From 97e6ad97f177a817bd61562b9f4b3aa0c32f540d Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Mon, 3 Jun 2019 16:00:57 +0200
Subject: [PATCH] All changes ok, test ok, to check for release
---
CMakeLists.txt | 4 +++
include/curves/piecewise_polynomial_curve.h | 33 ++++++++++++++++++---
2 files changed, 33 insertions(+), 4 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ef850b..2618fe0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,10 @@ INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/hpp.cmake)
+IF(UNIX OR APPLE)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wall -std=c++11")
+ENDIF()
+
SET(PROJECT_ORG loco-3d)
SET(PROJECT_NAME curves)
SET(PROJECT_DESCRIPTION
diff --git a/include/curves/piecewise_polynomial_curve.h b/include/curves/piecewise_polynomial_curve.h
index 7d47892..350b4a0 100644
--- a/include/curves/piecewise_polynomial_curve.h
+++ b/include/curves/piecewise_polynomial_curve.h
@@ -1,3 +1,10 @@
+/**
+* \file piecewise_polynomial_curve.h
+* \brief class allowing to create a piecewise polynomial curve.
+* \author Jason C.
+* \date 05/2019
+*/
+
#ifndef _CLASS_PIECEWISE_CURVE
#define _CLASS_PIECEWISE_CURVE
@@ -5,7 +12,6 @@
#include "polynomial.h"
#include "curve_conversion.h"
-
namespace curves
{
/// \class PiecewiseCurve.
@@ -38,9 +44,8 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
piecewise_polynomial_curve(const polynomial_t& pol)
{
size_ = 0;
- T_min_ = pol.min();
- time_polynomial_curves_.push_back(T_min_);
add_polynomial_curve(pol);
+ //coefficients_storage = ppc_protobuf_t.piecewise_polynomial_curve_protobuf.New();
}
virtual ~piecewise_polynomial_curve(){}
@@ -49,6 +54,7 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
{
if(Safe &! (T_min_ <= t && t <= T_max_))
{
+ //std::cout<<"[Min,Max]=["<<T_min_<<","<<T_max_<<"]"<<" t="<<t<<std::endl;
throw std::out_of_range("can't evaluate piecewise curve, out of range");
}
return polynomial_curves_.at(find_interval(t))(t);
@@ -70,6 +76,12 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
void add_polynomial_curve(polynomial_t pol)
{
+ // Set the minimum time of curve
+ if (size_==0)
+ {
+ time_polynomial_curves_.push_back(pol.min());
+ T_min_ = pol.min();
+ }
// Check time continuity : Begin time of pol must be equal to T_max_ of actual piecewise curve.
if (size_!=0 && pol.min()!=T_max_)
{
@@ -151,6 +163,19 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
return left_id-1;
}
+ /*
+ double set_coefficient_to_protobuf(Numeric value, Index id_curve_segment, Index row, Index col)
+ {
+ coefficients_storage.list_matrices(id_curve_segment).set_coefficients(col*coefficients_storage.cols()+row, value);
+ }
+
+ double get_coefficient_from_protobuf(Index id_curve_segment, Index row, Index col)
+ {
+ // To access the data in proto, use data[i*cols+j]
+ return coefficients_storage.list_matrices(id_curve_segment).coefficients(col*coefficients_storage.cols()+row);
+ }
+ */
+
/*Helpers*/
public:
/// \brief Get the minimum time for which the curve is defined
@@ -164,7 +189,7 @@ struct piecewise_polynomial_curve : public curve_abc<Time, Numeric, Dim, Safe, P
/* Variables */
t_polynomial_t polynomial_curves_; // for curves 0/1/2 : [ curve0, curve1, curve2 ]
t_vector_time_t time_polynomial_curves_; // for curves 0/1/2 : [ Tmin0, Tmax0,Tmax1,Tmax2 ]
- Numeric size_; // Number of segments in piecewise curve
+ Numeric size_; // Number of segments in piecewise curve = size of polynomial_curves_
Time T_min_, T_max_;
const double margin = 0.001;
};
--
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