From 2b340be9bfd96e18167816efd32686dfdad64cd8 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@laas.fr>
Date: Tue, 4 Apr 2017 15:49:55 +0200
Subject: [PATCH] accessor to waypoints
---
include/spline/bezier_curve.h | 5 +++++
python/spline_python.cpp | 15 +++++++++++++++
2 files changed, 20 insertions(+)
diff --git a/include/spline/bezier_curve.h b/include/spline/bezier_curve.h
index 31bca58..0e8b43e 100644
--- a/include/spline/bezier_curve.h
+++ b/include/spline/bezier_curve.h
@@ -179,6 +179,11 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
return res;
}
+ const t_point_t& waypoints() const
+ {
+ return pts_;
+ }
+
/*Operations*/
/*Helpers*/
diff --git a/python/spline_python.cpp b/python/spline_python.cpp
index f5f0332..b4a163b 100644
--- a/python/spline_python.cpp
+++ b/python/spline_python.cpp
@@ -98,6 +98,19 @@ t_waypoint_t getWayPoints(const coeff_t& array, const time_waypoints_t& time_wp)
return res;
}
+template <typename BezierType, int dim>
+Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> wayPointsToList(const BezierType& self)
+{
+ typedef typename BezierType::t_point_t t_point;
+ typedef typename BezierType::t_point_t::const_iterator cit_point;
+ const t_point& wps = self.waypoints();
+ Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> res (dim, wps.size());
+ int col = 0;
+ for(cit_point cit = wps.begin(); cit != wps.end(); ++cit, ++col)
+ res.block<dim,1>(0,col) = *cit;
+ return res;
+}
+
exact_cubic_t* wrapExactCubicConstructor(const coeff_t& array, const time_waypoints_t& time_wp)
{
t_waypoint_t wps = getWayPoints(array, time_wp);
@@ -186,6 +199,7 @@ BOOST_PYTHON_MODULE(spline)
.def("derivate", &bezier6_t::derivate)
.def("compute_derivate", &bezier6_t::compute_derivate)
.def("compute_primitive", &bezier6_t::compute_primitive)
+ .def("waypoints", &wayPointsToList<bezier6_t,6>)
;
/** END bezier curve**/
@@ -200,6 +214,7 @@ BOOST_PYTHON_MODULE(spline)
.def("derivate", &bezier_t::derivate)
.def("compute_derivate", &bezier_t::compute_derivate)
.def("compute_primitive", &bezier_t::compute_primitive)
+ .def("waypoints", &wayPointsToList<bezier_t,3>)
;
/** END bezier curve**/
--
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