Commit ea8ac10c by JasonChmn Committed by Pierre Fernbach

### [Indentation] Reindentation of all the code - 2

parent 13089d03
 ... ... @@ -31,8 +31,8 @@ namespace curves /// For degree lesser than 4, the evaluation is analitycal. Otherwise /// the bernstein polynoms are used to evaluate the spline at a given location. /// template > template > struct bezier_curve : public curve_abc, public serialization::Serializable< bezier_curve > { ... ...
 ... ... @@ -35,8 +35,7 @@ namespace curves /// template, typename Tangent= Eigen::Matrix > typename Tangent= Eigen::Matrix > struct cubic_hermite_spline : public curve_abc, public serialization::Serializable< cubic_hermite_spline > { ... ...
 ... ... @@ -22,27 +22,27 @@ namespace curves { /// \brief Creates coefficient vector of a cubic spline defined on the interval /// \f$[t_{min}, t_{max}]\f$. It follows the equation :
/// \f$x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 \f$ where \f$t \in [t_{min}, t_{max}] \f$ /// with a, b, c and d the control points. /// template T_Point make_cubic_vector(Point const& a, Point const& b, Point const& c, Point const &d) { T_Point res; res.push_back(a);res.push_back(b);res.push_back(c);res.push_back(d); return res; } template polynomial create_cubic(Point const& a, Point const& b, Point const& c, Point const &d, const Time t_min, const Time t_max) { T_Point coeffs = make_cubic_vector(a,b,c,d); return polynomial(coeffs.begin(),coeffs.end(), t_min, t_max); } /// \brief Creates coefficient vector of a cubic spline defined on the interval /// \f$[t_{min}, t_{max}]\f$. It follows the equation :
/// \f$x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 \f$ where \f$t \in [t_{min}, t_{max}] \f$ /// with a, b, c and d the control points. /// template T_Point make_cubic_vector(Point const& a, Point const& b, Point const& c, Point const &d) { T_Point res; res.push_back(a);res.push_back(b);res.push_back(c);res.push_back(d); return res; } template polynomial create_cubic(Point const& a, Point const& b, Point const& c, Point const &d, const Time t_min, const Time t_max) { T_Point coeffs = make_cubic_vector(a,b,c,d); return polynomial(coeffs.begin(),coeffs.end(), t_min, t_max); } } // namespace curves #endif //_STRUCT_CUBICSPLINE
 ... ... @@ -19,19 +19,19 @@ namespace curves { template struct curve_constraints { typedef Point point_t; curve_constraints(): init_vel(point_t::Zero(Dim)),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){} template struct curve_constraints { typedef Point point_t; curve_constraints(): init_vel(point_t::Zero(Dim)),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){} ~curve_constraints(){} ~curve_constraints(){} point_t init_vel; point_t init_acc; point_t end_vel; point_t end_acc; }; point_t init_vel; point_t init_acc; point_t end_vel; point_t end_acc; }; } // namespace curves #endif //_CLASS_CUBICZEROVELACC
 ... ... @@ -39,10 +39,10 @@ namespace curves struct polynomial : public curve_abc, public serialization::Serializable< polynomial > { typedef Point point_t; typedef Point point_t; typedef T_Point t_point_t; typedef Time time_t; typedef Numeric num_t; typedef Time time_t; typedef Numeric num_t; typedef curve_abc curve_abc_t; typedef Eigen::Matrix coeff_t; typedef Eigen::Ref coeff_t_ref; ... ...
 ... ... @@ -22,28 +22,28 @@ namespace curves { /// \brief Creates coefficient vector of a quintic spline defined on the interval /// \f$[t_{min}, t_{max}]\f$. It follows the equation :
/// \f$x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$
/// where \f$t \in [t_{min}, t_{max}] \f$. /// template T_Point make_quintic_vector(Point const& a, Point const& b, Point const& c, Point const &d, Point const& e, Point const& f) { T_Point res; res.push_back(a);res.push_back(b);res.push_back(c); res.push_back(d);res.push_back(e);res.push_back(f); return res; } template polynomial create_quintic(Point const& a, Point const& b, Point const& c, Point const &d, Point const &e, Point const &f, const Time t_min, const Time t_max) { T_Point coeffs = make_quintic_vector(a,b,c,d,e,f); return polynomial(coeffs.begin(),coeffs.end(), t_min, t_max); } /// \brief Creates coefficient vector of a quintic spline defined on the interval /// \f$[t_{min}, t_{max}]\f$. It follows the equation :
/// \f$x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$
/// where \f$t \in [t_{min}, t_{max}] \f$. /// template T_Point make_quintic_vector(Point const& a, Point const& b, Point const& c, Point const &d, Point const& e, Point const& f) { T_Point res; res.push_back(a);res.push_back(b);res.push_back(c); res.push_back(d);res.push_back(e);res.push_back(f); return res; } template polynomial create_quintic(Point const& a, Point const& b, Point const& c, Point const &d, Point const &e, Point const &f, const Time t_min, const Time t_max) { T_Point coeffs = make_quintic_vector(a,b,c,d,e,f); return polynomial(coeffs.begin(),coeffs.end(), t_min, t_max); } } // namespace curves #endif //_STRUCT_QUINTIC_SPLINE
 ... ... @@ -8,33 +8,33 @@ namespace curves { typedef double real; typedef Eigen::Vector3d point_t; typedef Eigen::Vector3d tangent_t; typedef Eigen::VectorXd vectorX_t; typedef std::pair pair_point_tangent_t; typedef Eigen::Matrix point6_t; typedef Eigen::Matrix ret_point_t; typedef Eigen::Matrix ret_point6_t; typedef Eigen::VectorXd time_waypoints_t; typedef Eigen::Matrix point_list_t; typedef Eigen::Matrix point_list6_t; typedef std::vector > t_point_t; typedef std::vector > t_point6_t; typedef std::pair Waypoint; typedef std::vector T_Waypoint; typedef std::pair Waypoint6; typedef std::vector T_Waypoint6; typedef double real; typedef Eigen::Vector3d point_t; typedef Eigen::Vector3d tangent_t; typedef Eigen::VectorXd vectorX_t; typedef std::pair pair_point_tangent_t; typedef Eigen::Matrix point6_t; typedef Eigen::Matrix ret_point_t; typedef Eigen::Matrix ret_point6_t; typedef Eigen::VectorXd time_waypoints_t; typedef Eigen::Matrix point_list_t; typedef Eigen::Matrix point_list6_t; typedef std::vector > t_point_t; typedef std::vector > t_point6_t; typedef std::pair Waypoint; typedef std::vector T_Waypoint; typedef std::pair Waypoint6; typedef std::vector T_Waypoint6; template T_Point vectorFromEigenArray(const PointList& array) { T_Point res; for(int i =0;i T_Point vectorFromEigenArray(const PointList& array) { T_Point res; for(int i =0;i
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