quadratic_variable

include/curves/quadratic_variable.h

@@ -10,8 +10,8 @@
 #ifndef _CLASS_QUADRATIC_VARIABLE
 #define _CLASS_QUADRATIC_VARIABLE
 
-#include "hpp/spline/curve_abc.h"
-#include "hpp/spline/linear_variable.h"
+#include "curves/curve_abc.h"
+#include "curves/linear_variable.h"
 
 #include "MathDefs.h"
 
@@ -128,7 +128,7 @@ struct quadratic_variable
     const point_t&  b () const {assert(!isZero());return b_;}
     const Numeric  c () const {assert(!isZero());return c_;}
     bool  isZero() const {return zero;}
-    std::size_t size() const {return zero ? 0 :  std::max(A_.cols(), (std::max(B_.cols(), c_.size()))) ;}
+    std::size_t size() const {return zero ? 0 :  std::max(A_.cols(), (std::max(b_.cols(), c_.size()))) ;}
 
 private:
     Numeric c_;

python/curves_python.cpp

@@ -380,6 +380,15 @@ namespace curves
         .def_readonly("degree", &bezier_linear_variable_t::degree_)
         .def_readonly("nbWaypoints", &bezier_linear_variable_t::size_)
         ;
+
+
+    class_<quadratic_variable_t >
+        ("cost", no_init)
+        .add_property("A", &cost_t_quad)
+        .add_property("b", &cost_t_linear)
+        .add_property("c", &cost_t_constant)
+        ;
+
     /** END variable points bezier curve**/
     /** BEGIN polynomial curve function**/
     class_<polynomial_t>("polynomial",  init<>())

python/python_definitions.h

 #include "curves/bezier_curve.h"
 #include "curves/linear_variable.h"
+#include "curves/quadratic_variable.h"
 
 #include <vector>
 

python/python_variables.cpp

@@ -48,6 +48,22 @@ namespace curves
   }
 
 
+  Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> cost_t_quad(const quadratic_variable_t& p)
+  {
+      Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> A = p.A();
+      return A;
+  }
+  Eigen::Matrix<real, Eigen::Dynamic, 1> cost_t_linear(const quadratic_variable_t & p)
+  {
+      Eigen::Matrix<real, Eigen::Dynamic, 1> b = p.b();
+      return b;
+  }
+  real cost_t_constant(const quadratic_variable_t & p)
+  {
+      return p.c();
+  }
+
+
   matrix_pair*
           wayPointsToLists(const bezier_linear_variable_t& self)
   {

python/python_variables.h

@@ -13,11 +13,11 @@ namespace curves
 {
   static const int dim = 3;
   typedef linear_variable<dim, real> linear_variable_3_t;
+  typedef quadratic_variable<real> quadratic_variable_t;
   typedef bezier_curve  <real, real, true, linear_variable_3_t> bezier_linear_variable_t;
 
   /*linear variable control points*/
   bezier_linear_variable_t* wrapBezierLinearConstructor(const point_list_t& matrices, const point_list_t& vectors);
-
   bezier_linear_variable_t* wrapBezierLinearConstructorBounds
   (const point_list_t& matrices, const point_list_t& vectors, const real T_min, const real T_max);
 
@@ -32,6 +32,10 @@ namespace curves
   };
 
 
+  Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> cost_t_quad(const quadratic_variable_t& p);
+  Eigen::Matrix<real, Eigen::Dynamic, 1> cost_t_linear(const quadratic_variable_t & p);
+  real cost_t_constant(const quadratic_variable_t & p);
+
   matrix_pair* wayPointsToLists(const bezier_linear_variable_t& self);
 
   struct LinearBezierVector