From 40a366a1a0656e7fc4c50460021a3061dd038cbb Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Thu, 6 Jun 2019 15:04:33 +0200
Subject: [PATCH] Add test and some doc for piecewise polynomial curve, all
tests are working
---
include/curves/piecewise_polynomial_curve.h | 19 +++++++++++++++--
tests/Main.cpp | 23 +++++++++------------
2 files changed, 27 insertions(+), 15 deletions(-)
diff --git a/include/curves/piecewise_polynomial_curve.h b/include/curves/piecewise_polynomial_curve.h
index f1b80e2..bec4433 100644
--- a/include/curves/piecewise_polynomial_curve.h
+++ b/include/curves/piecewise_polynomial_curve.h
@@ -15,7 +15,14 @@
namespace curves
{
/// \class PiecewiseCurve.
-///
+/// \brief Represent a piecewise polynomial curve. We can add some new polynomials to the curve,
+/// but the starting time of the polynomial to add should be equal to the ending time of the
+/// piecewise_polynomial_curve.\n
+/// Example : A piecewise polynomial curve composed of three polynomials pol_0, pol_1 and pol_2
+/// where pol_0 is defined between \f$[T0_{min},T0_{max}]\f$, pol_1 between \f$[T0_{max},T1_{max}]\f$
+/// and pol_2 between \f$[T1_{max},T2_{max}]\f$.
+/// On the piecewise polynomial curve, pol_0 is located between \f$[T0_{min},T0_{max}[\f$,
+/// pol_1 between \f$[T0_{max},T1_{max}[\f$ and pol_2 between \f$[T1_{max},T2_{max}]\f$.
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Dim, 1>,
@@ -75,9 +82,13 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
return (polynomial_curves_.at(find_interval(t))).derivate(t, order);
}
+ /// \brief Add a new polynomial to piecewise curve, which should be defined in \f$[T_{min},T_{max}]\f$ where \f$T_{min}\f$
+ /// is equal to \f$T_{max}\f$ of the actual piecewise curve.
+ /// \param pol : polynomial to add.
+ ///
void add_polynomial_curve(polynomial_t pol)
{
- // Check time continuity : Begin time of pol must be equal to T_max_ of actual piecewise curve.
+ // Check time continuity : Beginning time of pol must be equal to T_max_ of actual piecewise curve.
if (size_!=0 && pol.min()!=T_max_)
{
throw std::out_of_range("Can not add new Polynom to PiecewiseCurve : time discontinuity between T_max_ and pol.min()");
@@ -88,6 +99,10 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
time_polynomial_curves_.push_back(T_max_);
}
+ /// \brief Check if the curve is continuous of order given.
+ /// \param order : order of continuity we want to check.
+ /// \return True if the curve is continuous of order given.
+ ///
bool is_continuous(const std::size_t order)
{
bool isContinuous = true;
diff --git a/tests/Main.cpp b/tests/Main.cpp
index 9e40fac..0cd8630 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -1120,7 +1120,6 @@ void CubicHermitePairsPositionDerivativeTest(bool& error)
ComparePoints(t2, res1, errmsg3, error);
}
-/*
void piecewisePolynomialCurveTest(bool& error)
{
@@ -1133,6 +1132,7 @@ void piecewisePolynomialCurveTest(bool& error)
vec1.push_back(a); // x=1, y=1, z=1
vec2.push_back(b); // x=2, y=1, z=1
vec3.push_back(c); // x=3, y=1, z=1
+ // Create three polynomials of constant value in the interval of definition
polynomial_t pol1(vec1.begin(), vec1.end(), 0, 1);
polynomial_t pol2(vec2.begin(), vec2.end(), 1, 2);
polynomial_t pol3(vec3.begin(), vec3.end(), 2, 3);
@@ -1147,20 +1147,23 @@ void piecewisePolynomialCurveTest(bool& error)
ppc.add_polynomial_curve(pol3);
// Check values on piecewise curve
+ // t in [0,1[ -> res=a
res = ppc(0.);
ComparePoints(a,res,errmsg1,error);
res = ppc(0.5);
ComparePoints(a,res,errmsg1,error);
+ // t in [1,2[ -> res=b
res = ppc(1.0);
ComparePoints(b,res,errmsg1,error);
res = ppc(1.5);
ComparePoints(b,res,errmsg1,error);
- res = ppc(2.5);
+ // t in [2,3] -> res=c
+ res = ppc(2.0);
ComparePoints(c,res,errmsg1,error);
res = ppc(3.0);
ComparePoints(c,res,errmsg1,error);
- // piecewise curve C0
+ // Create piecewise curve C0
point_t a1(1,1,1);
t_point_t vec_C0;
vec_C0.push_back(a);
@@ -1174,7 +1177,7 @@ void piecewisePolynomialCurveTest(bool& error)
res = ppc_C0(1.5);
ComparePoints(point_t(1.5,1.5,1.5),res,errmsg1,error);
- // piecewise curve C1 from Hermite
+ // Create piecewise curve C1 from Hermite
point_t p0(0.,0.,0.);
point_t p1(1.,2.,3.);
point_t p2(4.,4.,4.);
@@ -1200,7 +1203,7 @@ void piecewisePolynomialCurveTest(bool& error)
piecewise_polynomial_curve_t ppc_C1(pol_chs0);
ppc_C1.add_polynomial_curve(pol_chs1);
- // piecewise curve C2
+ // Create piecewise curve C2
point_t a0(0,0,0);
point_t b0(1,1,1);
t_point_t veca, vecb;
@@ -1263,7 +1266,6 @@ void piecewisePolynomialCurveTest(bool& error)
error = true;
}
}
-*/
int main(int /*argc*/, char** /*argv[]*/)
{
@@ -1289,14 +1291,9 @@ int main(int /*argc*/, char** /*argv[]*/)
BezierEvalDeCasteljau(error);
BezierSplitCurve(error);
CubicHermitePairsPositionDerivativeTest(error);
-
- //piecewisePolynomialCurveTest(error);
-
- //toPolynomialConversionTest(error);
-
+ piecewisePolynomialCurveTest(error);
+ toPolynomialConversionTest(error);
cubicConversionTest(error);
-
-
if(error)
{
--
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