[python] polynomial and piecewise_polynomial : use dynamic size points

parent 750eabc9
 ... ... @@ -175,32 +175,32 @@ namespace curves { return new piecewise_cubic_hermite_curve_t(); } static piecewise_polynomial_curve_t discretPointToPolynomialC0(const point_list_t& points, const time_waypoints_t& time_points){ t_point_t points_list = vectorFromEigenArray(points); static piecewise_polynomial_curve_t discretPointToPolynomialC0(const pointX_list_t& points, const time_waypoints_t& time_points){ t_pointX_t points_list = vectorFromEigenArray(points); t_time_t time_points_list = vectorFromEigenVector(time_points); return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial(points_list,time_points_list); } static piecewise_polynomial_curve_t discretPointToPolynomialC1(const point_list_t& points,const point_list_t& points_derivative, const time_waypoints_t& time_points){ t_point_t points_list = vectorFromEigenArray(points); t_point_t points_derivative_list = vectorFromEigenArray(points_derivative); static piecewise_polynomial_curve_t discretPointToPolynomialC1(const pointX_list_t& points,const pointX_list_t& points_derivative, const time_waypoints_t& time_points){ t_pointX_t points_list = vectorFromEigenArray(points); t_pointX_t points_derivative_list = vectorFromEigenArray(points_derivative); t_time_t time_points_list = vectorFromEigenVector(time_points); return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial(points_list,points_derivative_list,time_points_list); } static piecewise_polynomial_curve_t discretPointToPolynomialC2(const point_list_t& points,const point_list_t& points_derivative,const point_list_t& points_second_derivative, const time_waypoints_t& time_points){ t_point_t points_list = vectorFromEigenArray(points); t_point_t points_derivative_list = vectorFromEigenArray(points_derivative); t_point_t points_second_derivative_list = vectorFromEigenArray(points_second_derivative); static piecewise_polynomial_curve_t discretPointToPolynomialC2(const pointX_list_t& points,const pointX_list_t& points_derivative,const point_list_t& points_second_derivative, const time_waypoints_t& time_points){ t_pointX_t points_list = vectorFromEigenArray(points); t_pointX_t points_derivative_list = vectorFromEigenArray(points_derivative); t_pointX_t points_second_derivative_list = vectorFromEigenArray(points_second_derivative); t_time_t time_points_list = vectorFromEigenVector(time_points); return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial(points_list,points_derivative_list,points_second_derivative_list,time_points_list); } void addFinalPointC0(piecewise_polynomial_curve_t self,const point_t& end,const real time){ void addFinalPointC0(piecewise_polynomial_curve_t self,const pointX_t& end,const real time){ if(self.is_continuous(1)) std::cout<<"Warning: by adding this final point to the piecewise curve, you loose C1 continuity and only guarantee C0 continuity."<
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