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

include/hpp/rbprm/interpolation/polynom-trajectory.hh

@@ -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
     ///

include/hpp/rbprm/interpolation/spline/bezier-path.hh

@@ -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;

include/hpp/rbprm/interpolation/spline/effector-rrt.hh

@@ -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;
 
 

src/interpolation/effector-rrt.cc

@@ -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()));