added exact_cubic

python/spline_python.cpp

 #include "spline/bezier_curve.h"
 #include "spline/spline_curve.h"
+#include "spline/exact_cubic.h"
 
 #include <vector>
 
@@ -11,6 +12,7 @@
 /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
 typedef double real;
 typedef Eigen::Vector3d point_t;
+typedef Eigen::VectorXd time_waypoints_t;
 typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
 typedef std::vector<point_t,Eigen::aligned_allocator<point_t> >  t_point_t;
 typedef std::pair<real, point_t> Waypoint;
@@ -18,7 +20,10 @@ typedef std::vector<Waypoint> T_Waypoint;
 
 typedef spline::bezier_curve  <real, real, 3, true, point_t> bezier_t;
 typedef spline::spline_curve  <real, real, 3, true, point_t, t_point_t> spline_curve_t;
+typedef spline::exact_cubic  <real, real, 3, true, point_t, t_point_t> exact_cubic_t;
 typedef spline_curve_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;
 /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_t)
@@ -54,6 +59,20 @@ spline_curve_t* wrapSplineConstructor(const coeff_t& array)
 }
 
 
+t_waypoint_t getWayPoints(const coeff_t& array, const time_waypoints_t& time_wp)
+{
+    t_waypoint_t res;
+    for(int i =0;i<array.cols();++i)
+        res.push_back(std::make_pair(time_wp(i), array.col(i)));
+    return res;
+}
+
+exact_cubic_t* wrapExactCubicConstructor(const coeff_t& array, const time_waypoints_t& time_wp)
+{
+    t_waypoint_t wps = getWayPoints(array, time_wp);
+    return new exact_cubic_t(wps.begin(), wps.end());
+}
+
 
 BOOST_PYTHON_MODULE(spline)
 {
@@ -90,6 +109,16 @@ BOOST_PYTHON_MODULE(spline)
     /** END cubic function**/
 
 
+    /** BEGIN exact_cubic curve**/
+    class_<exact_cubic_t>
+        ("exact_cubic", no_init)
+            .def("__init__", make_constructor(&wrapExactCubicConstructor))
+            .def("min", &exact_cubic_t::min)
+            .def("max", &exact_cubic_t::max)
+            .def("__call__", &exact_cubic_t::operator())
+            .def("derivate", &exact_cubic_t::derivate)
+        ;
+    /** END bezier curve**/
 
 }
 

python/test/test.py

-from spline import bezier, spline
+from spline import bezier, spline, exact_cubic
 
 from numpy import matrix
 
 waypoints = matrix([[1.,2.,3.],[4.,5.,6.]]).transpose()
+time_waypoints = matrix([0.,1.])
 
 #testing bezier curve
 a = bezier(waypoints)
@@ -20,3 +21,11 @@ a.max()
 a(0.4)
 assert((a.derivate(0.4,0) == a(0.4)).all())
 a.derivate(0.4,2)
+
+#testing exact_cubic function
+a = exact_cubic(waypoints, time_waypoints)
+a.min()
+a.max()
+a(0.4)
+assert((a.derivate(0.4,0) == a(0.4)).all())
+a.derivate(0.4,2)