Commit 70816b09 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

refactor hpp-spline -> Curves

parent e3da9658
Pipeline #7999 failed with stage
in 2 minutes and 23 seconds
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
from hpp.corbaserver.rbprm import Client as RbprmClient from hpp.corbaserver.rbprm import Client as RbprmClient
from hpp.corbaserver.robot import Robot from hpp.corbaserver.robot import Robot
from hpp_spline import bezier from curves import bezier
from numpy import array, matrix from numpy import array, matrix
......
...@@ -43,7 +43,6 @@ ...@@ -43,7 +43,6 @@
#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh> #include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include <algorithm> // std::random_shuffle #include <algorithm> // std::random_shuffle
#include <hpp/rbprm/interpolation/time-constraint-helper.hh> #include <hpp/rbprm/interpolation/time-constraint-helper.hh>
#include <hpp/spline/bezier_curve.h>
#include <hpp/rbprm/interpolation/polynom-trajectory.hh> #include <hpp/rbprm/interpolation/polynom-trajectory.hh>
#include <hpp/rbprm/planner/random-shortcut-dynamic.hh> #include <hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include <hpp/rbprm/planner/oriented-path-optimizer.hh> #include <hpp/rbprm/planner/oriented-path-optimizer.hh>
...@@ -59,7 +58,6 @@ ...@@ -59,7 +58,6 @@
namespace hpp { namespace hpp {
namespace rbprm { namespace rbprm {
typedef spline::bezier_curve<> bezier;
namespace impl { namespace impl {
const pinocchio::Computation_t flag = const pinocchio::Computation_t flag =
...@@ -1807,7 +1805,7 @@ CORBA::Short RbprmBuilder::straightPath(const hpp::floatSeqSeq& positions) throw ...@@ -1807,7 +1805,7 @@ CORBA::Short RbprmBuilder::straightPath(const hpp::floatSeqSeq& positions) throw
CORBA::Short RbprmBuilder::generateCurveTraj(const hpp::floatSeqSeq& positions) throw(hpp::Error) { CORBA::Short RbprmBuilder::generateCurveTraj(const hpp::floatSeqSeq& positions) throw(hpp::Error) {
try { try {
T_Configuration c = doubleDofArrayToConfig(3, positions); T_Configuration c = doubleDofArrayToConfig(3, positions);
bezier* curve = new bezier(c.begin(), c.end()); bezier_t* curve = new bezier_t(c.begin(), c.end());
hpp::rbprm::interpolation::PolynomPtr_t curvePtr(curve); hpp::rbprm::interpolation::PolynomPtr_t curvePtr(curve);
hpp::rbprm::interpolation::PolynomTrajectoryPtr_t path = hpp::rbprm::interpolation::PolynomTrajectoryPtr_t path =
hpp::rbprm::interpolation::PolynomTrajectory::create(curvePtr); hpp::rbprm::interpolation::PolynomTrajectory::create(curvePtr);
...@@ -1824,7 +1822,7 @@ CORBA::Short RbprmBuilder::generateCurveTrajParts(const hpp::floatSeqSeq& positi ...@@ -1824,7 +1822,7 @@ CORBA::Short RbprmBuilder::generateCurveTrajParts(const hpp::floatSeqSeq& positi
try { try {
pinocchio::Configuration_t config = dofArrayToConfig((std::size_t)partitions.length(), partitions); pinocchio::Configuration_t config = dofArrayToConfig((std::size_t)partitions.length(), partitions);
T_Configuration c = doubleDofArrayToConfig(3, positions); T_Configuration c = doubleDofArrayToConfig(3, positions);
bezier* curve = new bezier(c.begin(), c.end()); bezier_t* curve = new bezier_t(c.begin(), c.end());
hpp::rbprm::interpolation::PolynomPtr_t curvePtr(curve); hpp::rbprm::interpolation::PolynomPtr_t curvePtr(curve);
hpp::rbprm::interpolation::PolynomTrajectoryPtr_t path = hpp::rbprm::interpolation::PolynomTrajectoryPtr_t path =
hpp::rbprm::interpolation::PolynomTrajectory::create(curvePtr); hpp::rbprm::interpolation::PolynomTrajectory::create(curvePtr);
......
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