Merge branch 'topic/FixCubicHermitePythonOnDevel' into 'devel'

[Fix cubic hermite] Cubic hermite in python : Use tangent instead of position

See merge request loco-3d/curves!15

python/curves_python.cpp

@@ -134,7 +134,7 @@ t_pair_point_tangent_t getPairsPointTangent(const point_list_t& points, const po
     }
     for(int i =0;i<points.cols();++i) 
     {
-        res.push_back(pair_point_tangent_t(tangents.col(i), tangents.col(i)));
+        res.push_back(pair_point_tangent_t(points.col(i), tangents.col(i)));
     }
     return res;
 }

python/test/test.py

@@ -43,6 +43,7 @@ class TestCurves(unittest.TestCase):
         a.min()
         a.max()
         a(0.4)
+        self.assertTrue ((a(a.min()) == matrix([1., 2., 3.]).transpose()).all())
         self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
         a.derivate(0.4, 2)
         a = a.compute_derivate(100)
@@ -94,6 +95,7 @@ class TestCurves(unittest.TestCase):
         a.min()
         a.max()
         a(0.4)
+        self.assertTrue ((a(a.min()) == matrix([1., 2., 3.]).transpose()).all())
         self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
         a.derivate(0.4, 2)
         return
@@ -105,15 +107,16 @@ class TestCurves(unittest.TestCase):
         waypoints2 = matrix([[1., 1., 1.], [1., 1., 1.]]).transpose()
         a = polynomial(waypoints1, 0.,1.)
         b = polynomial(waypoints2, 1., 3.)
-        ppc = piecewise_polynomial_curve(a)
-        ppc.add_curve(b)
-        ppc.min()
-        ppc.max()
-        ppc(0.4)
-        self.assertTrue ((ppc.derivate(0.4, 0) == ppc(0.4)).all())
-        ppc.derivate(0.4, 2)
-        ppc.is_continuous(0)
-        ppc.is_continuous(1)
+        pc = piecewise_polynomial_curve(a)
+        pc.add_curve(b)
+        pc.min()
+        pc.max()
+        pc(0.4)
+        self.assertTrue ((pc(pc.min()) == matrix([1., 1., 1.]).transpose()).all())
+        self.assertTrue ((pc.derivate(0.4, 0) == pc(0.4)).all())
+        pc.derivate(0.4, 2)
+        pc.is_continuous(0)
+        pc.is_continuous(1)
         return
 
     def test_piecewise_bezier3_curve(self):
@@ -122,15 +125,16 @@ class TestCurves(unittest.TestCase):
         waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
         a = bezier3(waypoints, 0., 1.)
         b = bezier3(waypoints, 1., 2.)
-        ppc = piecewise_bezier3_curve(a)
-        ppc.add_curve(b)
-        ppc.min()
-        ppc.max()
-        ppc(0.4)
-        self.assertTrue ((ppc.derivate(0.4, 0) == ppc(0.4)).all())
-        ppc.derivate(0.4, 2)
-        ppc.is_continuous(0)
-        ppc.is_continuous(1)
+        pc = piecewise_bezier3_curve(a)
+        pc.add_curve(b)
+        pc.min()
+        pc.max()
+        pc(0.4)
+        self.assertTrue ((pc(pc.min()) == matrix([1., 2., 3.]).transpose()).all())
+        self.assertTrue ((pc.derivate(0.4, 0) == pc(0.4)).all())
+        pc.derivate(0.4, 2)
+        pc.is_continuous(0)
+        pc.is_continuous(1)
         return
 
     def test_piecewise_bezier6_curve(self):
@@ -139,35 +143,38 @@ class TestCurves(unittest.TestCase):
         waypoints = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
         a = bezier6(waypoints, 0., 1.)
         b = bezier6(waypoints, 1., 2.)
-        ppc = piecewise_bezier6_curve(a)
-        ppc.add_curve(b)
-        ppc.min()
-        ppc.max()
-        ppc(0.4)
-        self.assertTrue ((ppc.derivate(0.4, 0) == ppc(0.4)).all())
-        ppc.derivate(0.4, 2)
-        ppc.is_continuous(0)
-        ppc.is_continuous(1)
+        pc = piecewise_bezier6_curve(a)
+        pc.add_curve(b)
+        pc.min()
+        pc.max()
+        pc(0.4)
+        self.assertTrue ((pc(pc.min()) == matrix([1., 2., 3., 7., 5., 5.]).transpose()).all())
+        self.assertTrue ((pc.derivate(0.4, 0) == pc(0.4)).all())
+        pc.derivate(0.4, 2)
+        pc.is_continuous(0)
+        pc.is_continuous(1)
         return
 
     def test_piecewise_cubic_hermite_curve(self):
         # To test :
         # - Functions : constructor, min, max, derivate, add_curve, is_continuous
         points = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
-        tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+        tangents = matrix([[2., 2., 2.], [4., 4., 4.]]).transpose()
         time_points0 = matrix([0., 1.]).transpose()
         time_points1 = matrix([1., 2.]).transpose()
         a = cubic_hermite_spline(points, tangents, time_points0)
         b = cubic_hermite_spline(points, tangents, time_points1)
-        ppc = piecewise_cubic_hermite_curve(a)
-        ppc.add_curve(b)
-        ppc.min()
-        ppc.max()
-        ppc(0.4)
-        self.assertTrue ((ppc.derivate(0.4, 0) == ppc(0.4)).all())
-        ppc.derivate(0.4, 2)
-        ppc.is_continuous(0)
-        ppc.is_continuous(1)
+        pc = piecewise_cubic_hermite_curve(a)
+        pc.add_curve(b)
+        pc.min()
+        pc.max()
+        pc(0.4)
+        self.assertTrue ((pc(0.) == matrix([1., 2., 3.]).transpose()).all())
+        self.assertTrue ((pc.derivate(0.,1) == matrix([2., 2., 2.]).transpose()).all())
+        self.assertTrue ((pc.derivate(0.4, 0) == pc(0.4)).all())
+        pc.derivate(0.4, 2)
+        pc.is_continuous(0)
+        pc.is_continuous(1)
         return
 
     def test_exact_cubic(self):
@@ -205,12 +212,14 @@ class TestCurves(unittest.TestCase):
 
     def test_cubic_hermite_spline(self):
         points = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
-        tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+        tangents = matrix([[2., 2., 2.], [4., 4., 4.]]).transpose()
         time_points = matrix([0., 1.]).transpose()
         a = cubic_hermite_spline(points, tangents, time_points)
         a.min()
         a.max()
         a(0.4)
+        self.assertTrue ((a(0.) == matrix([1., 2., 3.]).transpose()).all())
+        self.assertTrue ((a.derivate(0.,1) == matrix([2., 2., 2.]).transpose()).all())
         self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
         a.derivate(0.4, 2)
         return