Commit c909cf4c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[C++] refactor hpp-spline -> Curves

parent 7d106d14
Pipeline #7997 failed with stage
in 6 minutes and 45 seconds
......@@ -23,7 +23,7 @@
# include <hpp/core/config.hh>
# include <hpp/core/path.hh>
# include <hpp/rbprm/interpolation/time-dependant.hh>
# include <hpp/spline/curve_abc.h>
# include <curves/curve_abc.h>
namespace hpp {
namespace rbprm {
......@@ -31,7 +31,7 @@ namespace interpolation {
HPP_PREDEF_CLASS (PolynomTrajectory);
typedef boost::shared_ptr <PolynomTrajectory>
PolynomTrajectoryPtr_t;
typedef spline::curve_abc<core::value_type, core::value_type, 3, false, Eigen::Vector3d> Polynom;
typedef curves::curve_abc<core::value_type, core::value_type, false, Eigen::Vector3d> Polynom;
typedef boost::shared_ptr <Polynom> PolynomPtr_t;
/// Linear interpolation between two configurations
///
......
......@@ -20,7 +20,7 @@
#ifndef HPP_RBPRM_BEZIER_PATH_HH
#define HPP_RBPRM_BEZIER_PATH_HH
# include <hpp/spline/bezier_curve.h>
# include <curves/bezier_curve.h>
# include <hpp/core/path.hh>
# include <vector>
# include <map>
......@@ -28,7 +28,7 @@
namespace hpp {
namespace rbprm {
typedef spline::bezier_curve <double, double, 3, true, Eigen::Vector3d > bezier_t;
typedef curves::bezier_curve <double, double, true, Eigen::Vector3d > bezier_t;
typedef boost::shared_ptr<bezier_t> bezier_Ptr;
HPP_PREDEF_CLASS (BezierPath);
typedef boost::shared_ptr <BezierPath> BezierPathPtr_t;
......
......@@ -32,9 +32,9 @@
# include <hpp/core/problem.hh>
# include <hpp/core/config-projector.hh>
# include <hpp/rbprm/interpolation/spline/bezier-path.hh>
# include <hpp/spline/exact_cubic.h>
# include <hpp/spline/bezier_curve.h>
# include <hpp/spline/spline_deriv_constraint.h>
# include <curves/exact_cubic.h>
# include <curves/bezier_curve.h>
# include <curves/curve_constraint.h>
# include <vector>
# include <map>
......@@ -118,8 +118,8 @@ namespace interpolation {
*/
std::vector<core::PathVectorPtr_t> fitBeziersToPath(RbPrmFullBodyPtr_t fullbody,const pinocchio::Frame& effector, const value_type comPathLength,const PathPtr_t fullBodyComPath, const State &startState, const State &nextState);
typedef spline::exact_cubic<double, double, 3, true, Eigen::Matrix<value_type, 3, 1> > exact_cubic_t;
typedef spline::spline_deriv_constraint<double, double, 3, true, Eigen::Matrix<value_type, 3, 1> > spline_deriv_constraint_t;
typedef curves::exact_cubic<double, double, true, Eigen::Matrix<value_type, 3, 1> > exact_cubic_t;
typedef curves::curve_constraints<Eigen::Matrix<value_type, 3, 1> > curve_constraint_t;
typedef boost::shared_ptr<exact_cubic_t> exact_cubic_Ptr;
......
......@@ -26,8 +26,8 @@
#include <hpp/constraints/generic-transformation.hh>
#include <hpp/bezier-com-traj/solve_end_effector.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/spline/helpers/effector_spline.h>
#include <hpp/spline/bezier_curve.h>
#include <curves/helpers/effector_spline.h>
#include <curves/bezier_curve.h>
#include <hpp/pinocchio/joint-collection.hh>
......@@ -223,14 +223,14 @@ value_type max_height = effectorDistance < 0.1 ? 0.03 : std::min( 0.07, std::max
fcl::Vec3f n2 = getNormal(effLimb, nextState, found);
value_type h2 = genHeight(found);
std::cout << "AM I CALLED " << n1 << "\n" << n2 << "\n h1 " << h1 << "\n h2 " << h2 << std::endl;
/* exact_cubic_Ptr ptr = exact_cubic_Ptr(spline::helpers::effector_spline(
/* exact_cubic_Ptr ptr = exact_cubic_Ptr(curves::helpers::effector_spline(
wayPoints.begin(),
wayPoints.end(),
n1, n2,
h1, h2,
h1, h2));
*/
//exact_cubic_Ptr ptr = exact_cubic_Ptr(new spline_deriv_constraint_t(wayPoints.begin(), wayPoints.end()));
//exact_cubic_Ptr ptr = exact_cubic_Ptr(new curve_constraint_t(wayPoints.begin(), wayPoints.end()));
exact_cubic_Ptr ptr = exact_cubic_Ptr(new exact_cubic_t(wayPoints.begin(), wayPoints.end()));
isLine = true;
//exact_cubic_Ptr ptr = exact_cubic_Ptr(new exact_cubic_t(wayPoints.begin(), wayPoints.end()));
......
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