Commit 3748285e authored by JasonChmn's avatar JasonChmn
Browse files

[binding python] Re-add python binding for bezier3

parent a4a418cb
......@@ -44,12 +44,16 @@ typedef curves::piecewise_curve <real, real, true, pointX_t, t_pointX_t, bezier_
typedef curves::piecewise_curve <real, real, true, pointX_t, t_pointX_t, cubic_hermite_spline_t> piecewise_cubic_hermite_curve_t;
typedef curves::exact_cubic <real, real, true, pointX_t, t_pointX_t> exact_cubic_t;
// Bezier 3
typedef curves::bezier_curve <real, real, true, Eigen::Vector3d> bezier3_t;
typedef curves::Bern<double> bernstein_t;
/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(cubic_hermite_spline_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier3_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(polynomial_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(curve_constraints_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(piecewise_polynomial_curve_t)
......@@ -244,6 +248,30 @@ namespace curves
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
/** END eigenpy init**/
/** BEGIN bezier3 curve**/
class_<bezier3_t>("bezier3", init<>())
.def("__init__", make_constructor(&wrapBezierConstructor))
.def("__init__", make_constructor(&wrapBezierConstructorBounds))
.def("__init__", make_constructor(&wrapBezierConstructorConstraints))
.def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
.def("min", &bezier3_t::min)
.def("max", &bezier3_t::max)
.def("dim", &bezier3_t::dim)
.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("saveAsText", &bezier3_t::saveAsText<bezier3_t>,bp::args("filename"),"Saves *this inside a text file.")
.def("loadFromText",&bezier3_t::loadFromText<bezier3_t>,bp::args("filename"),"Loads *this from a text file.")
.def("saveAsXML",&bezier3_t::saveAsXML<bezier3_t>,bp::args("filename","tag_name"),"Saves *this inside a XML file.")
.def("loadFromXML",&bezier3_t::loadFromXML<bezier3_t>,bp::args("filename","tag_name"),"Loads *this from a XML file.")
.def("saveAsBinary",&bezier3_t::saveAsBinary<bezier3_t>,bp::args("filename"),"Saves *this inside a binary file.")
.def("loadFromBinary",&bezier3_t::loadFromBinary<bezier3_t>,bp::args("filename"),"Loads *this from a binary file.")
.def_readonly("degree", &bezier3_t::degree_)
.def_readonly("nbWaypoints", &bezier3_t::size_)
//.def(SerializableVisitor<bezier_t>())
;
/** END bezier3 curve**/
/** BEGIN bezier curve**/
class_<bezier_t>("bezier", init<>())
.def("__init__", make_constructor(&wrapBezierConstructor))
......
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