact phase store several data, many of which are optional. 
+A contact phase store several data, many of which are optional.
 
 It store the set of active contacts as a map<String, ContactPatch> with the effector name as Keys:
 
@@ -65,17 +65,17 @@ patchRF = ContactPatch(p,0.5) # create a new contact patch at the placement p wi
 cp.addContact("right-feet",patchRF)
 # check if an effector is in contact:
 cp.isEffectorInContact("right-feet")
-# access to the contact patch from the effector name: 
+# access to the contact patch from the effector name:
 cp.contactPatch("right-feet")
-``` 
+```
 
-A contact phase can be defined in a specific time interval: 
+A contact phase can be defined in a specific time interval:
 
 ```python
 cp = ContactPhase()
 cp.timeInitial = 1.
 cp.timeFinal =3.5
-``` 
+```
 
 **Centroidal dynamic data**
 
@@ -102,9 +102,9 @@ Optionnaly, a Contact Phase can store data related to the centroidal dynamic. It
   point3_t m_L_final;
   /// \brief Final angular momentum derivative for this contact phase
   point3_t m_dL_final;
-``` 
+```
 
-It also store centroidal trajectories, represented with objects from the [Curves](https://github.com/loco-3d/curves) library:
+It also store centroidal trajectories, represented with objects from the [NDCurves](https://github.com/loco-3d/ndcurves) library:
 
 
 ```c
@@ -124,18 +124,18 @@ It also store centroidal trajectories, represented with objects from the [Curves
   curve_ptr m_zmp;
   /// \brief SE3 trajectory of the root of the robot
   curve_SE3_ptr m_root;
-``` 
+```
 
 **Wholebody data:**
 
-A Contact Phase can also store data related to the wholebody motion, it store the following initial and final wholebody configuration as public member: 
+A Contact Phase can also store data related to the wholebody motion, it store the following initial and final wholebody configuration as public member:
 
 ```c
   /// \brief Initial whole body configuration of this phase
   pointX_t m_q_init;
   /// \brief Final whole body configuration of this phase
   pointX_t m_q_final;
-``` 
+```
 
 And the following trajectories:
 
@@ -148,7 +148,7 @@ And the following trajectories:
   curve_ptr m_ddq;
   /// \brief trajectory for the joint torques
   curve_ptr m_tau;
-``` 
+```
 
 It can also store the contact forces and contact normal forces, in a map<String,curve_ptr> with the effector name as Key:
 
@@ -156,14 +156,14 @@ It can also store the contact forces and contact normal forces, in a map<String,
 ```python
 fR = createRandomPiecewisePolynomial(12)
 cp.addContactForceTrajectory("right-feet",fR)
-# access the trajectory : 
+# access the trajectory :
 cp.contactForce("right-feet")
 # contact normal force :
 fnR = createRandomPiecewisePolynomial(1)
 cp.addContactNormalForceTrajectory("right-feet",fnR)
-# access the trajectory : 
+# access the trajectory :
 cp.contactNormalForce("right-feet")
-``` 
+```
 
 And the effector trajectory for the swinging limbs, also in a map<String,curve_ptr> with the effector name as Key:
 
@@ -178,9 +178,9 @@ end_pose.rotation = Quaternion(sqrt(2.) / 2., sqrt(2.) / 2., 0, 0).normalized().
 effL = SE3Curve(init_pose, end_pose, cp.timeInitial,cp.timeFinal)
 # add it to the contact phase:
 cp.addEffectorTrajectory("left-feet",effL)
-# access the trajectory : 
+# access the trajectory :
 cp.effectorTrajectory("left-feet")
-``` 
+```
 
 ### Contact Sequence
 
@@ -188,9 +188,9 @@ As soon as a creation or a rupture of contact point occurs, the contact set is m
 The concatenation of contact phases describes what we name a contact sequence, inside which all the contact phases have
 their own duration.
 
-A contact sequence is basically a Vector of Contact Phase, with several helper method which can be used to ease the creation of a Contact Sequence. 
+A contact sequence is basically a Vector of Contact Phase, with several helper method which can be used to ease the creation of a Contact Sequence.
 
-One can either create a Contact sequence with a know number of contact Phase and correctly set the members of the Contact Phases with: 
+One can either create a Contact sequence with a know number of contact Phase and correctly set the members of the Contact Phases with:
 
 ```c
 ContactSequence cs = ContactSequence(3);
@@ -200,11 +200,11 @@ cs.contactPhase(0) = cp0;
 // or:
 cs.contactPhase(1).m_c_init = Point3_t(1,0,0.7);
 cs.contactPhase(1).timeFinal(3.);
-// or : 
+// or :
 ContactPhase& cp2 = cs.contactPhase(2);
 /* set the contact phase members ... */
 
-``` 
+```
 
 Or simply append new Contact Phase at the end of the current Contact Sequence;
 
@@ -213,7 +213,7 @@ ContactSequence cs; // create empty contact sequence
 ContactPhase cp0;
 /* set the contact phase members ... */
 cs.append(cp0);
-``` 
+```
 
 **Helper methods to create contact sequence**
 
@@ -228,38 +228,28 @@ Several helper methods have been added to the ContactSequence class to ease the
   * it create the contact with eeName at the given placement.
 
 
-* `moveEffectorOf(eeName, transform, durationBreak, durationCreate)` Similar to moveEffectorToPlacement but use a transform from the previous contact placement instead of a new placement. 
+* `moveEffectorOf(eeName, transform, durationBreak, durationCreate)` Similar to moveEffectorToPlacement but use a transform from the previous contact placement instead of a new placement.
 
 
 
 **Helper methods to check a contact sequence**
 
-The ContactSequence class contains several methods to check if the sequence contains some of the optional data, and if they are consistents across all the contact phases. 
-This methods should be used in order to check if a ContactSequence object given as input to your algorithm have been correctly initialized with all the data that you are going to use in your algorithm. 
-It may also be used to check if your algorithm output consistent data. 
+The ContactSequence class contains several methods to check if the sequence contains some of the optional data, and if they are consistents across all the contact phases.
+This methods should be used in order to check if a ContactSequence object given as input to your algorithm have been correctly initialized with all the data that you are going to use in your algorithm.
+It may also be used to check if your algorithm output consistent data.
 
-Examples of such methods are `haveConsistentContacts` or `haveCentroidalTrajectories` which check that the (c, dc, ddc, L, dL) have been initialized, have the correct duration, 
-and that each trajectories of one phase correctly end at the same value as it begin in the next phase. 
+Examples of such methods are `haveConsistentContacts` or `haveCentroidalTrajectories` which check that the (c, dc, ddc, L, dL) have been initialized, have the correct duration,
+and that each trajectories of one phase correctly end at the same value as it begin in the next phase.
 
 
 **Helper methods to access Data**
 
 The ContactSequence class also contains methods for easier access to the data contained in the ContactPhase vector. For example, `phaseAtTime` or `phaseIdAtTime` can be used to access a specific ContactPhase at a given time.
-`getAllEffectorsInContact` output all the effector used to create contact during the sequence. 
+`getAllEffectorsInContact` output all the effector used to create contact during the sequence.
 
 Finally, methods exists to return the complete trajectory along the contact sequence, concatenating the trajectories of each phases (eg. `concatenateCtrajectories` return the complete c(t) trajectory for all the contact sequence).
 
 
 ## Examples
 
-[Examples](examples/README.md) provide several serialized ContactSequence files with descriptions. 
-
-
-
-
-
-
-
-
-
-
+[Examples](examples/README.md) provide several serialized ContactSequence files with descriptions.