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Commit 83feb504 authored by JasonChmn's avatar JasonChmn
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[piecewise_curve and main] Fix all (in)equalities by comparing to an epsilon

parent 4dd18a3a
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include/curves/cubic_hermite_spline.h
View file @ 83feb504
......@@ -214,7 +214,7 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Dim, Safe, Point>
//
const Time dt = (t1-t0);
const Time alpha = (t - t0)/dt;
assert(0. <= alpha <= 1. && "alpha must be in [0,1]");
assert(0. <= alpha && alpha <= 1. && "alpha must be in [0,1]");
Numeric h00, h10, h01, h11;
evalCoeffs(alpha,h00,h10,h01,h11,order_derivative);
//std::cout << "for val t="<<t<<" alpha="<<alpha<<" coef : h00="<<h00<<" h10="<<h10<<" h01="<<h01<<" h11="<<h11<<std::endl;
......
include/curves/linear_variable.h
View file @ 83feb504
......@@ -50,7 +50,7 @@ struct linear_variable{
return *this;
}
static linear_variable_t Zero(size_t dim=0){
static linear_variable_t Zero(){
linear_variable_t w;
w.A_ = matrix_t::Zero();
w.b_ = point_t::Zero();
......
include/curves/piecewise_curve.h
View file @ 83feb504
......@@ -86,9 +86,12 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
void add_curve(const curve_t& cf)
{
// Check time continuity : Beginning time of pol must be equal to T_max_ of actual piecewise curve.
if (size_!=0 && cf.min()!=T_max_)
if (size_!=0)
{
throw std::invalid_argument("Can not add new Polynom to PiecewiseCurve : time discontinuity between T_max_ and pol.min()");
if (!(fabs(cf.min()-T_max_)<std::numeric_limits<Time>::epsilon()))
{
throw std::invalid_argument("Can not add new Polynom to PiecewiseCurve : time discontinuity between T_max_ and pol.min()");
}
}
curves_.push_back(cf);
size_ = curves_.size();
......
python/test/test.py
View file @ 83feb504
......@@ -17,230 +17,230 @@ from curves import bezier_from_hermite, bezier_from_polynomial
from curves import hermite_from_bezier, hermite_from_polynomial
class TestCurves(unittest.TestCase):
#def print_str(self, inStr):
# print inStr
# return
def test_bezier(self):
# To test :
# - Functions : constructor, min, max, derivate,compute_derivate, compute_primitive
# - Variables : degree, nbWayPoints
__EPS = 1e-6
waypoints = matrix([[1., 2., 3.]]).T
a = bezier3(waypoints,0.,2.)
t = 0.
while t < 2.:
self.assertTrue (norm(a(t) - matrix([1., 2., 3.]).T) < __EPS)
t += 0.1
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
# Create bezier6 and bezier3
a = bezier6(waypoints6)
a = bezier3(waypoints, 0., 3.)
# Test : Degree, min, max, derivate
#self.print_str(("test 1")
self.assertEqual (a.degree, a.nbWaypoints - 1)
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a = a.compute_derivate(100)
prim = a.compute_primitive(1)
# Check primitive and derivate - order 1
for i in range(10):
t = float(i) / 10.
self.assertTrue ((a(t) == prim.derivate(t, 1)).all())
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# Check primitive and derivate - order 2
prim = a.compute_primitive(2)
for i in range(10):
t = float(i) / 10.
self.assertTrue ((a(t) == prim.derivate(t, 2)).all())
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# Create new bezier3 curve
waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose()
a0 = bezier3(waypoints)
a1 = bezier3(waypoints, 0., 3.)
prim0 = a0.compute_primitive(1)
prim1 = a1.compute_primitive(1)
# Check change in argument time_t of bezier3
for i in range(10):
t = float(i) / 10.
self.assertTrue (norm(a0(t) - a1(3 * t)) < __EPS)
self.assertTrue (norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.) < __EPS)
self.assertTrue (norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.) < __EPS)
self.assertTrue (norm(prim0(t) - prim1(t * 3) / 3.) < __EPS)
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# testing bezier with constraints
c = curve_constraints()
c.init_vel = matrix([0., 1., 1.]).transpose()
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., -1.]).transpose()
c.end_acc = matrix([0., 100., 1.]).transpose()
#Check derivate with constraints
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier3(waypoints, c)
self.assertTrue (norm(a.derivate(0, 1) - c.init_vel) < 1e-10)
self.assertTrue (norm(a.derivate(1, 2) - c.end_acc) < 1e-10)
return
def test_polynomial(self):
# To test :
# - Functions : constructor, min, max, derivate
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = polynomial(waypoints) # Defined on [0.,1.]
a = polynomial(waypoints, -1., 3.) # Defined on [-1.,3.]
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
return
def test_piecewise_polynomial_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
waypoints1 = matrix([[1., 1., 1.]]).transpose()
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)
return
def test_piecewise_bezier3_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
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)
return
def test_piecewise_bezier6_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
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)
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()
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)
return
def test_exact_cubic(self):
# To test :
# - Functions : constructor, min, max, derivate, getNumberSplines, getSplineAt
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a.getNumberSplines()
a.getSplineAt(0)
return
def test_exact_cubic_constraint(self):
# To test :
# - Functions : constructor, min, max, derivate
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
c = curve_constraints()
c.init_vel
c.end_vel
c.init_acc
c.end_acc
c.init_vel = matrix([0., 1., 1.]).transpose()
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., 1.]).transpose()
c.end_acc = matrix([0., 1., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a = exact_cubic(waypoints, time_waypoints, c)
return
def test_cubic_hermite_spline(self):
points = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).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.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
return
def test_conversion_curves(self):
__EPS = 1e-6
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier3(waypoints)
# converting bezier to polynomial
a_pol = polynomial_from_bezier(a)
self.assertTrue (norm(a(0.3) - a_pol(0.3)) < __EPS)
# converting polynomial to hermite
a_chs = hermite_from_polynomial(a_pol);
self.assertTrue (norm(a_chs(0.3) - a_pol(0.3)) < __EPS)
# converting hermite to bezier
a_bc = bezier_from_hermite(a_chs);
self.assertTrue (norm(a_chs(0.3) - a_bc(0.3)) < __EPS)
self.assertTrue (norm(a(0.3) - a_bc(0.3)) < __EPS)
# converting bezier to hermite
a_chs = hermite_from_bezier(a);
self.assertTrue (norm(a(0.3) - a_chs(0.3)) < __EPS)
# converting hermite to polynomial
a_pol = polynomial_from_hermite(a_chs)
self.assertTrue (norm(a_pol(0.3) - a_chs(0.3)) < __EPS)
# converting polynomial to bezier
a_bc = bezier_from_polynomial(a_pol)
self.assertTrue (norm(a_bc(0.3) - a_pol(0.3)) < __EPS)
self.assertTrue (norm(a(0.3) - a_bc(0.3)) < __EPS)
return
#def print_str(self, inStr):
# print inStr
# return
def test_bezier(self):
# To test :
# - Functions : constructor, min, max, derivate,compute_derivate, compute_primitive
# - Variables : degree, nbWayPoints
__EPS = 1e-6
waypoints = matrix([[1., 2., 3.]]).T
a = bezier3(waypoints,0.,2.)
t = 0.
while t < 2.:
self.assertTrue (norm(a(t) - matrix([1., 2., 3.]).T) < __EPS)
t += 0.1
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
# Create bezier6 and bezier3
a = bezier6(waypoints6)
a = bezier3(waypoints, 0., 3.)
# Test : Degree, min, max, derivate
#self.print_str(("test 1")
self.assertEqual (a.degree, a.nbWaypoints - 1)
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a = a.compute_derivate(100)
prim = a.compute_primitive(1)
# Check primitive and derivate - order 1
for i in range(10):
t = float(i) / 10.
self.assertTrue ((a(t) == prim.derivate(t, 1)).all())
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# Check primitive and derivate - order 2
prim = a.compute_primitive(2)
for i in range(10):
t = float(i) / 10.
self.assertTrue ((a(t) == prim.derivate(t, 2)).all())
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# Create new bezier3 curve
waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose()
a0 = bezier3(waypoints)
a1 = bezier3(waypoints, 0., 3.)
prim0 = a0.compute_primitive(1)
prim1 = a1.compute_primitive(1)
# Check change in argument time_t of bezier3
for i in range(10):
t = float(i) / 10.
self.assertTrue (norm(a0(t) - a1(3 * t)) < __EPS)
self.assertTrue (norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.) < __EPS)
self.assertTrue (norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.) < __EPS)
self.assertTrue (norm(prim0(t) - prim1(t * 3) / 3.) < __EPS)
self.assertTrue ((prim(0) == matrix([0., 0., 0.])).all())
# testing bezier with constraints
c = curve_constraints()
c.init_vel = matrix([0., 1., 1.]).transpose()
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., -1.]).transpose()
c.end_acc = matrix([0., 100., 1.]).transpose()
#Check derivate with constraints
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier3(waypoints, c)
self.assertTrue (norm(a.derivate(0, 1) - c.init_vel) < 1e-10)
self.assertTrue (norm(a.derivate(1, 2) - c.end_acc) < 1e-10)
return
def test_polynomial(self):
# To test :
# - Functions : constructor, min, max, derivate
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = polynomial(waypoints) # Defined on [0.,1.]
a = polynomial(waypoints, -1., 3.) # Defined on [-1.,3.]
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
return
def test_piecewise_polynomial_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
waypoints1 = matrix([[1., 1., 1.]]).transpose()
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)
return
def test_piecewise_bezier3_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
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)
return
def test_piecewise_bezier6_curve(self):
# To test :
# - Functions : constructor, min, max, derivate, add_curve, is_continuous
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)
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()
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)
return
def test_exact_cubic(self):
# To test :
# - Functions : constructor, min, max, derivate, getNumberSplines, getSplineAt
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a.min()
a.max()
a(0.4)
self.assertTrue ((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a.getNumberSplines()
a.getSplineAt(0)
return
def test_exact_cubic_constraint(self):
# To test :
# - Functions : constructor, min, max, derivate
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
time_waypoints = matrix([0., 1.]).transpose()
c = curve_constraints()
c.init_vel
c.end_vel
c.init_acc
c.end_acc
c.init_vel = matrix([0., 1., 1.]).transpose()
c.end_vel = matrix([0., 1., 1.]).transpose()
c.init_acc = matrix([0., 1., 1.]).transpose()
c.end_acc = matrix([0., 1., 1.]).transpose()
a = exact_cubic(waypoints, time_waypoints)
a = exact_cubic(waypoints, time_waypoints, c)
return
def test_cubic_hermite_spline(self):
points = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
tangents = matrix([[1., 2., 3.], [4., 5., 6.]]).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.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
return
def test_conversion_curves(self):
__EPS = 1e-6
waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier3(waypoints)
# converting bezier to polynomial
a_pol = polynomial_from_bezier(a)
self.assertTrue (norm(a(0.3) - a_pol(0.3)) < __EPS)
# converting polynomial to hermite
a_chs = hermite_from_polynomial(a_pol);
self.assertTrue (norm(a_chs(0.3) - a_pol(0.3)) < __EPS)
# converting hermite to bezier
a_bc = bezier_from_hermite(a_chs);
self.assertTrue (norm(a_chs(0.3) - a_bc(0.3)) < __EPS)
self.assertTrue (norm(a(0.3) - a_bc(0.3)) < __EPS)
# converting bezier to hermite
a_chs = hermite_from_bezier(a);
self.assertTrue (norm(a(0.3) - a_chs(0.3)) < __EPS)
# converting hermite to polynomial
a_pol = polynomial_from_hermite(a_chs)
self.assertTrue (norm(a_pol(0.3) - a_chs(0.3)) < __EPS)
# converting polynomial to bezier
a_bc = bezier_from_polynomial(a_pol)
self.assertTrue (norm(a_bc(0.3) - a_pol(0.3)) < __EPS)
self.assertTrue (norm(a(0.3) - a_bc(0.3)) < __EPS)
return
if __name__ == '__main__':
unittest.main()
tests/Main.cpp
View file @ 83feb504
......@@ -41,21 +41,13 @@ typedef piecewise_curve <double, double, 3, true, point_t, t_point_t, polynomial
typedef piecewise_curve <double, double, 3, true, point_t, t_point_t, bezier_curve_t> piecewise_bezier_curve_t;
typedef piecewise_curve <double, double, 3, true, point_t, t_point_t, cubic_hermite_spline_t> piecewise_cubic_hermite_curve_t;
const double margin = 1e-9;
bool QuasiEqual(const double a, const double b, const float margin)
bool QuasiEqual(const double a, const double b)
{
if ((a <= 0 && b <= 0) || (a >= 0 && b>= 0))
{
return (abs(a-b)) <= margin;
}
else
{
return abs(a) + abs(b) <= margin;
}
return std::fabs(a-b)<margin;
}
const double margin = 0.001;
} // namespace curves
using namespace curves;
......@@ -68,7 +60,7 @@ ostream& operator<<(ostream& os, const point_t& pt)
void ComparePoints(const Eigen::VectorXd& pt1, const Eigen::VectorXd& pt2, const std::string& errmsg, bool& error, bool notequal = false)
{
if((pt1-pt2).norm() > margin && !notequal)
if(!QuasiEqual((pt1-pt2).norm(), 0.0) && !notequal)
{
error = true;
std::cout << errmsg << pt1.transpose() << " ; " << pt2.transpose() << std::endl;
......@@ -76,13 +68,13 @@ void ComparePoints(const Eigen::VectorXd& pt1, const Eigen::VectorXd& pt2, const
}
template<typename curve1, typename curve2>
void compareCurves(curve1 c1, curve2 c2, const std::string& errMsg, bool& error)
void CompareCurves(curve1 c1, curve2 c2, const std::string& errMsg, bool& error)
{
double T_min = c1.min();
double T_max = c1.max();
if (T_min!=c2.min() || T_max!=c2.max())
if (!QuasiEqual(T_min, c2.min()) || !QuasiEqual(T_max, c2.max()))
{
std::cout << "compareCurves, time min and max of curves does not match ["<<T_min<<","<<T_max<<"] "
std::cout << "CompareCurves, ERROR, time min and max of curves do not match ["<<T_min<<","<<T_max<<"] "
<< " and ["<<c2.min()<<","<<c2.max()<<"] "<<std::endl;
error = true;
}
......@@ -161,12 +153,12 @@ void CubicFunctionTest(bool& error)
{
std::cout << "Evaluation of cubic cf2 error, 1.1 should be an out of range value\n";
}
if(cf.max() != 1)
if (!QuasiEqual(cf.max(), 1.0))
{
error = true;
std::cout << "Evaluation of cubic cf error, MaxBound should be equal to 1\n";
}
if(cf.min() != 0)
if (!QuasiEqual(cf.min(), 0.0))
{
error = true;
std::cout << "Evaluation of cubic cf error, MinBound should be equal to 1\n";
......@@ -257,12 +249,12 @@ void BezierCurveTest(bool& error)
std::cout << "Evaluation of bezier cf error, 1.1 should be an out of range value\n";
error = true;
}
if(cf.max() != 1)
if (!QuasiEqual(cf.max(),1.0))
{
error = true;
std::cout << "Evaluation of bezier cf error, MaxBound should be equal to 1\n";
}
if(cf.min() != 0)
if (!QuasiEqual(cf.min(),0.0))
{
error = true;
std::cout << "Evaluation of bezier cf error, MinBound should be equal to 1\n";
......@@ -426,7 +418,7 @@ void BezierDerivativeCurveTimeReparametrizationTest(bool& error)
void BezierDerivativeCurveConstraintTest(bool& error)
{