[curves] rename order_ to degree_

include/curves/bezier_curve.h

@@ -101,7 +101,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point>
 
     bezier_curve(const bezier_curve& other)
         : t_min_(other.t_min_), t_max_(other.t_max_), mult_T_(other.mult_T_), size_(other.size_),
-          order_(other.order_), bernstein_(other.bernstein_), control_points_(other.control_points_)
+          degree_(other.degree_), bernstein_(other.bernstein_), control_points_(other.control_points_)
           {}
 
     ///\brief Destructor

include/curves/cubic_hermite_spline.h

@@ -47,7 +47,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
     ///
     template<typename In>
     cubic_hermite_spline(In PairsBegin, In PairsEnd, const vector_time_t & time_control_points)
-    : order_(3)
+    : degree_(3)
     {
         // Check size of pairs container.
         std::size_t const size(std::distance(PairsBegin, PairsEnd));
@@ -66,7 +66,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
     }
 
     cubic_hermite_spline(const cubic_hermite_spline& other)
-        : t_min_(other.t_min_), t_max_(other.t_max_), size_(other.size_), order_(other.order_), 
+        : t_min_(other.t_min_), t_max_(other.t_max_), size_(other.size_), degree_(other.degree_), 
           control_points_(other.control_points_), time_control_points_(other.time_control_points_),
           duration_splines_(other.duration_splines_)
           {}
@@ -163,20 +163,20 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
     /// Polynom \f$p(t) \in [t_0, t_1]\f$ becomes \f$p(\alpha) \in [0, 1]\f$
     /// and \f$p(\alpha) = p((t-t_0)/(t_1-t_0))\f$.
     /// \param t : time when to evaluate the curve.
-    /// \param order_derivative : Order of derivate of cubic hermite spline (set value to 0 if you do not want derivate)
+    /// \param degree_derivative : Order of derivate of cubic hermite spline (set value to 0 if you do not want derivate)
     /// \return point corresponding \f$p(t)\f$ on spline at time t or its derivate order N \f$\frac{d^Np(t)}{dt^N}\f$.
     ///
-    Point evalCubicHermiteSpline(const Numeric t, std::size_t order_derivative) const
+    Point evalCubicHermiteSpline(const Numeric t, std::size_t degree_derivative) const
     {
         const std::size_t id = findInterval(t);
         // ID is on the last control point
         if(id == size_-1)
         {
-            if (order_derivative==0)
+            if (degree_derivative==0)
             {
                 return control_points_.back().first;
             }
-            else if (order_derivative==1)
+            else if (degree_derivative==1)
             {
                 return control_points_.back().second;
             }
@@ -200,11 +200,11 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
         const Time alpha = (t - t0)/dt;
         assert(0. <= alpha && alpha <= 1. && "alpha must be in [0,1]");
         Numeric h00, h10, h01, h11;
-        evalCoeffs(alpha,h00,h10,h01,h11,order_derivative);
+        evalCoeffs(alpha,h00,h10,h01,h11,degree_derivative);
         //std::cout << "for val t="<<t<<" alpha="<<alpha<<" coef : h00="<<h00<<" h10="<<h10<<" h01="<<h01<<" h11="<<h11<<std::endl;
         Point p_ = (h00 * Pair0.first + h10 * dt * Pair0.second + h01 * Pair1.first + h11 * dt * Pair1.second);
-        // if derivative, divide by dt^order_derivative
-        for (std::size_t i=0; i<order_derivative; i++)
+        // if derivative, divide by dt^degree_derivative
+        for (std::size_t i=0; i<degree_derivative; i++)
         {
             p_ /= dt;
         }
@@ -224,34 +224,34 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
     /// \param h10 : variable to store value of coefficient.
     /// \param h01 : variable to store value of coefficient.
     /// \param h11 : variable to store value of coefficient.
-    /// \param order_derivative : order of derivative.
+    /// \param degree_derivative : order of derivative.
     ///
-    static void evalCoeffs(const Numeric t, Numeric & h00, Numeric & h10, Numeric & h01, Numeric & h11, std::size_t order_derivative)
+    static void evalCoeffs(const Numeric t, Numeric & h00, Numeric & h10, Numeric & h01, Numeric & h11, std::size_t degree_derivative)
     {
         Numeric t_square = t*t;
         Numeric t_cube = t_square*t;
-        if (order_derivative==0)
+        if (degree_derivative==0)
         {
             h00 =  2*t_cube     -3*t_square     +1.;
             h10 =  t_cube       -2*t_square     +t;
             h01 = -2*t_cube     +3*t_square;
             h11 =  t_cube       -t_square;
         }
-        else if (order_derivative==1)
+        else if (degree_derivative==1)
         {
             h00 =  6*t_square   -6*t;
             h10 =  3*t_square   -4*t    +1.;
             h01 = -6*t_square   +6*t;
             h11 =  3*t_square   -2*t;
         }
-        else if (order_derivative==2)
+        else if (degree_derivative==2)
         {
             h00 =  12*t     -6.;
             h10 =  6*t      -4.;  
             h01 = -12*t     +6.;
             h11 =  6*t      -2.;
         }
-        else if (order_derivative==3)
+        else if (degree_derivative==3)
         {
             h00 =  12.;
             h10 =  6.;  
@@ -368,7 +368,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>
     /// Number of control points (pairs).
     std::size_t size_;
     /// Degree (Cubic so degree 3)
-    std::size_t order_;
+    std::size_t degree_;
     /*Attributes*/
 
 };

include/curves/polynomial.h

@@ -53,7 +53,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
     /// \param max  : UPPER bound on interval definition of the curve.
     polynomial(const coeff_t& coefficients, const time_t min, const time_t max)
         : curve_abc_t(),
-          coefficients_(coefficients), dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
+          coefficients_(coefficients), dim_(Dim), degree_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -67,7 +67,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
     polynomial(const T_Point& coefficients, const time_t min, const time_t max)
         : curve_abc_t(),
           coefficients_(init_coeffs(coefficients.begin(), coefficients.end())),
-          dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
+          dim_(Dim), degree_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -81,7 +81,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
     template<typename In>
     polynomial(In zeroOrderCoefficient, In out, const time_t min, const time_t max)
         :coefficients_(init_coeffs(zeroOrderCoefficient, out)),
-          dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
+          dim_(Dim), degree_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -95,7 +95,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
 
     polynomial(const polynomial& other)
         : coefficients_(other.coefficients_),
-          dim_(other.dim_), order_(other.order_), t_min_(other.t_min_), t_max_(other.t_max_)
+          dim_(other.dim_), degree_(other.degree_), t_min_(other.t_min_), t_max_(other.t_max_)
           {}
 
 
@@ -130,7 +130,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
         time_t const dt (t-t_min_);
         time_t cdt(1);
         point_t currentPoint_ = point_t::Zero();
-        for(int i = 0; i < order_+1; ++i, cdt*=dt)
+        for(int i = 0; i < degree_+1; ++i, cdt*=dt)
             currentPoint_ += cdt *coefficients_.col(i);
         return currentPoint_;
     }*/
@@ -146,8 +146,8 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
             throw std::invalid_argument("error in polynomial : time t to evaluate should be in range [Tmin, Tmax] of the curve");
         }
         time_t const dt (t-t_min_);
-        point_t h = coefficients_.col(order_);
-        for(int i=(int)(order_-1); i>=0; i--)
+        point_t h = coefficients_.col(degree_);
+        for(int i=(int)(degree_-1); i>=0; i--)
         {
             h = dt*h + coefficients_.col(i);
         }
@@ -167,8 +167,8 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
         }
         time_t const dt (t-t_min_);
         time_t cdt(1);
-        point_t currentPoint_ = point_t::Zero(dim_);
-        for(int i = (int)(order); i < (int)(order_+1); ++i, cdt*=dt) 
+        point_t currentPoint_ = point_t::Zero();
+        for(int i = (int)(order); i < (int)(degree_+1); ++i, cdt*=dt) 
         {
             currentPoint_ += cdt *coefficients_.col(i) * fact(i, order);
         }
@@ -202,7 +202,7 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point>
     public:
     coeff_t coefficients_; //const
     std::size_t dim_; //const
-    std::size_t order_; //const
+    std::size_t degree_; //const
 
     private:
     time_t t_min_, t_max_;

tests/Main.cpp

@@ -448,10 +448,10 @@ void BezierDerivativeCurveConstraintTest(bool& error)
 
     std::string errMsg1("In test BezierDerivativeCurveConstraintTest, Error While checking checking degree of bezier curve :");
     std::string errMsg2("In test BezierDerivativeCurveConstraintTest, Error While checking checking size of bezier curve :");
-    if (cf.order_ != params.size() + 3)
+    if (cf.degree_ != params.size() + 3)
     {
         error = true;
-        std::cout << errMsg1 << cf.order_ << " ; " << params.size()+3 << std::endl;
+        std::cout << errMsg1 << cf.degree_ << " ; " << params.size()+3 << std::endl;
     }
     if (cf.size_   != params.size() + 4)
     {
@@ -1010,7 +1010,7 @@ void BezierSplitCurve(bool& error)
         std::pair<bezier_curve_t,bezier_curve_t> cs = c.split(ts);
 
         // test on splitted curves :
-        if(! ((c.order_ == cs.first.order_) && (c.order_ == cs.second.order_) ))
+        if(! ((c.degree_ == cs.first.degree_) && (c.degree_ == cs.second.degree_) ))
         {
             error = true;
             std::cout<<"BezierSplitCurve, ERROR Degree of the splitted curve are not the same as the original curve"<<std::endl;