From 9ae40c19cf0839a63b627596384242e04da4e81a Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Fri, 12 Apr 2019 14:23:32 +0200
Subject: [PATCH] change name of hpp-spline for curves, make test 100% OK
---
CMakeLists.txt | 2 +-
python/spline_python.cpp | 44 ++++++++++++++++++++--------------------
python/test/test.py | 2 +-
3 files changed, 24 insertions(+), 24 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b6002b0..0be5c5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/hpp.cmake)
-SET(PROJECT_NAME hpp-spline)
+SET(PROJECT_NAME curves)
SET(PROJECT_DESCRIPTION
"template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics."
)
diff --git a/python/spline_python.cpp b/python/spline_python.cpp
index 9f9e107..b770f45 100644
--- a/python/spline_python.cpp
+++ b/python/spline_python.cpp
@@ -30,7 +30,7 @@ typedef std::vector<Waypoint> T_Waypoint;
typedef std::pair<real, point6_t> Waypoint6;
typedef std::vector<Waypoint6> T_Waypoint6;
-typedef curve::bezier_curve <real, real, 3, true, point_t> bezier_t;
+typedef curve::bezier_curve <real, real, 3, true, point_t> bezier3_t;
typedef curve::bezier_curve <real, real, 6, true, point6_t> bezier6_t;
typedef curve::polynom <real, real, 3, true, point_t, t_point_t> polynom_t;
typedef curve::exact_cubic <real, real, 3, true, point_t, t_point_t> exact_cubic_t;
@@ -47,7 +47,7 @@ typedef curve::curve_constraints<point6_t> curve_constraints6_t;
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
-EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_t)
+EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier3_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier6_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(polynom_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(exact_cubic_t)
@@ -81,21 +81,21 @@ Bezier* wrapBezierConstructorConstraintsTemplate(const PointList& array, const C
}
/*3D constructors */
-bezier_t* wrapBezierConstructor(const point_list_t& array)
+bezier3_t* wrapBezierConstructor(const point_list_t& array)
{
- return wrapBezierConstructorTemplate<bezier_t, point_list_t, t_point_t>(array) ;
+ return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point_t>(array) ;
}
-bezier_t* wrapBezierConstructorBounds(const point_list_t& array, const real ub)
+bezier3_t* wrapBezierConstructorBounds(const point_list_t& array, const real ub)
{
- return wrapBezierConstructorTemplate<bezier_t, point_list_t, t_point_t>(array, ub) ;
+ return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point_t>(array, ub) ;
}
-bezier_t* wrapBezierConstructorConstraints(const point_list_t& array, const curve_constraints_t& constraints)
+bezier3_t* wrapBezierConstructorConstraints(const point_list_t& array, const curve_constraints_t& constraints)
{
- return wrapBezierConstructorConstraintsTemplate<bezier_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints) ;
+ return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints) ;
}
-bezier_t* wrapBezierConstructorBoundsConstraints(const point_list_t& array, const curve_constraints_t& constraints, const real ub)
+bezier3_t* wrapBezierConstructorBoundsConstraints(const point_list_t& array, const curve_constraints_t& constraints, const real ub)
{
- return wrapBezierConstructorConstraintsTemplate<bezier_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints, ub) ;
+ return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints, ub) ;
}
/*END 3D constructors */
/*6D constructors */
@@ -205,7 +205,7 @@ void set_end_acc(curve_constraints_t& c, const point_t& val)
-BOOST_PYTHON_MODULE(hpp_spline)
+BOOST_PYTHON_MODULE(curves)
{
/** BEGIN eigenpy init**/
eigenpy::enableEigenPy();
@@ -241,21 +241,21 @@ BOOST_PYTHON_MODULE(hpp_spline)
/** END bezier curve**/
/** BEGIN bezier curve**/
- class_<bezier_t>
+ class_<bezier3_t>
("bezier", no_init)
.def("__init__", make_constructor(&wrapBezierConstructor))
.def("__init__", make_constructor(&wrapBezierConstructorBounds))
.def("__init__", make_constructor(&wrapBezierConstructorConstraints))
.def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
- .def("min", &bezier_t::min)
- .def("max", &bezier_t::max)
- .def("__call__", &bezier_t::operator())
- .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>)
- .def_readonly("degree", &bezier_t::degree_)
- .def_readonly("nbWaypoints", &bezier_t::size_)
+ .def("min", &bezier3_t::min)
+ .def("max", &bezier3_t::max)
+ .def("__call__", &bezier3_t::operator())
+ .def("derivate", &bezier3_t::derivate)
+ .def("compute_derivate", &bezier3_t::compute_derivate)
+ .def("compute_primitive", &bezier3_t::compute_primitive)
+ .def("waypoints", &wayPointsToList<bezier3_t,3>)
+ .def_readonly("degree", &bezier3_t::degree_)
+ .def_readonly("nbWaypoints", &bezier3_t::size_)
;
/** END bezier curve**/
@@ -314,7 +314,7 @@ BOOST_PYTHON_MODULE(hpp_spline)
/** END bernstein polynom**/
/** BEGIN Bezier to polynom conversion**/
- def("from_bezier", from_bezier<bezier_t,polynom_t>);
+ def("from_bezier", from_bezier<bezier3_t,polynom_t>);
/** END Bezier to polynom conversion**/
diff --git a/python/test/test.py b/python/test/test.py
index 38e7759..be5dd55 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -6,7 +6,7 @@ from numpy import matrix
from numpy.linalg import norm
from numpy.testing import assert_allclose
-from hpp_spline import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
+from curves import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
class TestSpline(unittest.TestCase):
--
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