diff --git a/CMakeLists.txt b/CMakeLists.txt
index f0f94250d9bd6d2ded0cc1e9a4e2e741ed963b00..9ef850bf2bf2ef6db0caf548da87490a676cde88 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,7 +37,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
SEARCH_FOR_BOOST()
INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
-ADD_SUBDIRECTORY(include/curve)
+ADD_SUBDIRECTORY(include/curves)
ADD_SUBDIRECTORY(tests)
SETUP_HPP_PROJECT_FINALIZE()
diff --git a/cmake b/cmake
index 61e5574a0615706aab06986f6aecf665ddc31141..cea261e3da7d383844530070356bca76d20197a8 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 61e5574a0615706aab06986f6aecf665ddc31141
+Subproject commit cea261e3da7d383844530070356bca76d20197a8
diff --git a/include/curve/CMakeLists.txt b/include/curves/CMakeLists.txt
similarity index 91%
rename from include/curve/CMakeLists.txt
rename to include/curves/CMakeLists.txt
index 1bf329e9236076a30e2fd2ea4b1dc1beee3f388b..c0f87f95b9555d1cbb879217c9f7ee0596bea727 100644
--- a/include/curve/CMakeLists.txt
+++ b/include/curves/CMakeLists.txt
@@ -15,7 +15,7 @@ SET(${PROJECT_NAME}_HEADERS
INSTALL(FILES
${${PROJECT_NAME}_HEADERS}
- DESTINATION include/curve
+ DESTINATION include/curves
)
ADD_SUBDIRECTORY(helpers)
diff --git a/include/curve/MathDefs.h b/include/curves/MathDefs.h
similarity index 96%
rename from include/curve/MathDefs.h
rename to include/curves/MathDefs.h
index c2ac664dd0dfd29e650e9b8c0449d24f5ce5472b..628898e60bf97ac176b28584fcbc8674ae8c65c8 100644
--- a/include/curve/MathDefs.h
+++ b/include/curves/MathDefs.h
@@ -20,7 +20,7 @@
#include <vector>
#include <utility>
-namespace curve{
+namespace curves{
//REF: boulic et al An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
template<typename _Matrix_Type_>
@@ -40,5 +40,5 @@ void PseudoInverse(_Matrix_Type_& pinvmat)
pinvmat = (svd.matrixV()*m_sigma_inv*svd.matrixU().transpose());
}
-} // namespace curve
+} // namespace curves
#endif //_SPLINEMATH
diff --git a/include/curve/bernstein.h b/include/curves/bernstein.h
similarity index 92%
rename from include/curve/bernstein.h
rename to include/curves/bernstein.h
index a20784359176b17c11936001e351fb252cb7a57c..800ac3447c861899370eca24181d370e7ae03482 100644
--- a/include/curve/bernstein.h
+++ b/include/curves/bernstein.h
@@ -18,7 +18,7 @@
#include <vector>
#include <stdexcept>
-namespace curve
+namespace curves
{
///
/// \brief Computes factorial of a number.
@@ -74,6 +74,6 @@ std::vector<Bern<Numeric> > makeBernstein(const unsigned int n)
res.push_back(Bern<Numeric>(n, i));
return res;
}
-} // namespace curve
+} // namespace curves
#endif //_CLASS_BERNSTEIN
diff --git a/include/curve/bezier_curve.h b/include/curves/bezier_curve.h
similarity index 95%
rename from include/curve/bezier_curve.h
rename to include/curves/bezier_curve.h
index 74e7767e6a02382276f9ce8f15901651e657bc26..d5d6bf124e435bf0d8d94ba10394793be2ffa11f 100644
--- a/include/curve/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -21,7 +21,7 @@
#include <iostream>
-namespace curve
+namespace curves
{
/// \class BezierCurve.
/// \brief Represents a Bezier curve of arbitrary dimension and order.
@@ -54,7 +54,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
, mult_T_(1.)
, size_(std::distance(PointsBegin, PointsEnd))
, degree_(size_-1)
- , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+ , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
{
assert(bernstein_.size() == size_);
In it(PointsBegin);
@@ -76,7 +76,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
, mult_T_(1.)
, size_(std::distance(PointsBegin, PointsEnd))
, degree_(size_-1)
- , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+ , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
{
assert(bernstein_.size() == size_);
In it(PointsBegin);
@@ -101,7 +101,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
, mult_T_(mult_T)
, size_(std::distance(PointsBegin, PointsEnd))
, degree_(size_-1)
- , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+ , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
{
assert(bernstein_.size() == size_);
In it(PointsBegin);
@@ -124,7 +124,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
, mult_T_(1.)
, size_(std::distance(PointsBegin, PointsEnd)+4)
, degree_(size_-1)
- , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+ , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
{
if(Safe && (size_<1 || T_ <= 0.))
throw std::out_of_range("can't create bezier min bound is higher than max bound");
diff --git a/include/curve/bezier_polynom_conversion.h b/include/curves/bezier_polynom_conversion.h
similarity index 94%
rename from include/curve/bezier_polynom_conversion.h
rename to include/curves/bezier_polynom_conversion.h
index a2700b163717ced8b9d915685fc263cae4443069..6829f98d0846be4359807dd6562b25f1b79bddf4 100644
--- a/include/curve/bezier_polynom_conversion.h
+++ b/include/curves/bezier_polynom_conversion.h
@@ -21,7 +21,7 @@
#include <iostream>
-namespace curve
+namespace curves
{
/// \brief Provides methods for converting a curve from a bernstein representation
/// to a polynom representation.
@@ -64,6 +64,6 @@ Bezier from_polynom(const Polynom& polynom)
typedef Bezier::cit_point_t cit_point_t;
typedef Bezier::bezier_curve_t bezier_curve_t;
}*/
-} // namespace curve
+} // namespace curves
#endif //_BEZIER_POLY_CONVERSION
diff --git a/include/curve/cubic_spline.h b/include/curves/cubic_spline.h
similarity index 94%
rename from include/curve/cubic_spline.h
rename to include/curves/cubic_spline.h
index a852d8e72d3a8a828347fb114f447729d10a0ea4..4e2efed0e94f9240d8d5e86ef86be7d3957c074a 100644
--- a/include/curve/cubic_spline.h
+++ b/include/curves/cubic_spline.h
@@ -20,7 +20,7 @@
#include <stdexcept>
-namespace curve
+namespace curves
{
/// \brief Creates coefficient vector of a cubic spline defined on the interval
/// \f$[t_{min}, t_{max}]\f$. It follows the equation :
@@ -41,6 +41,6 @@ polynom<Time,Numeric,Dim,Safe,Point,T_Point> create_cubic(Point const& a, Point
T_Point coeffs = make_cubic_vector<Point, T_Point>(a,b,c,d);
return polynom<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
}
-} // namespace curve
+} // namespace curves
#endif //_STRUCT_CUBICSPLINE
diff --git a/include/curve/curve_abc.h b/include/curves/curve_abc.h
similarity index 94%
rename from include/curve/curve_abc.h
rename to include/curves/curve_abc.h
index 72aac2d98a917bad536c2eb129c853f32b5b61b4..a943eb8911214e942ecebaef070dabb54d653932 100644
--- a/include/curve/curve_abc.h
+++ b/include/curves/curve_abc.h
@@ -16,7 +16,7 @@
#include <functional>
-namespace curve
+namespace curves
{
/// \struct curve_abc
/// \brief Represents a curve of dimension Dim
@@ -63,6 +63,6 @@ struct curve_abc : std::unary_function<Time, Point>
/*Helpers*/
};
-} // namespace curve
+} // namespace curves
#endif //_STRUCT_CURVE_ABC
diff --git a/include/curve/curve_constraint.h b/include/curves/curve_constraint.h
similarity index 94%
rename from include/curve/curve_constraint.h
rename to include/curves/curve_constraint.h
index 5b4e8efc9b82d2c3e097dd3675aa41bef8f286e8..d3710c9fb40e396bce15fcc55989d7f2bb074623 100644
--- a/include/curve/curve_constraint.h
+++ b/include/curves/curve_constraint.h
@@ -17,7 +17,7 @@
#include <functional>
#include <vector>
-namespace curve
+namespace curves
{
template <typename Point>
struct curve_constraints
@@ -32,5 +32,5 @@ struct curve_constraints
point_t end_vel;
point_t end_acc;
};
-} // namespace curve
+} // namespace curves
#endif //_CLASS_CUBICZEROVELACC
diff --git a/include/curve/exact_cubic.h b/include/curves/exact_cubic.h
similarity index 96%
rename from include/curve/exact_cubic.h
rename to include/curves/exact_cubic.h
index e33f934b8feaa2354d7387f61a54d65232a19072..693109c02c72b580fb0fdbcf7dc3f47e9620632b 100644
--- a/include/curve/exact_cubic.h
+++ b/include/curves/exact_cubic.h
@@ -29,7 +29,7 @@
#include <functional>
#include <vector>
-namespace curve
+namespace curves
{
/// \class ExactCubic.
/// \brief Represents a set of cubic splines defining a continuous function
@@ -201,6 +201,6 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
t_spline_t subSplines_; // const
/*Attributes*/
};
-} // namespace curve
+} // namespace curves
#endif //_CLASS_EXACTCUBIC
diff --git a/include/curve/helpers/CMakeLists.txt b/include/curves/helpers/CMakeLists.txt
similarity index 79%
rename from include/curve/helpers/CMakeLists.txt
rename to include/curves/helpers/CMakeLists.txt
index 7a849f3810093da39a1fb5d2bf1a2ac92500aa1f..680a55b60ff892c63c9e926162bed4b049cd5de2 100644
--- a/include/curve/helpers/CMakeLists.txt
+++ b/include/curves/helpers/CMakeLists.txt
@@ -5,5 +5,5 @@ SET(${PROJECT_NAME}_HELPERS_HEADERS
INSTALL(FILES
${${PROJECT_NAME}_HELPERS_HEADERS}
- DESTINATION include/curve/helpers
+ DESTINATION include/curves/helpers
)
diff --git a/include/curve/helpers/effector_spline.h b/include/curves/helpers/effector_spline.h
similarity index 98%
rename from include/curve/helpers/effector_spline.h
rename to include/curves/helpers/effector_spline.h
index b4cfa07e3af38101e772dedb352863edc7917194..9d9cd4216a63b14c83515aa334203cabbbcb68de 100644
--- a/include/curve/helpers/effector_spline.h
+++ b/include/curves/helpers/effector_spline.h
@@ -20,9 +20,9 @@
#ifndef _CLASS_EFFECTORSPLINE
#define _CLASS_EFFECTORSPLINE
-#include "curve/spline_deriv_constraint.h"
+#include "curves/spline_deriv_constraint.h"
-namespace curve
+namespace curves
{
namespace helpers
{
@@ -118,5 +118,5 @@ exact_cubic_t* effector_spline(
return new exact_cubic_t(splines);
}
} // namespace helpers
-} // namespace curve
+} // namespace curves
#endif //_CLASS_EFFECTORSPLINE
diff --git a/include/curve/helpers/effector_spline_rotation.h b/include/curves/helpers/effector_spline_rotation.h
similarity index 98%
rename from include/curve/helpers/effector_spline_rotation.h
rename to include/curves/helpers/effector_spline_rotation.h
index 391a6c46f090602214042e1000510608984ab65f..9d7ff42239394273ba0bd11ffa70678f79db0c10 100644
--- a/include/curve/helpers/effector_spline_rotation.h
+++ b/include/curves/helpers/effector_spline_rotation.h
@@ -20,11 +20,11 @@
#ifndef _CLASS_EFFECTOR_SPLINE_ROTATION
#define _CLASS_EFFECTOR_SPLINE_ROTATION
-#include "curve/helpers/effector_spline.h"
-#include "curve/curve_abc.h"
+#include "curves/helpers/effector_spline.h"
+#include "curves/curve_abc.h"
#include <Eigen/Geometry>
-namespace curve
+namespace curves
{
namespace helpers
{
@@ -252,5 +252,5 @@ class effector_spline_rotation
};
} // namespace helpers
-} // namespace curve
+} // namespace curves
#endif //_CLASS_EFFECTOR_SPLINE_ROTATION
diff --git a/include/curve/linear_variable.h b/include/curves/linear_variable.h
similarity index 95%
rename from include/curve/linear_variable.h
rename to include/curves/linear_variable.h
index 5d91fe19ec2bf461b9721d3a868ff9ff19701542..5a1dc4961e2fa0f14060d95f9dc4bafc253e31bc 100644
--- a/include/curve/linear_variable.h
+++ b/include/curves/linear_variable.h
@@ -19,7 +19,7 @@
#include <Eigen/Core>
#include <stdexcept>
-namespace curve
+namespace curves
{
template <int Dim, typename Numeric=double>
struct linear_variable{
@@ -196,6 +196,6 @@ variables<V> operator/(const variables<V>& w,const double k)
return res;
}
-} // namespace curve
+} // namespace curves
#endif //_CLASS_LINEAR_VARIABLE
diff --git a/include/curve/optimization/OptimizeSpline.h b/include/curves/optimization/OptimizeSpline.h
similarity index 99%
rename from include/curve/optimization/OptimizeSpline.h
rename to include/curves/optimization/OptimizeSpline.h
index 8a779a7bb3299b25cbbe90f291f1bfdcb76ac2e8..1107a582fceaec594cab7aec490d2f76201425cd 100644
--- a/include/curve/optimization/OptimizeSpline.h
+++ b/include/curves/optimization/OptimizeSpline.h
@@ -12,15 +12,15 @@
#ifndef _CLASS_SPLINEOPTIMIZER
#define _CLASS_SPLINEOPTIMIZER
-#include "curve/MathDefs.h"
-#include "curve/exact_cubic.h"
+#include "curves/MathDefs.h"
+#include "curves/exact_cubic.h"
#include "mosek/mosek.h"
#include <Eigen/SparseCore>
#include <utility>
-namespace curve
+namespace curves
{
/// \class SplineOptimizer
/// \brief Mosek connection to produce optimized splines
@@ -516,5 +516,5 @@ inline exact_cubic<Time, Numeric, Dim, Safe, Point>*
return res;
}
-} // namespace curve
+} // namespace curves
#endif //_CLASS_SPLINEOPTIMIZER
diff --git a/include/curve/polynom.h b/include/curves/polynom.h
similarity index 96%
rename from include/curve/polynom.h
rename to include/curves/polynom.h
index 2aca2fed9d47429c5e3c221343985bbdd283dc67..2fd55ae14a0a1194b1d6b3a39be8460cd0e1503c 100644
--- a/include/curve/polynom.h
+++ b/include/curves/polynom.h
@@ -23,7 +23,7 @@
#include <functional>
#include <stdexcept>
-namespace curve
+namespace curves
{
/// \class polynom
/// \brief Represents a polynomf arbitrary order defined on the interval
@@ -199,6 +199,6 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
return res;
}
}; //class polynom
-} // namespace curve
+} // namespace curves
#endif //_STRUCT_POLYNOM
diff --git a/include/curve/quintic_spline.h b/include/curves/quintic_spline.h
similarity index 94%
rename from include/curve/quintic_spline.h
rename to include/curves/quintic_spline.h
index 8a4553bdb787c821787a7109d6185d6941e62539..3ff0cf585a4f70976ccb35ea2cac46625ca84a3b 100644
--- a/include/curve/quintic_spline.h
+++ b/include/curves/quintic_spline.h
@@ -20,7 +20,7 @@
#include <stdexcept>
-namespace curve
+namespace curves
{
/// \brief Creates coefficient vector of a quintic spline defined on the interval
/// \f$[t_{min}, t_{max}]\f$. It follows the equation :
@@ -44,6 +44,6 @@ polynom<Time,Numeric,Dim,Safe,Point,T_Point> create_quintic(Point const& a, Poin
T_Point coeffs = make_quintic_vector<Point, T_Point>(a,b,c,d,e,f);
return polynom<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
}
-} // namespace curve
+} // namespace curves
#endif //_STRUCT_QUINTIC_SPLINE
diff --git a/include/curve/spline_deriv_constraint.h b/include/curves/spline_deriv_constraint.h
similarity index 97%
rename from include/curve/spline_deriv_constraint.h
rename to include/curves/spline_deriv_constraint.h
index 16ececf72e4a23984b635e02a0ffd40ce274ecbc..9f5c332371a37d89713e7d187cdbe6e3e587c87c 100644
--- a/include/curve/spline_deriv_constraint.h
+++ b/include/curves/spline_deriv_constraint.h
@@ -28,7 +28,7 @@
#include <functional>
#include <vector>
-namespace curve
+namespace curves
{
/// \class spline_deriv_constraint.
/// \brief Represents a set of cubic splines defining a continuous function
@@ -137,6 +137,6 @@ struct spline_deriv_constraint : public exact_cubic<Time, Numeric, Dim, Safe, Po
private:
/* Constructors - destructors */
};
-} // namespace curve
+} // namespace curves
#endif //_CLASS_CUBICZEROVELACC
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index a820c7cf843715a523c9dfde967a9642a411a765..a356071ca94360cc9cfd53a45a2d975d6dbaea46 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,5 @@
SET(${PY_NAME}_BINDINGS_SOURCES
- curve_python.cpp
+ curves_python.cpp
python_variables.cpp
python_variables.h
)
@@ -15,4 +15,4 @@ ENDIF(APPLE)
INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
-ADD_PYTHON_UNIT_TEST("python-curve" "python/test/test.py" "python")
+ADD_PYTHON_UNIT_TEST("python-curves" "python/test/test.py" "python")
diff --git a/python/curve_python.cpp b/python/curves_python.cpp
similarity index 93%
rename from python/curve_python.cpp
rename to python/curves_python.cpp
index ee96e7f13055bd13e76c4e855c3b3e0ec6b6b423..6c843d025a6396377ac5d5220c9409cd2681877a 100644
--- a/python/curve_python.cpp
+++ b/python/curves_python.cpp
@@ -1,10 +1,10 @@
-#include "curve/bezier_curve.h"
-#include "curve/polynom.h"
-#include "curve/exact_cubic.h"
-#include "curve/spline_deriv_constraint.h"
-#include "curve/curve_constraint.h"
-#include "curve/bezier_polynom_conversion.h"
-#include "curve/bernstein.h"
+#include "curves/bezier_curve.h"
+#include "curves/polynom.h"
+#include "curves/exact_cubic.h"
+#include "curves/spline_deriv_constraint.h"
+#include "curves/curve_constraint.h"
+#include "curves/bezier_polynom_conversion.h"
+#include "curves/bernstein.h"
#include "python_definitions.h"
#include "python_variables.h"
@@ -17,7 +17,7 @@
#include <boost/python.hpp>
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
-using namespace curve;
+using namespace curves;
typedef double real;
typedef Eigen::Vector3d point_t;
typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> point6_t;
@@ -33,20 +33,20 @@ 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> 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;
+typedef curves::bezier_curve <real, real, 3, true, point_t> bezier3_t;
+typedef curves::bezier_curve <real, real, 6, true, point6_t> bezier6_t;
+typedef curves::polynom <real, real, 3, true, point_t, t_point_t> polynom_t;
+typedef curves::exact_cubic <real, real, 3, true, point_t, t_point_t> exact_cubic_t;
typedef polynom_t::coeff_t coeff_t;
typedef std::pair<real, point_t> waypoint_t;
typedef std::vector<waypoint_t, Eigen::aligned_allocator<point_t> > t_waypoint_t;
-typedef curve::Bern<double> bernstein_t;
+typedef curves::Bern<double> bernstein_t;
-typedef curve::spline_deriv_constraint <real, real, 3, true, point_t, t_point_t> spline_deriv_constraint_t;
-typedef curve::curve_constraints<point_t> curve_constraints_t;
-typedef curve::curve_constraints<point6_t> curve_constraints6_t;
+typedef curves::spline_deriv_constraint <real, real, 3, true, point_t, t_point_t> spline_deriv_constraint_t;
+typedef curves::curve_constraints<point_t> curve_constraints_t;
+typedef curves::curve_constraints<point6_t> curve_constraints6_t;
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
@@ -57,7 +57,7 @@ EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(exact_cubic_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(curve_constraints_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(spline_deriv_constraint_t)
-namespace curve
+namespace curves
{
using namespace boost::python;
@@ -346,4 +346,4 @@ BOOST_PYTHON_MODULE(curves)
}
-} // namespace curve
+} // namespace curves
diff --git a/python/python_definitions.h b/python/python_definitions.h
index f5ddc62282cca423301a132ee53466ff553f3e78..d1b13a0d007dbf6335a2ca0baf62070fc90567a2 100644
--- a/python/python_definitions.h
+++ b/python/python_definitions.h
@@ -1,5 +1,5 @@
-#include "curve/bezier_curve.h"
-#include "curve/linear_variable.h"
+#include "curves/bezier_curve.h"
+#include "curves/linear_variable.h"
#include <vector>
@@ -7,7 +7,7 @@
#define _DEFINITION_PYTHON_BINDINGS
-namespace curve
+namespace curves
{
typedef double real;
@@ -37,7 +37,7 @@ T_Point vectorFromEigenArray(const PointList& array)
return res;
}
-} //namespace curve.
+} //namespace curves
#endif //_DEFINITION_PYTHON_BINDINGS
diff --git a/python/python_variables.cpp b/python/python_variables.cpp
index cb1808dc07015fa807fd84d752d9ab9cef93c68c..715c0d9550847c4645aacf863eb1a598e8ce0f2e 100644
--- a/python/python_variables.cpp
+++ b/python/python_variables.cpp
@@ -4,7 +4,7 @@
#include <Eigen/Core>
-namespace curve
+namespace curves
{
std::vector<linear_variable_3_t> matrix3DFromEigenArray(const point_list_t& matrices, const point_list_t& vectors)
@@ -101,4 +101,4 @@ LinearBezierVector* split(const bezier_linear_variable_t& self, const vectorX_t
}
}
- // namespace curve
+ // namespace curves
diff --git a/python/python_variables.h b/python/python_variables.h
index 1c11850e135324715f739aeade94f6f7583590fc..393284204cb61610870e2a041f69445cec7a54e4 100644
--- a/python/python_variables.h
+++ b/python/python_variables.h
@@ -1,5 +1,5 @@
-#include "curve/bezier_curve.h"
-#include "curve/linear_variable.h"
+#include "curves/bezier_curve.h"
+#include "curves/linear_variable.h"
#include "python_definitions.h"
@@ -9,12 +9,12 @@
#define _VARIABLES_PYTHON_BINDINGS
-namespace curve
+namespace curves
{
static const int dim = 3;
-typedef curve::linear_variable<dim, real> linear_variable_3_t;
-typedef curve::variables<linear_variable_3_t> variables_3_t;
-typedef curve::bezier_curve <real, real, dim, true, variables_3_t> bezier_linear_variable_t;
+typedef curves::linear_variable<dim, real> linear_variable_3_t;
+typedef curves::variables<linear_variable_3_t> variables_3_t;
+typedef curves::bezier_curve <real, real, dim, true, variables_3_t> bezier_linear_variable_t;
/*linear variable control points*/
diff --git a/python/test/test.py b/python/test/test.py
index d42bb3ce120cd97c4807f4c8c3b41c8ef60e8843..4c93b48b0aaea71e1ffa3b640dcc58e30e822f01 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -12,7 +12,7 @@ import unittest
from curves import bezier3, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
-class TestCurve(unittest.TestCase):
+class TestCurves(unittest.TestCase):
#def print_str(self, inStr):
# print inStr
# return
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 2365cf2b0c7b67419fe488b04c8401cc171ace87..cf060241f6818fefb1b8ea5eef8b419fabe76ab1 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,4 +1,4 @@
ADD_UNIT_TEST(
- curve_tests Main.cpp
+ curves_tests Main.cpp
)
-PKG_CONFIG_USE_DEPENDENCY(curve_tests eigen3)
+PKG_CONFIG_USE_DEPENDENCY(curves_tests eigen3)
diff --git a/tests/Main.cpp b/tests/Main.cpp
index 7c0e004b43423c74bee40b112f960199048ce9e9..162e20261e32065dc6b6ba9fa68835bd4e1767ed 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -1,11 +1,11 @@
-#include "curve/exact_cubic.h"
-#include "curve/bezier_curve.h"
-#include "curve/polynom.h"
-#include "curve/spline_deriv_constraint.h"
-#include "curve/helpers/effector_spline.h"
-#include "curve/helpers/effector_spline_rotation.h"
-#include "curve/bezier_polynom_conversion.h"
+#include "curves/exact_cubic.h"
+#include "curves/bezier_curve.h"
+#include "curves/polynom.h"
+#include "curves/spline_deriv_constraint.h"
+#include "curves/helpers/effector_spline.h"
+#include "curves/helpers/effector_spline_rotation.h"
+#include "curves/bezier_polynom_conversion.h"
#include <string>
#include <iostream>
@@ -13,7 +13,7 @@
using namespace std;
-namespace curve
+namespace curves
{
typedef Eigen::Vector3d point_t;
typedef std::vector<point_t,Eigen::aligned_allocator<point_t> > t_point_t;
@@ -46,9 +46,9 @@ bool QuasiEqual(const double a, const double b, const float margin)
const double margin = 0.001;
-} // namespace curve
+} // namespace curves
-using namespace curve;
+using namespace curves;
ostream& operator<<(ostream& os, const point_t& pt)
{
@@ -464,7 +464,7 @@ void BezierToPolynomConversionTest(bool& error)
/*Exact Cubic Function tests*/
void ExactCubicNoErrorTest(bool& error)
{
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 1; i = i + 0.2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -510,7 +510,7 @@ void ExactCubicNoErrorTest(bool& error)
/*Exact Cubic Function tests*/
void ExactCubicTwoPointsTest(bool& error)
{
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i < 2; ++i)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -527,7 +527,7 @@ void ExactCubicTwoPointsTest(bool& error)
void ExactCubicOneDimTest(bool& error)
{
- curve::T_WaypointOne waypoints;
+ curves::T_WaypointOne waypoints;
point_one zero; zero(0,0) = 9;
point_one one; one(0,0) = 14;
point_one two; two(0,0) = 25;
@@ -544,7 +544,7 @@ void ExactCubicOneDimTest(bool& error)
ComparePoints(one, res1, errmsg, error);
}
-void CheckWayPointConstraint(const std::string& errmsg, const double step, const curve::T_Waypoint& /*wayPoints*/, const exact_cubic_t* curve, bool& error )
+void CheckWayPointConstraint(const std::string& errmsg, const double step, const curves::T_Waypoint& /*wayPoints*/, const exact_cubic_t* curve, bool& error )
{
point_t res1;
for(double i = 0; i <= 1; i = i + step)
@@ -563,7 +563,7 @@ void CheckDerivative(const std::string& errmsg, const double eval_point, const s
void ExactCubicPointsCrossedTest(bool& error)
{
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 1; i = i + 0.2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -576,7 +576,7 @@ void ExactCubicPointsCrossedTest(bool& error)
void ExactCubicVelocityConstraintsTest(bool& error)
{
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 1; i = i + 0.2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -625,7 +625,7 @@ void CheckPointOnline(const std::string& errmsg, const point_t& A, const point_t
void EffectorTrajectoryTest(bool& error)
{
// create arbitrary trajectory
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 10; i = i + 2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -682,7 +682,7 @@ double GetXRotFromQuat(helpers::quat_ref_const_t q)
void EffectorSplineRotationNoRotationTest(bool& error)
{
// create arbitrary trajectory
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 10; i = i + 2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -704,7 +704,7 @@ void EffectorSplineRotationNoRotationTest(bool& error)
void EffectorSplineRotationRotationTest(bool& error)
{
// create arbitrary trajectory
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 10; i = i + 2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
@@ -727,7 +727,7 @@ void EffectorSplineRotationRotationTest(bool& error)
void EffectorSplineRotationWayPointRotationTest(bool& error)
{
// create arbitrary trajectory
- curve::T_Waypoint waypoints;
+ curves::T_Waypoint waypoints;
for(double i = 0; i <= 10; i = i + 2)
{
waypoints.push_back(std::make_pair(i,point_t(i,i,i)));