GCC Code Coverage Report

Directory: ./
File: include/ndcurves/constant_curve.h
Date: 2025-03-05 17:18:30
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Lines: 48 54 88.9%
Branches: 34 54 63.0%
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1 /**
2 * \file constant_curve.h
3 * \brief class allowing to create a constant_curve curve.
4 * \author Pierre Fernbach
5 * \version 0.4
6 * \date 29/04/2020
7 */
8
9 #ifndef _CLASS_CONSTANTCURVE
10 #define _CLASS_CONSTANTCURVE
11
12 #include "curve_abc.h"
13
14 namespace ndcurves {
15 /// \class constant_curve.
16 /// \brief Represents a constant_curve curve, always returning the same value
17 /// and a null derivative
18 ///
19 template <typename Time = double, typename Numeric = Time, bool Safe = false,
20 typename Point = Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
21 typename Point_derivate = Point>
22 struct constant_curve
23 : public curve_abc<Time, Numeric, Safe, Point, Point_derivate> {
24 typedef Point point_t;
25 typedef Point_derivate point_derivate_t;
26 typedef Time time_t;
27 typedef Numeric num_t;
28 typedef constant_curve<Time, Numeric, Safe, Point, Point_derivate>
29 constant_curve_t;
30 typedef constant_curve<Time, Numeric, Safe, Point_derivate> curve_derivate_t;
31 typedef curve_abc<Time, Numeric, Safe, point_t, Point_derivate>
32 curve_abc_t; // parent class
33
34 /* Constructors - destructors */
35 public:
36 /// \brief Empty constructor. Curve obtained this way can not perform other
37 /// class functions.
38 ///
39
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 28 constant_curve() : T_min_(0), T_max_(0), dim_(0) {}
40
41 /// \brief Constructor..
42 /// \param value : The constant value
43 /// \param T_min : lower bound of the time interval
44 /// \param T_max : upper bound of the time interval
45 ///
46 78 constant_curve(const Point& value, const time_t T_min = 0.,
47 const time_t T_max = std::numeric_limits<time_t>::max())
48
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 78 : value_(value), T_min_(T_min), T_max_(T_max), dim_(value.size()) {
49
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 78 if (Safe && T_min_ > T_max_) {
50
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 6 throw std::invalid_argument(
51 "can't create constant curve: min bound is higher than max bound");
52 }
53 84 }
54
55 /// \brief Copy constructor
56 /// \param other
57 2 constant_curve(const constant_curve_t& other)
58 2 : value_(other.value_),
59 2 T_min_(other.T_min_),
60 2 T_max_(other.T_max_),
61
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 2 dim_(other.dim_) {}
62
63 /// \brief Destructor.
64 144 virtual ~constant_curve() {}
65 /* Constructors - destructors */
66
67 /*Operations*/
68 /// \brief Evaluation of the cubic spline at time t.
69 /// \param t : time when to evaluate the spine
70 /// \return \f$x(t)\f$, point corresponding on curve at time t.
71 128 virtual point_t operator()(const time_t t) const {
72
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 128 if (Safe && (t < T_min_ || t > T_max_)) {
73
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 10 throw std::invalid_argument(
74 "error in constant curve : time t to evaluate should be in range "
75 "[Tmin, Tmax] of the curve");
76 }
77 118 return value_;
78 }
79
80 /// \brief Compute the derived curve at order N.
81 /// Computes the derivative order N, \f$\frac{d^Nx(t)}{dt^N}\f$ of bezier
82 /// curve of parametric equation x(t). \param order : order of derivative.
83 /// \return \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the curve.
84 10 curve_derivate_t compute_derivate() const {
85 size_t derivate_size;
86 if (point_derivate_t::RowsAtCompileTime == Eigen::Dynamic) {
87 6 derivate_size = dim_;
88 } else {
89 4 derivate_size = point_derivate_t::RowsAtCompileTime;
90 }
91
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 10 point_derivate_t value(point_derivate_t::Zero(derivate_size));
92
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 20 return curve_derivate_t(value, T_min_, T_max_);
93 }
94
95 /// \brief Compute the derived curve at order N.
96 /// \param order : order of derivative.
97 /// \return A pointer to \f$\frac{d^Nx(t)}{dt^N}\f$ derivative order N of the
98 /// curve.
99 6 virtual curve_derivate_t* compute_derivate_ptr(const std::size_t) const {
100
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 6 return new curve_derivate_t(compute_derivate());
101 }
102
103 /// \brief Evaluate the derivative of order N of curve at time t.
104 /// \param t : time when to evaluate the spline.
105 /// \param order : order of derivative.
106 /// \return \f$\frac{d^Nx(t)}{dt^N}\f$, point corresponding on derivative
107 /// curve of order N at time t.
108 452 virtual point_derivate_t derivate(const time_t t, const std::size_t) const {
109
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 452 if (Safe && (t < T_min_ || t > T_max_)) {
110
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 12 throw std::invalid_argument(
111 "error in constant curve : time t to derivate should be in range "
112 "[Tmin, Tmax] of the curve");
113 }
114 size_t derivate_size;
115 if (point_derivate_t::RowsAtCompileTime == Eigen::Dynamic) {
116 434 derivate_size = dim_;
117 } else {
118 6 derivate_size = point_derivate_t::RowsAtCompileTime;
119 }
120
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 440 return point_derivate_t::Zero(derivate_size);
121 }
122
123 /**
124 * @brief isApprox check if other and *this are approximately equals given a
125 * precision threshold Only two curves of the same class can be approximately
126 * equals, for comparison between different type of curves see isEquivalent.
127 * @param other the other curve to check
128 * @param prec the precision threshold, default
129 * Eigen::NumTraits<Numeric>::dummy_precision()
130 * @return true is the two curves are approximately equals
131 */
132 50 virtual bool isApprox(
133 const constant_curve_t& other,
134 const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const {
135
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 96 return ndcurves::isApprox<num_t>(T_min_, other.min()) &&
136 46 ndcurves::isApprox<num_t>(T_max_, other.max()) &&
137
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 96 dim_ == other.dim() && value_.isApprox(other.value_, prec);
138 }
139
140 ✗ virtual bool isApprox(
141 const curve_abc_t* other,
142 const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const {
143 ✗ const constant_curve_t* other_cast =
144 ✗ dynamic_cast<const constant_curve_t*>(other);
145 ✗ if (other_cast)
146 ✗ return isApprox(*other_cast, prec);
147 else
148 ✗ return false;
149 }
150
151 46 virtual bool operator==(const constant_curve_t& other) const {
152 46 return isApprox(other);
153 }
154
155 14 virtual bool operator!=(const constant_curve_t& other) const {
156 14 return !(*this == other);
157 }
158
159 /*Helpers*/
160 /// \brief Get dimension of curve.
161 /// \return dimension of curve.
162 86 std::size_t virtual dim() const { return dim_; }
163 /// \brief Get the minimum time for which the curve is defined
164 /// \return \f$t_{min}\f$ lower bound of time range.
165 126 num_t virtual min() const { return T_min_; }
166 /// \brief Get the maximum time for which the curve is defined.
167 /// \return \f$t_{max}\f$ upper bound of time range.
168 374 num_t virtual max() const { return T_max_; }
169 /// \brief Get the degree of the curve.
170 /// \return \f$degree\f$, the degree of the curve.
171 20 virtual std::size_t degree() const { return 0; }
172 /*Helpers*/
173
174 /*Attributes*/
175 Point value_;
176 time_t T_min_, T_max_; // const
177 std::size_t dim_; // const
178 /*Attributes*/
179
180 // Serialization of the class
181 friend class boost::serialization::access;
182
183 template <class Archive>
184 48 void serialize(Archive& ar, const unsigned int version) {
185 if (version) {
186 // Do something depending on version ?
187 }
188
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 48 ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(curve_abc_t);
189
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 48 ar& boost::serialization::make_nvp("value", value_);
190
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 48 ar& boost::serialization::make_nvp("T_min", T_min_);
191
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 48 ar& boost::serialization::make_nvp("T_max", T_max_);
192
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 48 ar& boost::serialization::make_nvp("dim", dim_);
193 48 }
194
195 }; // struct constant_curve
196 } // namespace ndcurves
197
198 DEFINE_CLASS_TEMPLATE_VERSION(
199 SINGLE_ARG(typename Time, typename Numeric, bool Safe, typename Point,
200 typename Point_derivate),
201 SINGLE_ARG(
202 ndcurves::constant_curve<Time, Numeric, Safe, Point, Point_derivate>))
203
204 #endif // _CLASS_CONSTANTCURVE
205