GCC Code Coverage Report

Directory: ./
File: python/ndcurves/curves_python.cpp
Date: 2025-03-05 17:18:30
Exec Total Coverage
Lines: 792 1018 77.8%
Branches: 837 1936 43.2%
Line Branch Exec Source
1 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
2 #include <pinocchio/spatial/motion.hpp>
3 #include <pinocchio/spatial/se3.hpp>
4 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
5
6 #include <boost/python.hpp>
7 #include <boost/python/call_method.hpp>
8 #include <boost/python/class.hpp>
9 #include <boost/python/def.hpp>
10 #include <boost/python/module_init.hpp>
11 #include <boost/python/register_ptr_to_python.hpp>
12 #include <boost/ref.hpp>
13 #include <boost/utility.hpp>
14 #include <ndcurves/serialization/curves.hpp>
15
16 #include "archive_python_binding.h"
17 #include "optimization_python.h"
18 #include "python_variables.h"
19
20 namespace ndcurves {
21 using namespace boost::python;
22
23 /* base wrap of curve_abc and others parent abstract class: must implement all
24 * pure virtual methods */
25 struct curve_abc_callback : curve_abc_t {
26 ✗ curve_abc_callback(PyObject* p) : self(p) {}
27 ✗ virtual point_t operator()(const real t) const {
28 ✗ return call_method<point_t>(self, "operator()", t);
29 }
30 ✗ virtual point_t derivate(const real t, const std::size_t n) const {
31 ✗ return call_method<point_t>(self, "derivate", t, n);
32 }
33 ✗ virtual curve_t* compute_derivate_ptr(const std::size_t n) const {
34 ✗ return call_method<curve_t*>(self, "compute_derivate", n);
35 }
36 ✗ virtual std::size_t dim() const {
37 ✗ return call_method<std::size_t>(self, "dim");
38 }
39 ✗ virtual real min() const { return call_method<real>(self, "min"); }
40 ✗ virtual real max() const { return call_method<real>(self, "max"); }
41 ✗ virtual std::size_t degree() const {
42 ✗ return call_method<std::size_t>(self, "degree");
43 }
44 ✗ virtual bool isApprox(
45 const curve_t* other,
46 const real prec = Eigen::NumTraits<real>::dummy_precision()) const {
47 ✗ return call_method<bool>(self, "isApprox", other, prec);
48 }
49 PyObject* self;
50 };
51 30 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(curve_abc_t_isEquivalent_overloads,
52 curve_abc_t::isEquivalent, 1, 3)
53
54 struct curve_3_callback : curve_3_t {
55 ✗ curve_3_callback(PyObject* p) : self(p) {}
56 ✗ virtual point3_t operator()(const real t) const {
57 ✗ return call_method<point3_t>(self, "operator()", t);
58 }
59 ✗ virtual point3_t derivate(const real t, const std::size_t n) const {
60 ✗ return call_method<point3_t>(self, "derivate", t, n);
61 }
62 ✗ virtual curve_t* compute_derivate_ptr(const std::size_t n) const {
63 ✗ return call_method<curve_t*>(self, "compute_derivate", n);
64 }
65 ✗ virtual std::size_t dim() const {
66 ✗ return call_method<std::size_t>(self, "dim");
67 }
68 ✗ virtual real min() const { return call_method<real>(self, "min"); }
69 ✗ virtual real max() const { return call_method<real>(self, "max"); }
70 ✗ virtual std::size_t degree() const {
71 ✗ return call_method<std::size_t>(self, "degree");
72 }
73 ✗ virtual bool isApprox(
74 const curve_t* other,
75 const real prec = Eigen::NumTraits<real>::dummy_precision()) const {
76 ✗ return call_method<bool>(self, "isApprox", other, prec);
77 }
78 PyObject* self;
79 };
80 16 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(curve_3_t_isEquivalent_overloads,
81 curve_3_t::isEquivalent, 1, 3)
82
83 struct curve_rotation_callback : curve_rotation_t {
84 ✗ curve_rotation_callback(PyObject* p) : self(p) {}
85 ✗ virtual curve_rotation_t::point_t operator()(const real t) const {
86 ✗ return call_method<curve_rotation_t::point_t>(self, "operator()", t);
87 }
88 ✗ virtual curve_rotation_t::point_derivate_t derivate(
89 const real t, const std::size_t n) const {
90 ✗ return call_method<curve_rotation_t::point_derivate_t>(self, "derivate", t,
91 ✗ n);
92 }
93 ✗ virtual curve_rotation_t::curve_derivate_t* compute_derivate_ptr(
94 const std::size_t n) const {
95 ✗ return call_method<curve_rotation_t::curve_derivate_t*>(
96 ✗ self, "compute_derivate", n);
97 }
98 ✗ virtual std::size_t dim() const {
99 ✗ return call_method<std::size_t>(self, "dim");
100 }
101 ✗ virtual real min() const { return call_method<real>(self, "min"); }
102 ✗ virtual real max() const { return call_method<real>(self, "max"); }
103 ✗ virtual std::size_t degree() const {
104 ✗ return call_method<std::size_t>(self, "degree");
105 }
106 ✗ virtual bool isApprox(
107 const curve_t* other,
108 const real prec = Eigen::NumTraits<real>::dummy_precision()) const {
109 ✗ return call_method<bool>(self, "isApprox", other, prec);
110 }
111 PyObject* self;
112 };
113 16 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(curve_rotation_t_isEquivalent_overloads,
114 curve_rotation_t::isEquivalent, 1, 3)
115
116 struct curve_SE3_callback : curve_SE3_t {
117 ✗ curve_SE3_callback(PyObject* p) : self(p) {}
118 ✗ virtual curve_SE3_t::point_t operator()(const real t) const {
119 ✗ return call_method<curve_SE3_t::point_t>(self, "operator()", t);
120 }
121 ✗ virtual curve_SE3_t::point_derivate_t derivate(const real t,
122 const std::size_t n) const {
123 ✗ return call_method<curve_SE3_t::point_derivate_t>(self, "derivate", t, n);
124 }
125 ✗ virtual curve_SE3_t::curve_derivate_t* compute_derivate_ptr(
126 const std::size_t n) const {
127 ✗ return call_method<curve_SE3_t::curve_derivate_t*>(self, "compute_derivate",
128 ✗ n);
129 }
130 ✗ virtual std::size_t dim() const {
131 ✗ return call_method<std::size_t>(self, "dim");
132 }
133 ✗ virtual real min() const { return call_method<real>(self, "min"); }
134 ✗ virtual real max() const { return call_method<real>(self, "max"); }
135 ✗ virtual std::size_t degree() const {
136 ✗ return call_method<std::size_t>(self, "degree");
137 }
138 ✗ virtual bool isApprox(
139 const curve_t* other,
140 const real prec = Eigen::NumTraits<real>::dummy_precision()) const {
141 ✗ return call_method<bool>(self, "isApprox", other, prec);
142 }
143 PyObject* self;
144 };
145 16 BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(curve_SE3_t_isEquivalent_overloads,
146 curve_SE3_t::isEquivalent, 1, 3)
147
148 /* end base wrap of curve_abc */
149
150 /* Structure used to define pickle serialization of python curves */
151 template <typename Curve>
152 struct curve_pickle_suite : pickle_suite {
153 26 static object getstate(const Curve& curve) {
154
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 26 std::ostringstream os;
155
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 26 boost::archive::text_oarchive oa(os);
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 26 oa << curve;
157
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 78 return str(os.str());
158 }
159
160 26 static void setstate(Curve& curve, object entries) {
161
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 26 str s = extract<str>(entries)();
162
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 26 std::string st = extract<std::string>(s)();
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 26 std::istringstream is(st);
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 26 boost::archive::text_iarchive ia(is);
165
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 26 ia >> curve;
166 }
167 };
168
169 template <class C>
170 struct CopyableVisitor : public def_visitor<CopyableVisitor<C>> {
171 template <class PyClass>
172 272 void visit(PyClass& cl) const {
173
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 272 cl.def("copy", &copy, bp::arg("self"), "Returns a copy of *this.");
174
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 272 cl.def("__copy__", &copy, bp::arg("self"), "Returns a copy of *this.");
175
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 272 cl.def("__deepcopy__", &deepcopy, bp::args("self", "memo"),
176 "Returns a deep copy of *this.");
177 272 }
178
179 private:
180 ✗ static C copy(const C& self) { return C(self); }
181 ✗ static C deepcopy(const C& self, bp::dict) { return C(self); }
182 };
183
184 /* Template constructor bezier */
185 template <typename Bezier, typename PointList, typename T_Point>
186 64 Bezier* wrapBezierConstructorTemplate(const PointList& array,
187 const real T_min = 0.,
188 const real T_max = 1.) {
189
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 64 T_Point asVector = vectorFromEigenArray<PointList, T_Point>(array);
190
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 128 return new Bezier(asVector.begin(), asVector.end(), T_min, T_max);
191 64 }
192
193 template <typename Bezier, typename PointList, typename T_Point,
194 typename CurveConstraints>
195 4 Bezier* wrapBezierConstructorConstraintsTemplate(
196 const PointList& array, const CurveConstraints& constraints,
197 const real T_min = 0., const real T_max = 1.) {
198
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 4 T_Point asVector = vectorFromEigenArray<PointList, T_Point>(array);
199
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 4 return new Bezier(asVector.begin(), asVector.end(), constraints, T_min,
200 4 T_max);
201 4 }
202 /* End Template constructor bezier */
203 /* Helper converter constraintsX -> constraints 3 */
204 1 curve_constraints3_t convertToConstraints3(curve_constraints_t constraintsX) {
205 1 curve_constraints3_t constraints3(3);
206
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 1 constraints3.init_vel = point3_t(constraintsX.init_vel);
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 1 constraints3.init_acc = point3_t(constraintsX.init_acc);
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 1 constraints3.end_vel = point3_t(constraintsX.end_vel);
209
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 1 constraints3.end_acc = point3_t(constraintsX.end_acc);
210 1 return constraints3;
211 }
212 /* END helper converter constraintsX -> constraints 3 */
213
214 /*3D constructors bezier */
215 1 bezier3_t* wrapBezier3Constructor(const pointX_list_t& array) {
216 1 return wrapBezierConstructorTemplate<bezier3_t, pointX_list_t, t_point3_t>(
217 1 array);
218 }
219 15 bezier3_t* wrapBezier3ConstructorBounds(const pointX_list_t& array,
220 const real T_min, const real T_max) {
221 15 return wrapBezierConstructorTemplate<bezier3_t, pointX_list_t, t_point3_t>(
222 15 array, T_min, T_max);
223 }
224 1 bezier3_t* wrapBezier3ConstructorConstraints(
225 const pointX_list_t& array, const curve_constraints_t& constraints) {
226 return wrapBezierConstructorConstraintsTemplate<
227
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 1 bezier3_t, pointX_list_t, t_point3_t, curve_constraints3_t>(
228
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 2 array, convertToConstraints3(constraints));
229 }
230 ✗ bezier3_t* wrapBezier3ConstructorBoundsConstraints(
231 const pointX_list_t& array, const curve_constraints_t& constraints,
232 const real T_min, const real T_max) {
233 return wrapBezierConstructorConstraintsTemplate<
234 ✗ bezier3_t, pointX_list_t, t_point3_t, curve_constraints3_t>(
235 ✗ array, convertToConstraints3(constraints), T_min, T_max);
236 }
237
238 3 pointX_list_t wrapBezier3Waypoints(bezier3_t& self) {
239 return vectorToEigenArray<bezier3_t::t_point_t, pointX_list_t>(
240 3 self.waypoints());
241 }
242 /*END 3D constructors bezier */
243
244 /*constructors bezier */
245 4 bezier_t* wrapBezierConstructor(const pointX_list_t& array) {
246 4 return wrapBezierConstructorTemplate<bezier_t, pointX_list_t, t_pointX_t>(
247 4 array);
248 }
249 12 bezier_t* wrapBezierConstructorBounds(const pointX_list_t& array,
250 const real T_min, const real T_max) {
251 12 return wrapBezierConstructorTemplate<bezier_t, pointX_list_t, t_pointX_t>(
252 12 array, T_min, T_max);
253 }
254 1 bezier_t* wrapBezierConstructorConstraints(
255 const pointX_list_t& array, const curve_constraints_t& constraints) {
256 return wrapBezierConstructorConstraintsTemplate<
257 1 bezier_t, pointX_list_t, t_pointX_t, curve_constraints_t>(array,
258 1 constraints);
259 }
260 ✗ bezier_t* wrapBezierConstructorBoundsConstraints(
261 const pointX_list_t& array, const curve_constraints_t& constraints,
262 const real T_min, const real T_max) {
263 return wrapBezierConstructorConstraintsTemplate<
264 ✗ bezier_t, pointX_list_t, t_pointX_t, curve_constraints_t>(
265 ✗ array, constraints, T_min, T_max);
266 }
267 3 pointX_list_t wrapBezierWaypoints(bezier_t& self) {
268 return vectorToEigenArray<bezier_t::t_point_t, pointX_list_t>(
269 3 self.waypoints());
270 }
271 /*END constructors bezier */
272
273 /* Wrap Cubic hermite spline */
274 5 t_pair_pointX_tangent_t getPairsPointTangent(const pointX_list_t& points,
275 const pointX_list_t& tangents) {
276 5 t_pair_pointX_tangent_t res;
277
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 5 if (points.size() != tangents.size()) {
278 ✗ throw std::length_error("size of points and tangents must be the same");
279 }
280
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 15 for (int i = 0; i < points.cols(); ++i) {
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 10 res.push_back(pair_pointX_tangent_t(points.col(i), tangents.col(i)));
282 }
283 5 return res;
284 }
285
286 5 cubic_hermite_spline_t* wrapCubicHermiteSplineConstructor(
287 const pointX_list_t& points, const pointX_list_t& tangents,
288 const time_waypoints_t& time_pts) {
289
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 5 t_pair_pointX_tangent_t ppt = getPairsPointTangent(points, tangents);
290 5 std::vector<real> time_control_pts;
291
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 15 for (int i = 0; i < time_pts.size(); ++i) {
292
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 10 time_control_pts.push_back(time_pts[i]);
293 }
294
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 10 return new cubic_hermite_spline_t(ppt.begin(), ppt.end(), time_control_pts);
295 5 }
296 /* End wrap Cubic hermite spline */
297
298 /* Wrap polynomial */
299 7 polynomial_t* wrapPolynomialConstructor1(const coeff_t& array, const real min,
300 const real max) {
301
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 7 return new polynomial_t(array, min, max);
302 }
303 1 polynomial_t* wrapPolynomialConstructor2(const coeff_t& array) {
304
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 1 return new polynomial_t(array, 0., 1.);
305 }
306 2 polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree1(
307 const pointX_t& init, const pointX_t& end, const real min, const real max) {
308
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 2 return new polynomial_t(init, end, min, max);
309 }
310 3 polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree3(
311 const pointX_t& init, const pointX_t& d_init, const pointX_t& end,
312 const pointX_t& d_end, const real min, const real max) {
313
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 3 return new polynomial_t(init, d_init, end, d_end, min, max);
314 }
315 5 polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree5(
316 const pointX_t& init, const pointX_t& d_init, const pointX_t& dd_init,
317 const pointX_t& end, const pointX_t& d_end, const pointX_t& dd_end,
318 const real min, const real max) {
319
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 5 return new polynomial_t(init, d_init, dd_init, end, d_end, dd_end, min, max);
320 }
321 2 static polynomial_t minimumJerk(const pointX_t& init, const pointX_t& end) {
322 2 return polynomial_t::MinimumJerk(init, end);
323 }
324 3 static polynomial_t minimumJerkWithTiming(const pointX_t& init,
325 const pointX_t& end, const real min,
326 const real max) {
327 3 return polynomial_t::MinimumJerk(init, end, min, max);
328 }
329 /* End wrap polynomial */
330
331 /* Wrap piecewise curve */
332 4 piecewise_t* wrapPiecewiseCurveConstructor(const curve_ptr_t& curve) {
333
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 4 return new piecewise_t(curve);
334 }
335 ✗ piecewise_t* wrapPiecewisePolynomialCurveEmptyConstructor() {
336 ✗ return new piecewise_t();
337 }
338 2 piecewise_SE3_t* wrapPiecewiseSE3Constructor(const curve_SE3_ptr_t& curve) {
339
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 2 return new piecewise_SE3_t(curve);
340 }
341 6 piecewise_SE3_t* wrapPiecewiseSE3EmptyConstructor() {
342 6 return new piecewise_SE3_t();
343 }
344
345 typedef bezier_t::piecewise_curve_t piecewise_bezier_t;
346 ✗ piecewise_bezier_t* wrapPiecewiseBezierConstructor(
347 const bezier_t::bezier_curve_ptr_t& curve) {
348 ✗ return new piecewise_bezier_t(curve);
349 }
350 ✗ piecewise_bezier_t* wrapPiecewiseBezierEmptyConstructor() {
351 ✗ return new piecewise_bezier_t();
352 }
353 typedef bezier_linear_variable_t::piecewise_curve_t piecewise_linear_bezier_t;
354 ✗ piecewise_linear_bezier_t* wrapPiecewiseBezierLinearConstructor(
355 const bezier_linear_variable_t::bezier_curve_ptr_t& curve) {
356 ✗ return new piecewise_linear_bezier_t(curve);
357 }
358 ✗ piecewise_linear_bezier_t* wrapPiecewiseBezierLinearEmptyConstructor() {
359 ✗ return new piecewise_linear_bezier_t();
360 }
361
362 2 static piecewise_t discretPointToPolynomialC0(
363 const pointX_list_t& points, const time_waypoints_t& time_points) {
364 t_pointX_t points_list =
365
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
366 t_time_t time_points_list =
367
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 2 vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
368 return piecewise_t::convert_discrete_points_to_polynomial<polynomial_t>(
369
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 5 points_list, time_points_list);
370 3 }
371 2 static piecewise_t discretPointToPolynomialC1(
372 const pointX_list_t& points, const pointX_list_t& points_derivative,
373 const time_waypoints_t& time_points) {
374 t_pointX_t points_list =
375
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
376 t_pointX_t points_derivative_list =
377
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
378 t_time_t time_points_list =
379
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 2 vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
380 return piecewise_t::convert_discrete_points_to_polynomial<polynomial_t>(
381
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 6 points_list, points_derivative_list, time_points_list);
382 4 }
383 2 static piecewise_t discretPointToPolynomialC2(
384 const pointX_list_t& points, const pointX_list_t& points_derivative,
385 const pointX_list_t& points_second_derivative,
386 const time_waypoints_t& time_points) {
387 t_pointX_t points_list =
388
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
389 t_pointX_t points_derivative_list =
390
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
391 t_pointX_t points_second_derivative_list =
392
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 2 vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);
393
394 t_time_t time_points_list =
395
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 2 vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
396 return piecewise_t::convert_discrete_points_to_polynomial<polynomial_t>(
397 points_list, points_derivative_list, points_second_derivative_list,
398
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 7 time_points_list);
399 5 }
400
401 ✗ static piecewise_t load_piecewise_from_text_file(const std::string& filename,
402 const real dt,
403 const std::size_t dim) {
404 return piecewise_t::load_piecewise_from_text_file<polynomial_t>(filename, dt,
405 ✗ dim);
406 }
407
408 3 void addFinalPointC0(piecewise_t& self, const pointX_t& end, const real time) {
409
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410
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411 "Piecewise append : you need to add at least one curve before using "
412 2 "append(finalPoint) method.");
413
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 2 if (self.is_continuous(1) && self.num_curves() > 1)
414 std::cout << "Warning: by adding this final point to the piecewise curve, "
415 "you loose C1 continuity and only "
416 ✗ "guarantee C0 continuity."
417 ✗ << std::endl;
418
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 3 curve_ptr_t pol(new polynomial_t(self(self.max()), end, self.max(), time));
419
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 1 self.add_curve_ptr(pol);
420 1 }
421 ✗ void addFinalPointC1(piecewise_t& self, const pointX_t& end,
422 const pointX_t& d_end, const real time) {
423 ✗ if (self.num_curves() == 0)
424 ✗ throw std::runtime_error(
425 "Piecewise append : you need to add at least one curve before using "
426 ✗ "append(finalPoint) method.");
427 ✗ if (self.is_continuous(2) && self.num_curves() > 1)
428 std::cout << "Warning: by adding this final point to the piecewise curve, "
429 "you loose C2 continuity and only "
430 ✗ "guarantee C1 continuity."
431 ✗ << std::endl;
432 ✗ if (!self.is_continuous(1))
433 ✗ std::cout << "Warning: the current piecewise curve is not C1 continuous."
434 ✗ << std::endl;
435 ✗ curve_ptr_t pol(new polynomial_t(self(self.max()),
436 ✗ self.derivate(self.max(), 1), end, d_end,
437 ✗ self.max(), time));
438 ✗ self.add_curve_ptr(pol);
439 }
440 ✗ void addFinalPointC2(piecewise_t& self, const pointX_t& end,
441 const pointX_t& d_end, const pointX_t& dd_end,
442 const real time) {
443 ✗ if (self.num_curves() == 0)
444 ✗ throw std::runtime_error(
445 "Piecewise append : you need to add at least one curve before using "
446 ✗ "append(finalPoint) method.");
447 ✗ if (self.is_continuous(3) && self.num_curves() > 1)
448 std::cout << "Warning: by adding this final point to the piecewise curve, "
449 "you loose C3 continuity and only "
450 ✗ "guarantee C2 continuity."
451 ✗ << std::endl;
452 ✗ if (!self.is_continuous(2))
453 ✗ std::cout << "Warning: the current piecewise curve is not C2 continuous."
454 ✗ << std::endl;
455 curve_ptr_t pol(new polynomial_t(
456 ✗ self(self.max()), self.derivate(self.max(), 1),
457 ✗ self.derivate(self.max(), 2), end, d_end, dd_end, self.max(), time));
458 ✗ self.add_curve_ptr(pol);
459 }
460
461 /* end wrap piecewise polynomial curve */
462
463 /* Wrap piecewise3 curve */
464 ✗ piecewise3_t* wrapPiecewise3CurveConstructor(
465 const curve_translation_ptr_t& curve) {
466 ✗ return new piecewise3_t(curve);
467 }
468 ✗ piecewise3_t* wrapPiecewise3PolynomialCurveEmptyConstructor() {
469 ✗ return new piecewise3_t();
470 }
471 ✗ piecewise_SE3_t* wrapPiecewise3SE3Constructor(const curve_SE3_ptr_t& curve) {
472 ✗ return new piecewise_SE3_t(curve);
473 }
474 ✗ piecewise_SE3_t* wrapPiecewise3SE3EmptyConstructor() {
475 ✗ return new piecewise_SE3_t();
476 }
477
478 typedef bezier3_t::piecewise_curve_t piecewise_bezier3_t;
479 ✗ piecewise_bezier3_t* wrapPiecewise3BezierConstructor(
480 const bezier3_t::bezier_curve_ptr_t& curve) {
481 ✗ return new piecewise_bezier3_t(curve);
482 }
483 ✗ piecewise_bezier3_t* wrapPiecewise3BezierEmptyConstructor() {
484 ✗ return new piecewise_bezier3_t();
485 }
486 typedef bezier_linear_variable_t::piecewise_curve_t piecewise_linear_bezier_t;
487 ✗ piecewise_linear_bezier_t* wrapPiecewise3BezierLinearConstructor(
488 const bezier_linear_variable_t::bezier_curve_ptr_t& curve) {
489 ✗ return new piecewise_linear_bezier_t(curve);
490 }
491 ✗ piecewise_linear_bezier_t* wrapPiecewise3BezierLinearEmptyConstructor() {
492 ✗ return new piecewise_linear_bezier_t();
493 }
494
495 1 static piecewise3_t discretPointsToPolynomial3C0(
496 const pointX_list_t& points, const time_waypoints_t& time_points) {
497 t_point3_t points_list =
498
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499 t_time_t time_points_list =
500
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 1 vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
501 return piecewise3_t::convert_discrete_points_to_polynomial<polynomial3_t>(
502
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 2 points_list, time_points_list);
503 1 }
504 ✗ static piecewise3_t discretPointsToPolynomial3C1(
505 const pointX_list_t& points, const pointX_list_t& points_derivative,
506 const time_waypoints_t& time_points) {
507 t_point3_t points_list =
508 ✗ vectorFromEigenArray<pointX_list_t, t_point3_t>(points);
509 t_point3_t points_derivative_list =
510 ✗ vectorFromEigenArray<pointX_list_t, t_point3_t>(points_derivative);
511 t_time_t time_points_list =
512 ✗ vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
513 return piecewise3_t::convert_discrete_points_to_polynomial<polynomial3_t>(
514 ✗ points_list, points_derivative_list, time_points_list);
515 }
516 ✗ static piecewise3_t discretPointsToPolynomial3C2(
517 const pointX_list_t& points, const pointX_list_t& points_derivative,
518 const pointX_list_t& points_second_derivative,
519 const time_waypoints_t& time_points) {
520 t_point3_t points_list =
521 ✗ vectorFromEigenArray<pointX_list_t, t_point3_t>(points);
522 t_point3_t points_derivative_list =
523 ✗ vectorFromEigenArray<pointX_list_t, t_point3_t>(points_derivative);
524 t_point3_t points_second_derivative_list =
525 ✗ vectorFromEigenArray<pointX_list_t, t_point3_t>(points_second_derivative);
526
527 t_time_t time_points_list =
528 ✗ vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
529 return piecewise3_t::convert_discrete_points_to_polynomial<polynomial3_t>(
530 points_list, points_derivative_list, points_second_derivative_list,
531 ✗ time_points_list);
532 }
533
534 ✗ static piecewise3_t load_piecewise3_from_text_file(const std::string& filename,
535 const real dt,
536 const std::size_t dim) {
537 return piecewise3_t::load_piecewise_from_text_file<polynomial3_t>(filename,
538 ✗ dt, dim);
539 }
540
541 ✗ void addFinalPoint3C0(piecewise3_t& self, const pointX_t& end,
542 const real time) {
543 ✗ if (self.num_curves() == 0)
544 ✗ throw std::runtime_error(
545 "Piecewise append : you need to add at least one curve before using "
546 ✗ "append(finalPoint) method.");
547 ✗ if (self.is_continuous(1) && self.num_curves() > 1)
548 std::cout << "Warning: by adding this final point to the piecewise curve, "
549 "you loose C1 continuity and only "
550 ✗ "guarantee C0 continuity."
551 ✗ << std::endl;
552 curve_translation_ptr_t pol(
553 ✗ new polynomial3_t(self(self.max()), end, self.max(), time));
554 ✗ self.add_curve_ptr(pol);
555 }
556 ✗ void addFinalPoint3C1(piecewise3_t& self, const pointX_t& end,
557 const pointX_t& d_end, const real time) {
558 ✗ if (self.num_curves() == 0)
559 ✗ throw std::runtime_error(
560 "Piecewise append : you need to add at least one curve before using "
561 ✗ "append(finalPoint) method.");
562 ✗ if (self.is_continuous(2) && self.num_curves() > 1)
563 std::cout << "Warning: by adding this final point to the piecewise curve, "
564 "you loose C2 continuity and only "
565 ✗ "guarantee C1 continuity."
566 ✗ << std::endl;
567 ✗ if (!self.is_continuous(1))
568 ✗ std::cout << "Warning: the current piecewise curve is not C1 continuous."
569 ✗ << std::endl;
570 ✗ curve_translation_ptr_t pol(new polynomial3_t(self(self.max()),
571 ✗ self.derivate(self.max(), 1),
572 ✗ end, d_end, self.max(), time));
573 ✗ self.add_curve_ptr(pol);
574 }
575 ✗ void addFinalPoint3C2(piecewise3_t& self, const pointX_t& end,
576 const pointX_t& d_end, const pointX_t& dd_end,
577 const real time) {
578 ✗ if (self.num_curves() == 0)
579 ✗ throw std::runtime_error(
580 "Piecewise append : you need to add at least one curve before using "
581 ✗ "append(finalPoint) method.");
582 ✗ if (self.is_continuous(3) && self.num_curves() > 1)
583 std::cout << "Warning: by adding this final point to the piecewise curve, "
584 "you loose C3 continuity and only "
585 ✗ "guarantee C2 continuity."
586 ✗ << std::endl;
587 ✗ if (!self.is_continuous(2))
588 ✗ std::cout << "Warning: the current piecewise curve is not C2 continuous."
589 ✗ << std::endl;
590 curve_translation_ptr_t pol(new polynomial3_t(
591 ✗ self(self.max()), self.derivate(self.max(), 1),
592 ✗ self.derivate(self.max(), 2), end, d_end, dd_end, self.max(), time));
593 ✗ self.add_curve_ptr(pol);
594 }
595
596 /* end wrap piecewise polynomial3 curve */
597
598 /* Wrap exact cubic spline */
599 3 t_waypoint_t getWayPoints(const coeff_t& array,
600 const time_waypoints_t& time_wp) {
601 3 t_waypoint_t res;
602
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603
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 6 res.push_back(std::make_pair(time_wp(i), array.col(i)));
604 }
605 3 return res;
606 }
607
608 2 exact_cubic_t* wrapExactCubicConstructor(const coeff_t& array,
609 const time_waypoints_t& time_wp) {
610
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611
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 4 return new exact_cubic_t(wps.begin(), wps.end());
612 2 }
613
614 1 exact_cubic_t* wrapExactCubicConstructorConstraint(
615 const coeff_t& array, const time_waypoints_t& time_wp,
616 const curve_constraints_t& constraints) {
617
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618
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 2 return new exact_cubic_t(wps.begin(), wps.end(), constraints);
619 1 }
620
621 /// For constraints XD
622 4 pointX_t get_init_vel(const curve_constraints_t& c) { return c.init_vel; }
623
624 1 pointX_t get_init_acc(const curve_constraints_t& c) { return c.init_acc; }
625
626 ✗ pointX_t get_init_jerk(const curve_constraints_t& c) { return c.init_jerk; }
627
628 1 pointX_t get_end_vel(const curve_constraints_t& c) { return c.end_vel; }
629
630 3 pointX_t get_end_acc(const curve_constraints_t& c) { return c.end_acc; }
631
632 ✗ pointX_t get_end_jerk(const curve_constraints_t& c) { return c.end_jerk; }
633
634 9 void set_init_vel(curve_constraints_t& c, const pointX_t& val) {
635 9 c.init_vel = val;
636 9 }
637
638 8 void set_init_acc(curve_constraints_t& c, const pointX_t& val) {
639 8 c.init_acc = val;
640 8 }
641
642 3 void set_init_jerk(curve_constraints_t& c, const pointX_t& val) {
643 3 c.init_jerk = val;
644 3 }
645
646 8 void set_end_vel(curve_constraints_t& c, const pointX_t& val) {
647 8 c.end_vel = val;
648 8 }
649
650 8 void set_end_acc(curve_constraints_t& c, const pointX_t& val) {
651 8 c.end_acc = val;
652 8 }
653
654 3 void set_end_jerk(curve_constraints_t& c, const pointX_t& val) {
655 3 c.end_jerk = val;
656 3 }
657
658 ✗ bezier_t* bezier_t_compute_primitive_init(const bezier_t* b,
659 const std::size_t order,
660 const bezier_t::point_t& init) {
661 ✗ return new bezier_t(b->compute_primitive(order, init));
662 }
663 4 bezier_t* bezier_t_compute_primitive_zero(const bezier_t* b,
664 const std::size_t order) {
665
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 4 return new bezier_t(b->compute_primitive(order));
666 }
667
668 ✗ bezier3_t* bezier3_t_compute_primitive_init(const bezier3_t* b,
669 const std::size_t order,
670 const bezier3_t::point_t& init) {
671 ✗ return new bezier3_t(b->compute_primitive(order, init));
672 }
673 4 bezier3_t* bezier3_t_compute_primitive_zero(const bezier3_t* b,
674 const std::size_t order) {
675
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 4 return new bezier3_t(b->compute_primitive(order));
676 }
677
678 ✗ bezier_linear_variable_t* bezier_linear_variable_t_compute_primitive_init(
679 const bezier_linear_variable_t* b, const std::size_t order,
680 const bezier_linear_variable_t::point_t* init) {
681 ✗ return new bezier_linear_variable_t(b->compute_primitive(order, *init));
682 }
683 ✗ bezier_linear_variable_t* bezier_linear_variable_t_compute_primitive_zero(
684 const bezier_linear_variable_t* b, const std::size_t order) {
685 ✗ return new bezier_linear_variable_t(b->compute_primitive(order));
686 }
687
688 8 bezier_t* bezier_linear_variable_t_evaluate(const bezier_linear_variable_t* b,
689 const pointX_t& x) {
690 return new bezier_t(
691
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 8 evaluateLinear<bezier_t, bezier_linear_variable_t>(*b, x));
692 }
693
694 bezier_t::piecewise_curve_t (bezier_t::*splitspe)(
695 const bezier_t::vector_x_t&) const = &bezier_t::split;
696 bezier_linear_variable_t::piecewise_curve_t (
697 bezier_linear_variable_t::*split_py)(
698 const bezier_linear_variable_t::vector_x_t&) const =
699 &bezier_linear_variable_t::split;
700
701 /* End wrap exact cubic spline */
702
703 /* Wrap SO3Linear */
704 1 SO3Linear_t* wrapSO3LinearConstructorFromQuaternion(
705 const quaternion_t& init_rot, const quaternion_t& end_rot, const real min,
706 const real max) {
707
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 1 return new SO3Linear_t(init_rot, end_rot, min, max);
708 }
709
710 9 SO3Linear_t* wrapSO3LinearConstructorFromMatrix(const matrix3_t& init_rot,
711 const matrix3_t& end_rot,
712 const real min,
713 const real max) {
714
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 9 return new SO3Linear_t(init_rot, end_rot, min, max);
715 }
716
717 /* End wrap SO3Linear */
718
719 /* Wrap SE3Curves */
720
721 6452 matrix4_t se3Return(const curve_SE3_t& curve, const real t) {
722
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 12898 return curve(t).matrix();
723 }
724
725 12 matrix3_t se3returnRotation(const curve_SE3_t& curve, const real t) {
726
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 24 return curve(t).rotation();
727 }
728
729 15 pointX_t se3returnTranslation(const curve_SE3_t& curve, const real t) {
730
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 30 return pointX_t(curve(t).translation());
731 }
732
733 6 SE3Curve_t* wrapSE3CurveFromTransform(const matrix4_t& init_pose,
734 const matrix4_t& end_pose, const real min,
735 const real max) {
736
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 7 return new SE3Curve_t(transform_t(init_pose), transform_t(end_pose), min,
737
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 6 max);
738 }
739
740 1 SE3Curve_t* wrapSE3CurveFromPosAndRotation(const pointX_t& init_pos,
741 const pointX_t& end_pos,
742 const matrix3_t& init_rot,
743 const matrix3_t& end_rot,
744 const real& t_min,
745 const real& t_max) {
746
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 1 return new SE3Curve_t(init_pos, end_pos, init_rot, end_rot, t_min, t_max);
747 }
748
749 8 SE3Curve_t* wrapSE3CurveFromBezier3Translation(bezier3_t& translation_curve,
750 const matrix3_t& init_rot,
751 const matrix3_t& end_rot) {
752 std::shared_ptr<bezier3_t> translation = std::make_shared<bezier3_t>(
753 8 translation_curve.waypoints().begin(),
754 8 translation_curve.waypoints().end(), translation_curve.min(),
755
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756
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 16 return new SE3Curve_t(translation, init_rot, end_rot);
757 8 }
758
759 1 SE3Curve_t* wrapSE3CurveFromTranslation(
760 const curve_translation_ptr_t& translation_curve, const matrix3_t& init_rot,
761 const matrix3_t& end_rot) {
762
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 1 return new SE3Curve_t(translation_curve, init_rot, end_rot);
763 }
764
765 6 SE3Curve_t* wrapSE3CurveFromTwoCurves(
766 const curve_translation_ptr_t& translation_curve,
767 const curve_rotation_ptr_t& rotation_curve) {
768
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 14 return new SE3Curve_t(translation_curve, rotation_curve);
769 }
770
771 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
772 typedef pinocchio::SE3Tpl<real, 0> SE3_t;
773 typedef pinocchio::MotionTpl<real, 0> Motion_t;
774
775 3 SE3Curve_t* wrapSE3CurveFromSE3Pinocchio(const SE3_t& init_pose,
776 const SE3_t& end_pose, const real min,
777 const real max) {
778
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779
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 3 transform_t(end_pose.toHomogeneousMatrix()), min, max);
780 }
781
782 306 SE3_t se3ReturnPinocchio(const curve_SE3_t& curve, const real t) {
783
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 612 return SE3_t(curve(t).matrix());
784 }
785
786 297 Motion_t se3ReturnDerivatePinocchio(const curve_SE3_t& curve, const real t,
787 const std::size_t order) {
788
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 594 return Motion_t(curve.derivate(t, order));
789 }
790 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
791 /* End wrap SE3Curves */
792
793 /* Wrap piecewiseSE3Curves */
794 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
795 typedef pinocchio::SE3Tpl<real, 0> SE3_t;
796 typedef pinocchio::MotionTpl<real, 0> Motion_t;
797
798 2 void addFinalSE3(piecewise_SE3_t& self, const SE3_t& end, const real time) {
799
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800
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 1 throw std::runtime_error(
801 "Piecewise append : you need to add at least one curve before using "
802 2 "append(finalPoint) method.");
803
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 1 if (self.is_continuous(1) && self.num_curves() > 1)
804 std::cout << "Warning: by adding this final transform to the piecewise "
805 "curve, you loose C1 continuity and only "
806 ✗ "guarantee C0 continuity."
807 ✗ << std::endl;
808
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 1 SE3Curve_t curve(self(self.max()), transform_t(end.toHomogeneousMatrix()),
809
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 2 self.max(), time);
810
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 1 self.add_curve(curve);
811 1 }
812
813 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
814
815 1 void addFinalTransform(piecewise_SE3_t& self, const matrix4_t& end,
816 const real time) {
817
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 1 if (self.num_curves() == 0)
818 ✗ throw std::runtime_error(
819 "Piecewise append : you need to add at least one curve before using "
820 ✗ "append(finalPoint) method.");
821
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 1 if (self.is_continuous(1) && self.num_curves() > 1)
822 std::cout << "Warning: by adding this final transform to the piecewise "
823 "curve, you loose C1 continuity and only "
824 ✗ "guarantee C0 continuity."
825 ✗ << std::endl;
826
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 1 SE3Curve_t curve(self(self.max()), transform_t(end), self.max(), time);
827
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 1 self.add_curve(curve);
828 1 }
829
830 /* End wrap piecewiseSE3Curves */
831
832 /* Wrap constant */
833 12 constant_t* wrapConstantConstructorTime(const pointX_t& value, const real min,
834 const real max) {
835
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 12 return new constant_t(value, min, max);
836 }
837 1 constant_t* wrapConstantConstructor(const pointX_t& value) {
838
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 1 return new constant_t(value);
839 }
840 /* End wrap constant */
841 /* Wrap constant 3*/
842 2 constant3_t* wrapConstant3ConstructorTime(const pointX_t& value, const real min,
843 const real max) {
844
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 2 return new constant3_t(value, min, max);
845 }
846 1 constant3_t* wrapConstant3Constructor(const pointX_t& value) {
847
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 1 return new constant3_t(value);
848 }
849 /* End wrap constant 3*/
850 /* Wrap sinusoidal */
851 12 sinusoidal_t* wrapSinusoidalConstructorTime(const pointX_t& p0,
852 const pointX_t& amplitude,
853 const real T, const real phi,
854 const real min, const real max) {
855
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 12 return new sinusoidal_t(p0, amplitude, T, phi, min, max);
856 }
857 3 sinusoidal_t* wrapSinusoidalConstructor(const pointX_t& p0,
858 const pointX_t& amplitude, const real T,
859 const real phi) {
860
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 3 return new sinusoidal_t(p0, amplitude, T, phi);
861 }
862 1 sinusoidal_t* wrapSinusoidalConstructorStationaryTime(const real time_traj,
863 const pointX_t& p_init,
864 const pointX_t& p_final,
865 const real min,
866 const real max) {
867
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 1 return new sinusoidal_t(time_traj, p_init, p_final, min, max);
868 }
869 1 sinusoidal_t* wrapSinusoidalConstructorStationary(const real time_traj,
870 const pointX_t& p_init,
871 const pointX_t& p_final) {
872
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 1 return new sinusoidal_t(time_traj, p_init, p_final);
873 }
874 /* End wrap sinusoidal */
875 // TO DO : Replace all load and save function for serialization in class by
876 // using
877 // SerializableVisitor in archive_python_binding.
878
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 32 BOOST_PYTHON_MODULE(ndcurves) {
879 /** BEGIN eigenpy init**/
880
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 16 eigenpy::enableEigenPy();
881
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(pointX_t);
882
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(point3_t);
883
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(point6_t);
884
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(pointX_list_t);
885
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(coeff_t);
886
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(matrix3_t);
887
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 16 ENABLE_SPECIFIC_MATRIX_TYPE(matrix4_t);
888 // ENABLE_SPECIFIC_MATRIX_TYPE(quaternion_t);
889
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 16 eigenpy::exposeQuaternion();
890 /*eigenpy::exposeAngleAxis();
891 eigenpy::exposeQuaternion();*/
892 /** END eigenpy init**/
893 /** Expose base abstracts class for each dimension/type : **/
894
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 16 class_<curve_abc_t, boost::noncopyable, std::shared_ptr<curve_abc_callback>>(
895 "curve")
896
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 16 .def("__call__", &curve_abc_t::operator(),
897
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 32 "Evaluate the curve at the given time.", args("self", "t"))
898
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 16 .def("derivate", &curve_abc_t::derivate,
899 "Evaluate the derivative of order N of curve at time t.",
900
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 32 args("self", "t", "N"))
901
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 16 .def("isEquivalent", &curve_abc_t::isEquivalent,
902
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 16 curve_abc_t_isEquivalent_overloads(
903
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 32 (bp::arg("other"),
904
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 32 bp::arg("prec") = Eigen::NumTraits<double>::dummy_precision(),
905
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 32 bp::arg("order") = 5),
906 "isEquivalent check if self and other are approximately equal "
907 "by values, given a precision threshold."))
908
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 16 .def("compute_derivate", &curve_abc_t::compute_derivate_ptr,
909 ✗ return_value_policy<manage_new_object>(),
910
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 32 "Return the derivative of *this at the order N.", args("self", "N"))
911
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 16 .def("min", &curve_abc_t::min,
912 "Get the LOWER bound on interval definition of the curve.")
913
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 16 .def("max", &curve_abc_t::max,
914 "Get the HIGHER bound on interval definition of the curve.")
915
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 16 .def("dim", &curve_abc_t::dim, "Get the dimension of the curve.")
916
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 16 .def("degree", &curve_abc_t::degree,
917 "Get the degree of the representation of the curve (if applicable).")
918
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 16 .def("saveAsText", pure_virtual(&curve_abc_t::saveAsText<curve_abc_t>),
919
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 32 bp::args("filename"), "Saves *this inside a text file.")
920
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 16 .def("loadFromText",
921 pure_virtual(&curve_abc_t::loadFromText<curve_abc_t>),
922
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 32 bp::args("filename"), "Loads *this from a text file.")
923
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 16 .def("saveAsXML", pure_virtual(&curve_abc_t::saveAsXML<curve_abc_t>),
924
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 32 bp::args("filename", "tag_name"), "Saves *this inside a XML file.")
925
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 16 .def("loadFromXML", pure_virtual(&curve_abc_t::loadFromXML<curve_abc_t>),
926
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 32 bp::args("filename", "tag_name"), "Loads *this from a XML file.")
927
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 16 .def("saveAsBinary",
928 pure_virtual(&curve_abc_t::saveAsBinary<curve_abc_t>),
929
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 32 bp::args("filename"), "Saves *this inside a binary file.")
930
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 16 .def("loadFromBinary",
931 pure_virtual(&curve_abc_t::loadFromBinary<curve_abc_t>),
932
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 32 bp::args("filename"), "Loads *this from a binary file.")
933
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 16 .def_pickle(curve_pickle_suite<curve_abc_t>());
934
935
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 16 class_<curve_3_t, boost::noncopyable, bases<curve_abc_t>,
936 std::shared_ptr<curve_3_callback>>("curve3")
937
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 16 .def("__call__", &curve_3_t::operator(),
938
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 32 "Evaluate the curve at the given time.", args("self", "t"))
939
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 16 .def("derivate", &curve_3_t::derivate,
940 "Evaluate the derivative of order N of curve at time t.",
941
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 32 args("self", "t", "N"))
942
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 16 .def("isEquivalent", &curve_3_t::isEquivalent,
943
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 16 curve_3_t_isEquivalent_overloads(
944
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 32 (bp::arg("other"),
945
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 32 bp::arg("prec") = Eigen::NumTraits<double>::dummy_precision(),
946
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 32 bp::arg("order") = 5),
947 "isEquivalent check if self and other are approximately equal "
948 "by values, given a precision threshold."))
949
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 16 .def("compute_derivate", &curve_3_t::compute_derivate_ptr,
950 ✗ return_value_policy<manage_new_object>(),
951
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 32 "Return the derivative of *this at the order N.", args("self", "N"))
952
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 16 .def("min", &curve_3_t::min,
953 "Get the LOWER bound on interval definition of the curve.")
954
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 16 .def("max", &curve_3_t::max,
955 "Get the HIGHER bound on interval definition of the curve.")
956
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 16 .def("dim", &curve_3_t::dim, "Get the dimension of the curve.")
957
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 16 .def("degree", &curve_3_t::degree,
958 "Get the degree of the representation of the curve (if applicable).")
959
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 16 .def_pickle(curve_pickle_suite<curve_3_t>());
960
961
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 16 class_<curve_rotation_t, boost::noncopyable, bases<curve_abc_t>,
962 std::shared_ptr<curve_rotation_callback>>("curve_rotation")
963
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 16 .def("__call__", &curve_rotation_t::operator(),
964
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 32 "Evaluate the curve at the given time.", args("self", "t"))
965
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 16 .def("derivate", &curve_rotation_t::derivate,
966 "Evaluate the derivative of order N of curve at time t.",
967
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 32 args("self", "t", "N"))
968
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 16 .def("isEquivalent", &curve_rotation_t::isEquivalent,
969
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 16 curve_rotation_t_isEquivalent_overloads(
970
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 32 (bp::arg("other"),
971
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 32 bp::arg("prec") = Eigen::NumTraits<double>::dummy_precision(),
972
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 32 bp::arg("order") = 5),
973 "isEquivalent check if self and other are approximately equal "
974 "by values, given a precision threshold."))
975
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 16 .def("compute_derivate", &curve_rotation_t::compute_derivate_ptr,
976 ✗ return_value_policy<manage_new_object>(),
977
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 32 "Return the derivative of *this at the order N.", args("self", "N"))
978
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 16 .def("min", &curve_rotation_t::min,
979 "Get the LOWER bound on interval definition of the curve.")
980
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 16 .def("max", &curve_rotation_t::max,
981 "Get the HIGHER bound on interval definition of the curve.")
982
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 16 .def("dim", &curve_rotation_t::dim, "Get the dimension of the curve.")
983
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 16 .def("degree", &curve_rotation_t::degree,
984 "Get the degree of the representation of the curve (if applicable).")
985
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 16 .def_pickle(curve_pickle_suite<curve_rotation_t>());
986
987
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 16 class_<curve_SE3_t, boost::noncopyable, bases<curve_abc_t>,
988 std::shared_ptr<curve_SE3_callback>>("curve_SE3")
989
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 16 .def("__call__", &se3Return,
990 "Evaluate the curve at the given time. Return as an homogeneous "
991 "matrix.",
992
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 32 args("self", "t"))
993
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 16 .def("derivate", &curve_SE3_t::derivate,
994 "Evaluate the derivative of order N of curve at time t. Return as a "
995 "vector 6.",
996
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 32 args("self", "t", "N"))
997
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998
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 16 curve_SE3_t_isEquivalent_overloads(
999
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 32 (bp::arg("other"),
1000
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 32 bp::arg("prec") = Eigen::NumTraits<double>::dummy_precision(),
1001
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 32 bp::arg("order") = 5),
1002 "isEquivalent check if self and other are approximately equal "
1003 "by values, given a precision threshold."))
1004
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 16 .def("compute_derivate", &curve_SE3_t::compute_derivate_ptr,
1005 ✗ return_value_policy<manage_new_object>(),
1006
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 32 "Return the derivative of *this at the order N.", args("self", "N"))
1007
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 16 .def("min", &curve_SE3_t::min,
1008 "Get the LOWER bound on interval definition of the curve.")
1009
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 16 .def("max", &curve_SE3_t::max,
1010 "Get the HIGHER bound on interval definition of the curve.")
1011
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 16 .def("dim", &curve_SE3_t::dim, "Get the dimension of the curve.")
1012
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 16 .def("rotation", &se3returnRotation,
1013 "Output the rotation (as a 3x3 matrix) at the given time.",
1014
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 32 args("self", "time"))
1015
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 16 .def("translation", &se3returnTranslation,
1016 "Output the rotation (as a vector 3) at the given time.",
1017
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 32 args("self", "time"))
1018
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 16 .def_pickle(curve_pickle_suite<curve_SE3_t>())
1019 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
1020
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 16 .def("evaluateAsSE3", &se3ReturnPinocchio,
1021 "Evaluate the curve at the given time. Return as a pinocchio.SE3 "
1022 "object",
1023
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 32 args("self", "t"))
1024
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 16 .def("derivateAsMotion", &se3ReturnDerivatePinocchio,
1025 "Evaluate the derivative of order N of curve at time t. Return as a "
1026 "pinocchio.Motion",
1027
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 32 args("self", "t", "N"))
1028 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
1029 ;
1030
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 16 register_ptr_to_python<curve_ptr_t>();
1031
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 16 register_ptr_to_python<curve3_ptr_t>();
1032
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 16 register_ptr_to_python<curve_translation_ptr_t>();
1033
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 16 register_ptr_to_python<curve_rotation_ptr_t>();
1034
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 16 register_ptr_to_python<curve_SE3_ptr_t>();
1035 /** END base abstracts class for each dimension/type : **/
1036
1037 /** BEGIN bezier3 curve**/
1038 16 bezier3_t (bezier3_t::*cross_bez3)(const bezier3_t&) const =
1039 &bezier3_t::cross;
1040 16 bezier3_t (bezier3_t::*cross_pointBez3)(const bezier3_t::point_t&) const =
1041 &bezier3_t::cross;
1042
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 16 class_<bezier3_t, bases<curve_3_t>, std::shared_ptr<bezier3_t>>("bezier3",
1043
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 16 init<>())
1044
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 32 .def("__init__", make_constructor(&wrapBezier3Constructor))
1045
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 32 .def("__init__", make_constructor(&wrapBezier3ConstructorBounds))
1046
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 32 .def("__init__", make_constructor(&wrapBezier3ConstructorConstraints))
1047
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1048
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1050 ✗ return_value_policy<manage_new_object>())
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1058 "Computes a Bezier curve of order degrees higher than the current "
1059 "curve, but strictly equivalent.")
1060
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1061 "Elevate the Bezier curve of order degrees higher than the current "
1062 "curve, but strictly equivalent.")
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1065 32 .def("saveAsText", &bezier3_t::saveAsText<bezier3_t>,
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1077 //.def(SerializableVisitor<bezier_t>())
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1081 "Compute the cross product of the current bezier by another bezier. "
1082 "The cross product p1Xp2 of 2 "
1083 "polynomials p1 and p2 is defined such that forall t, p1Xp2(t) = "
1084 "p1(t) X p2(t), with X designing the cross "
1085 "product. This method of course only makes sense for dimension 3 "
1086 "curves.")
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1088 "Compute the cross product PXpt of the current Bezier P by a point "
1089 "pt, such that for all t, PXpt(t) = P(t) "
1090 "X pt")
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 16 .def_pickle(curve_pickle_suite<bezier3_t>());
1106 /** END bezier3 curve**/
1107 /** BEGIN bezier curve**/
1108 16 bezier_t (bezier_t::*cross_bez)(const bezier_t&) const = &bezier_t::cross;
1109 16 bezier_t (bezier_t::*cross_pointBez)(const bezier_t::point_t&) const =
1110 &bezier_t::cross;
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1119 ✗ return_value_policy<manage_new_object>())
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1121 ✗ return_value_policy<manage_new_object>())
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1126 "Computes a Bezier curve of order degrees higher than the current "
1127 "curve, but strictly equivalent.")
1128
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1129 "Elevate the Bezier curve of order degrees higher than the current "
1130 "curve, but strictly equivalent.")
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 32 .def("cross", cross_bez, bp::args("other"),
1137 "Compute the cross product of the current bezier by another bezier. "
1138 "The cross product p1Xp2 of 2 "
1139 "polynomials p1 and p2 is defined such that forall t, p1Xp2(t) = "
1140 "p1(t) X p2(t), with X designing the cross "
1141 "product. This method of course only makes sense for dimension 3 "
1142 "curves.")
1143
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 32 .def("cross", cross_pointBez, bp::args("point"),
1144 "Compute the cross product PXpt of the current Bezier P by a point "
1145 "pt, such that for all t, PXpt(t) = P(t) "
1146 "X pt")
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1163 /** END bezier curve**/
1164 /** BEGIN variable points bezier curve**/
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 16 class_<matrix_pair>("matrix_pair", no_init)
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1168
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1172 16 return_value_policy<manage_new_object>());
1173
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 16 .def("cross", &linear_variable_t::cross, bp::args("other"),
1198 "Compute the cross product of the current linear_variable and the "
1199 "other. Only works for dimension 3");
1200
1201 16 bezier_linear_variable_t (bezier_linear_variable_t::*cross_bez_var)(
1202 const bezier_linear_variable_t&) const = &bezier_linear_variable_t::cross;
1203 16 bezier_linear_variable_t (bezier_linear_variable_t::*cross_point_var)(
1204 const bezier_linear_variable_t::point_t&) const =
1205 &bezier_linear_variable_t::cross;
1206
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 16 class_<bezier_linear_variable_t, bases<curve_abc_t>,
1207 std::shared_ptr<bezier_linear_variable_t>>("bezier_linear_variable",
1208 no_init)
1209
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1215 ✗ bp::return_value_policy<bp::manage_new_object>())
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1218 ✗ return_value_policy<manage_new_object>())
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1220 &bezier_linear_variable_t_compute_primitive_init,
1221 ✗ return_value_policy<manage_new_object>())
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1223 &bezier_linear_variable_t_compute_primitive_zero,
1224 ✗ return_value_policy<manage_new_object>())
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1227 ✗ return_value_policy<manage_new_object>())
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 32 .def("cross", cross_bez_var, bp::args("other"),
1232 "Compute the cross product of the current Bezier by another Bezier. "
1233 "The cross product p1Xp2 of 2 "
1234 "polynomials p1 and p2 is defined such that forall t, p1Xp2(t) = "
1235 "p1(t) X p2(t), with X designing the cross "
1236 "product. This method of course only makes sense for dimension 3 "
1237 "polynomials.")
1238
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1239 "Compute the cross product PXpt of the current Bezier P by a point "
1240 "pt, such that for all t, PXpt(t) = P(t) "
1241 "X pt")
1242
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 32 class_<quadratic_variable_t>("cost", no_init)
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 16 .add_property("c", &cost_t_constant);
1264
1265 /** END variable points bezier curve**/
1266 /** BEGIN polynomial curve function**/
1267 16 polynomial_t (polynomial_t::*cross_pol)(const polynomial_t&) const =
1268 &polynomial_t::cross;
1269 16 polynomial_t (polynomial_t::*cross_point)(const polynomial_t::point_t&)
1270 const = &polynomial_t::cross;
1271
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 16 class_<polynomial_t, bases<curve_abc_t>, std::shared_ptr<polynomial_t>>(
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1275 "__init__",
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 32 args("coeffs", "min", "max")),
1278 "Create polynomial spline from an Eigen matrix of coefficient "
1279 "defined for t in [min,max]."
1280 " The matrix should contain one coefficient per column, from the "
1281 "zero order coefficient,up to the highest "
1282 "order."
1283 " Spline order is given by the number of the columns -1.")
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 32 default_call_policies(), arg("coeffs")),
1287 "Create polynomial spline from an Eigen matrix of coefficient "
1288 "defined for t in [0,1]."
1289 " The matrix should contain one coefficient per column, from the "
1290 "zero order coefficient,up to the highest "
1291 "order."
1292 " Spline order is given by the number of the columns -1.")
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1295 &wrapPolynomialConstructorFromBoundaryConditionsDegree1,
1296
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 32 default_call_policies(), args("init", "end", "min", "max")),
1297 "Create a polynomial of degree 1 defined for t in [min,max], "
1298 "such that c(min) == init and c(max) == end.")
1299
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1301 &wrapPolynomialConstructorFromBoundaryConditionsDegree3,
1302 ✗ default_call_policies(),
1303
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 32 args("init", "d_init", "end", "d_end", "min", "max")),
1304 "Create a polynomial of degree 3 defined for t in [min,max], "
1305 "such that c(min) == init and c(max) == end"
1306 " dc(min) == d_init and dc(max) == d_end")
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1309 &wrapPolynomialConstructorFromBoundaryConditionsDegree5,
1310 ✗ default_call_policies(),
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 32 args("init", "d_init", "dd_init", "end", "d_end", "dd_end",
1312 "min", "max")),
1313 "Create a polynomial of degree 5 defined for t in [min,max], "
1314 "such that c(min) == init and c(max) == end"
1315 " dc(min) == d_init and dc(max) == d_end"
1316 " ddc(min) == dd_init and ddc(max) == dd_end")
1317
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 32 .def("MinimumJerk", &minimumJerk, args("init", "end"),
1318 "Build a polynomial curve connecting init to end minimizing the "
1319 "time integral of the squared jerk,"
1320 "with a zero initial and final velocity and acceleration."
1321 "The curve is defined in [0; 1], of duration 1.")
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1323
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 32 args("init", "end", "t_min", "t_max"),
1324 "Build a polynomial curve connecting init to end minimizing the "
1325 "time integral of the squared jerk,"
1326 "with a zero initial and final velocity and acceleration."
1327 "The curve is defined in [t_min; t_max], of duration t_max - t_min.")
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 32 .def("cross", cross_pol, bp::args("other"),
1333 "Compute the cross product of the current polynomial by another "
1334 "polynomial. The cross product p1Xp2 of 2 "
1335 "polynomials p1 and p2 is defined such that forall t, p1Xp2(t) = "
1336 "p1(t) X p2(t), with X designing the cross "
1337 "product. This method of course only makes sense for dimension 3 "
1338 "polynomials.")
1339
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 32 .def("cross", cross_point, bp::args("point"),
1340 "Compute the cross product PXpt of the current polynomial P by a "
1341 "point pt, such that for all t, PXpt(t) = "
1342 "P(t) X pt")
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1360
1361 /** END polynomial function**/
1362 /** BEGIN piecewise curve function **/
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 16 class_<piecewise_t, bases<curve_abc_t>, std::shared_ptr<piecewise_t>>(
1364
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 16 "piecewise", init<>())
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 32 default_call_policies(), arg("curve")),
1368 "Create a piecewise curve containing the given curve.")
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 16 .def("FromPointsList", &discretPointToPolynomialC0,
1370 "Create a piecewise-polynomial connecting exactly all the given "
1371 "points at the given time. The created "
1372 "piecewise is C0 continuous.",
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 32 args("points", "time_points"))
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 16 .def("FromPointsList", &discretPointToPolynomialC1,
1375 "Create a piecewise-polynomial connecting exactly all the given "
1376 "points at the given time and respect the "
1377 "given points derivative values. The created piecewise is C1 "
1378 "continuous.",
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1380
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 16 .def("FromPointsList", &discretPointToPolynomialC2,
1381 "Create a piecewise-polynomial connecting exactly all the given "
1382 "points at the given time and respect the "
1383 "given points derivative and second derivative values. The created "
1384 "piecewise is C2 continuous.",
1385
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 32 args("points", "points_derivative", "points_second_derivative",
1386 "time_points"))
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1389
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 32 args("filename", "dt", "dimension"),
1390 "Create a piecewise-polynomial connecting exactly all the points in "
1391 "the given text file."
1392 "The file should contains one points per line, optionally with it's "
1393 "derivative and second derivatives."
1394 "Each lines should thus contains dim, 2*dim or 3*dim values")
1395
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1396
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 16 .def("append", &addFinalPointC0,
1397 "Append a new polynomial curve of degree 1 at the end of the "
1398 "piecewise curve, defined between self.max() "
1399 "and time and connecting exactly self(self.max()) and end",
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1401
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 16 .def("append", &addFinalPointC1,
1402 "Append a new polynomial curve of degree 3 at the end of the "
1403 "piecewise curve, defined between self.max() "
1404 "and time and connecting exactly self(self.max()) and end. It "
1405 "guarantee C1 continuity and guarantee that "
1406 "self.derivate(time,1) == d_end",
1407
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 16 .def("append", &addFinalPointC2,
1409 "Append a new polynomial curve of degree 5 at the end of the "
1410 "piecewise curve, defined between self.max() "
1411 "and time and connecting exactly self(self.max()) and end. It "
1412 "guarantee C2 continuity and guarantee that "
1413 "self.derivate(time,1) == d_end and self.derivate(time,2) == dd_end",
1414
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 16 .def("append", &piecewise_t::add_curve_ptr,
1416 "Add a new curve to piecewise curve, which should be defined in "
1417 "T_{min},T_{max}] "
1418 "where T_{min} is equal toT_{max} of the actual piecewise curve.")
1419
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1420 "Check if the curve is continuous at the given order.",
1421
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 32 args("self", "order"))
1422 32 .def("convert_piecewise_curve_to_polynomial",
1423 &piecewise_t::convert_piecewise_curve_to_polynomial<polynomial_t>,
1424 "Convert a piecewise curve to to a piecewise polynomial curve")
1425
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 16 .def("convert_piecewise_curve_to_bezier",
1426 &piecewise_t::convert_piecewise_curve_to_bezier<bezier_t>,
1427 "Convert a piecewise curve to to a piecewise bezier curve")
1428
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 16 .def("convert_piecewise_curve_to_cubic_hermite",
1429 &piecewise_t::convert_piecewise_curve_to_cubic_hermite<
1430 cubic_hermite_spline_t>,
1431 "Convert a piecewise curve to to a piecewise cubic hermite spline")
1432
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1440
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1442
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 32 default_call_policies(), arg("curve")),
1446 "Create a piecewise curve containing the given curve.")
1447
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 16 .def("FromPointsList", &discretPointsToPolynomial3C0,
1448 "Create a piecewise-polynomial connecting exactly all the given "
1449 "points at the given time. The created "
1450 "piecewise is C0 continuous.",
1451
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1452
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1453 "Create a piecewise-polynomial connecting exactly all the given "
1454 "points at the given time and respect the "
1455 "given points derivative values. The created piecewise is C1 "
1456 "continuous.",
1457
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1458
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 16 .def("FromPointsList", &discretPointsToPolynomial3C2,
1459 "Create a piecewise-polynomial connecting exactly all the given "
1460 "points at the given time and respect the "
1461 "given points derivative and second derivative values. The created "
1462 "piecewise is C2 continuous.",
1463
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 32 args("points", "points_derivative", "points_second_derivative",
1464 "time_points"))
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1467
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 32 args("filename", "dt", "dimension"),
1468 "Create a piecewise-polynomial connecting exactly all the points in "
1469 "the given text file."
1470 "The file should contains one points per line, optionally with it's "
1471 "derivative and second derivatives."
1472 "Each lines should thus contains dim, 2*dim or 3*dim values")
1473
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1474
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 16 .def("append", &addFinalPoint3C0,
1475 "Append a new polynomial curve of degree 1 at the end of the "
1476 "piecewise curve, defined between self.max() "
1477 "and time and connecting exactly self(self.max()) and end",
1478
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1479
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 16 .def("append", &addFinalPoint3C1,
1480 "Append a new polynomial curve of degree 3 at the end of the "
1481 "piecewise curve, defined between self.max() "
1482 "and time and connecting exactly self(self.max()) and end. It "
1483 "guarantee C1 continuity and guarantee that "
1484 "self.derivate(time,1) == d_end",
1485
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1486
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 16 .def("append", &addFinalPoint3C2,
1487 "Append a new polynomial curve of degree 5 at the end of the "
1488 "piecewise curve, defined between self.max() "
1489 "and time and connecting exactly self(self.max()) and end. It "
1490 "guarantee C2 continuity and guarantee that "
1491 "self.derivate(time,1) == d_end and self.derivate(time,2) == dd_end",
1492
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1493
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 16 .def("append", &piecewise3_t::add_curve_ptr,
1494 "Add a new curve to piecewise curve, which should be defined in "
1495 "T_{min},T_{max}] "
1496 "where T_{min} is equal toT_{max} of the actual piecewise curve.")
1497
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1498 "Check if the curve is continuous at the given order.",
1499
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 32 args("self", "order"))
1500 32 .def("convert_piecewise_curve_to_polynomial",
1501 &piecewise3_t::convert_piecewise_curve_to_polynomial<polynomial3_t>,
1502 "Convert a piecewise curve to to a piecewise polynomial curve")
1503
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 16 .def("convert_piecewise_curve_to_bezier",
1504 &piecewise3_t::convert_piecewise_curve_to_bezier<bezier3_t>,
1505 "Convert a piecewise curve to to a piecewise bezier curve")
1506
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 16 .def("curve_at_index", &piecewise3_t::curve_at_index)
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 16 .def_pickle(curve_pickle_suite<piecewise3_t>());
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 16 class_<piecewise_bezier_t, bases<curve_abc_t>,
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 16 std::shared_ptr<piecewise_bezier_t>>("piecewise_bezier", init<>())
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 16 .def("__init__",
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 16 make_constructor(&wrapPiecewiseBezierConstructor,
1519
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 32 default_call_policies(), arg("curve")),
1520 "Create a peicewise Bezier curve containing the given curve.")
1521
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 32 .def("__init__", make_constructor(&wrapPiecewiseBezierEmptyConstructor),
1522 "Create an empty piecewise-Beziercurve.")
1523
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 16 .def("append", &piecewise_bezier_t::add_curve_ptr,
1524 "Add a new curve to piecewise curve, which should be defined in "
1525 "T_{min},T_{max}] "
1526 "where T_{min} is equal toT_{max} of the actual piecewise curve.")
1527
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 16 .def("is_continuous", &piecewise_bezier_t::is_continuous,
1528 "Check if the curve is continuous at the given order.",
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 32 args("self", "order"))
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 16 .def("curve_at_index", &piecewise_bezier_t::curve_at_index)
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1538
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 16 class_<piecewise_linear_bezier_t, bases<curve_abc_t>,
1540 std::shared_ptr<piecewise_linear_bezier_t>>("piecewise_bezier_linear",
1541
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 32 init<>(args("self")))
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 16 make_constructor(&wrapPiecewiseBezierLinearConstructor,
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 32 default_call_policies(), arg("curve")),
1545 "Create a peicewise Bezier curve containing the given curve.")
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 16 .def("__init__",
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 32 make_constructor(&wrapPiecewiseBezierLinearEmptyConstructor),
1548 "Create an empty piecewise-Beziercurve.")
1549
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 16 .def("append", &piecewise_linear_bezier_t::add_curve_ptr,
1550 "Add a new curve to piecewise curve, which should be defined in "
1551 "T_{min},T_{max}] "
1552 "where T_{min} is equal toT_{max} of the actual piecewise curve.")
1553
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 16 .def("is_continuous", &piecewise_linear_bezier_t::is_continuous,
1554 "Check if the curve is continuous at the given order.",
1555
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 32 args("self", "order"))
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 16 .def("curve_at_index", &piecewise_linear_bezier_t::curve_at_index)
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 16 .def_pickle(curve_pickle_suite<piecewise_linear_bezier_t>());
1564
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 16 class_<piecewise_SE3_t, bases<curve_SE3_t>, std::shared_ptr<piecewise_SE3_t>>(
1566
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 16 "piecewise_SE3", init<>())
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 16 .def("__init__",
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 16 make_constructor(&wrapPiecewiseSE3Constructor,
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 32 default_call_policies(), arg("curve")),
1570 "Create a piecewise-se3 curve containing the given se3 curve.")
1571
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 32 .def("__init__", make_constructor(&wrapPiecewiseSE3EmptyConstructor),
1572 "Create an empty piecewise-se3 curve.")
1573
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 16 .def("append", &piecewise_SE3_t::add_curve_ptr,
1574 "Add a new curve to piecewise curve, which should be defined in "
1575 "T_{min},T_{max}] "
1576 "where T_{min} is equal toT_{max} of the actual piecewise curve.",
1577
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 32 args("self", "curve"))
1578
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 16 .def("is_continuous", &piecewise_SE3_t::is_continuous,
1579 "Check if the curve is continuous at the given order.",
1580
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 32 args("self", "order"))
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 16 .def("num_curves", &piecewise_SE3_t::num_curves)
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 16 .def("append", &addFinalTransform,
1585 "Append a new linear SE3 curve at the end of the piecewise curve, "
1586 "defined between self.max() "
1587 "and time and connecting exactly self(self.max()) and end",
1588
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 32 args("self", "end", "time"))
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 16 .def_pickle(curve_pickle_suite<piecewise_SE3_t>())
1594 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
1595
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 16 .def("append", &addFinalSE3,
1596 "Append a new linear SE3 curve at the end of the piecewise curve, "
1597 "defined between self.max() "
1598 "and time and connecting exactly self(self.max()) and end",
1599
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 32 args("self", "end", "time"))
1600 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
1601 ;
1602
1603 /** END piecewise curve function **/
1604 /** BEGIN exact_cubic curve**/
1605
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 16 class_<exact_cubic_t, bases<curve_abc_t>, std::shared_ptr<exact_cubic_t>>(
1606
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 32 "exact_cubic", init<>(args("self")))
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 16 .def("__init__",
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 16 make_constructor(&wrapExactCubicConstructor, default_call_policies(),
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 32 args("array", "time_wp")))
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 16 .def("__init__",
1611
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 16 make_constructor(&wrapExactCubicConstructorConstraint,
1612 ✗ default_call_policies(),
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 32 args("array", "time_wp", "constraints")))
1614
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 32 .def("getNumberSplines", &exact_cubic_t::getNumberSplines, args("self"))
1615
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 32 .def("getSplineAt", &exact_cubic_t::getSplineAt, args("self", "index"))
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 16 .def_pickle(curve_pickle_suite<exact_cubic_t>());
1621
1622 /** END exact_cubic curve**/
1623 /** BEGIN cubic_hermite_spline **/
1624
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 16 class_<cubic_hermite_spline_t, bases<curve_abc_t>,
1625 std::shared_ptr<cubic_hermite_spline_t>>("cubic_hermite_spline",
1626
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 32 init<>(args("self")))
1627
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 16 .def("__init__", make_constructor(&wrapCubicHermiteSplineConstructor,
1628 ✗ bp::default_call_policies(),
1629
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 32 args("points", "tangents", "times")))
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 16 .def(SerializableVisitor<cubic_hermite_spline_t>())
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 16 .def_pickle(curve_pickle_suite<cubic_hermite_spline_t>());
1636
1637 /** END cubic_hermite_spline **/
1638 /** BEGIN curve constraints**/
1639
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 16 class_<curve_constraints_t>("curve_constraints", init<>())
1640
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 32 .def(bp::init<int>(args("self", "dimension"),
1641 "Init with a given dimension."))
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 16 .add_property("init_vel", &get_init_vel, &set_init_vel)
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 16 .add_property("init_acc", &get_init_acc, &set_init_acc)
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 16 .add_property("init_jerk", &get_init_jerk, &set_init_jerk)
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 16 .add_property("end_vel", &get_end_vel, &set_end_vel)
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 16 .add_property("end_acc", &get_end_acc, &set_end_acc)
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 16 .add_property("end_jerk", &get_end_jerk, &set_end_jerk)
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 16 .def("__eq__", &curve_constraints_t::operator==)
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 16 .def("__ne__", &curve_constraints_t::operator!=)
1650
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 16 .def(SerializableVisitor<curve_constraints_t>())
1651
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1652
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 16 .def_pickle(curve_pickle_suite<curve_constraints_t>());
1653 ;
1654 /** END curve constraints**/
1655 /** BEGIN bernstein polynomial**/
1656
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 16 class_<bernstein_t>("bernstein",
1657
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 16 init<const unsigned int, const unsigned int>())
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 16 .def("__call__", &bernstein_t::operator())
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 16 .def(bp::self == bp::self)
1660
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 16 .def(bp::self != bp::self);
1661 /** END bernstein polynomial**/
1662
1663 /** BEGIN SO3 Linear**/
1664
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 16 class_<SO3Linear_t, bases<curve_rotation_t>, std::shared_ptr<SO3Linear_t>>(
1665
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 16 "SO3Linear", init<>())
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 16 .def("__init__",
1667
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 16 make_constructor(
1668 ✗ &wrapSO3LinearConstructorFromMatrix, default_call_policies(),
1669
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 32 args("init_rotation", "end_rotation", "min", "max")),
1670 "Create a SO3 Linear curve between two rotations, defined for t in "
1671 "[min,max]."
1672 " The input rotations are expressed as 3x3 matrix.")
1673
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 16 .def("__init__",
1674
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 16 make_constructor(
1675 ✗ &wrapSO3LinearConstructorFromQuaternion, default_call_policies(),
1676
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 32 args("init_rotation", "end_rotation", "min", "max")),
1677 "Create a SO3 Linear curve between two rotations, defined for t in "
1678 "[min,max]."
1679 " The input rotations are expressed as Quaternions.")
1680
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 16 .def("computeAsQuaternion", &SO3Linear_t::computeAsQuaternion,
1681 "Output the quaternion of the rotation at the given time. This "
1682 "rotation is obtained by a Spherical Linear "
1683 "Interpolation between the initial and final rotation.")
1684
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 16 .def(SerializableVisitor<SO3Linear_t>())
1685
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 16 .def_pickle(curve_pickle_suite<SO3Linear_t>());
1689
1690 /** END SO3 Linear**/
1691 /** BEGIN SE3 Curve**/
1692
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 16 class_<SE3Curve_t, bases<curve_SE3_t>, std::shared_ptr<SE3Curve_t>>(
1693
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 16 "SE3Curve", init<>())
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 16 .def("__init__",
1695
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 16 make_constructor(
1696 ✗ &wrapSE3CurveFromTransform, default_call_policies(),
1697
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 32 args("init_transform", "end_transform", "min", "max")),
1698 "Create a SE3 curve between two transform, defined for t in "
1699 "[min,max]."
1700 " Using linear interpolation for translation and slerp for rotation "
1701 "between init and end."
1702 " The input transform are expressed as 4x4 matrix.")
1703
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 16 .def("__init__",
1704
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 16 make_constructor(
1705 ✗ &wrapSE3CurveFromPosAndRotation, default_call_policies(),
1706
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 32 args("init_translation", "end_translation", "init_rotation",
1707 "end_rotation", "min", "max")),
1708 "Create a SE3 curve between two transform, defined for t in "
1709 "[min,max]."
1710 " Using linear interpolation for translation and slerp for rotation "
1711 "between init and end."
1712 " The input translations are expressed as 3d vector and the "
1713 "rotations as 3x3 matrix.")
1714
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 16 .def("__init__",
1715
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 16 make_constructor(&wrapSE3CurveFromTwoCurves, default_call_policies(),
1716
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 32 args("translation_curve", "rotation_curve")),
1717 "Create a SE3 curve from a translation curve and a rotation one."
1718 "The translation curve should be of dimension 3 and the rotation "
1719 "one should output 3x3 matrix"
1720 "Both curves should have the same time bounds.")
1721
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 16 .def("__init__",
1722
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 16 make_constructor(
1723 ✗ &wrapSE3CurveFromTranslation, default_call_policies(),
1724
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 32 args("translation_curve", "init_rotation", "end_rotation")),
1725 "Create a SE3 curve from a translation curve and two rotation"
1726 "The translation curve should be of dimension 3, the time "
1727 "definition of the SE3curve will the same as the "
1728 "translation curve."
1729 "The orientation along the SE3Curve will be a slerp between the two "
1730 "given rotations."
1731 "The orientations should be represented as 3x3 rotation matrix")
1732
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 16 .def("__init__",
1733
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 16 make_constructor(
1734 ✗ &wrapSE3CurveFromBezier3Translation, default_call_policies(),
1735
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 32 args("translation_curve", "init_rotation", "end_rotation")),
1736 "Create a SE3 curve from a translation curve and two rotation"
1737 "The translation curve should be of dimension 3, the time "
1738 "definition of the SE3curve will the same as the "
1739 "translation curve."
1740 "The orientation along the SE3Curve will be a slerp between the two "
1741 "given rotations."
1742 "The orientations should be represented as 3x3 rotation matrix")
1743
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 16 .def("translation_curve", &SE3Curve_t::translation_curve,
1744 "Return a curve corresponding to the translation part of self.")
1745
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 16 .def("rotation_curve", &SE3Curve_t::rotation_curve,
1746 "Return a curve corresponding to the rotation part of self.")
1747
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 16 .def(SerializableVisitor<SE3Curve_t>())
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 16 .def(CopyableVisitor<SE3Curve_t>())
1751
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 16 .def_pickle(curve_pickle_suite<SE3Curve_t>())
1752 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
1753
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 16 .def("__init__",
1754
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 32 make_constructor(&wrapSE3CurveFromSE3Pinocchio,
1755 ✗ default_call_policies(),
1756
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 32 args("init_SE3", "end_SE3", "min", "max")),
1757 "Create a SE3 curve between two SE3 objects from Pinocchio, defined "
1758 "for t in [min,max]."
1759 " Using linear interpolation for translation and slerp for rotation "
1760 "between init and end.")
1761 #endif // CURVES_WITH_PINOCCHIO_SUPPORT
1762 ;
1763
1764 /** END SE3 Curve**/
1765 /** BEGIN constant curve function**/
1766
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 16 class_<constant_t, bases<curve_abc_t>, std::shared_ptr<constant_t>>(
1767
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 16 "constant", init<>())
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 16 .def("__init__",
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 16 make_constructor(&wrapConstantConstructorTime,
1770 ✗ default_call_policies(),
1771
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 32 args("value", "min", "max")),
1772 "Create a constant curve defined for t in [min,max]."
1773 " This curve always evaluate to the given value and derivate to "
1774 "zero value.")
1775
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 16 .def("__init__",
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 16 make_constructor(&wrapConstantConstructor, default_call_policies(),
1777
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 32 arg("value")),
1778 "Create a constant curve defined for t in [0,inf]."
1779 " This curve always evaluate to the given value and derivate to "
1780 "zero value.")
1781
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 16 .def(SerializableVisitor<constant_t>())
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 16 .def(CopyableVisitor<constant_t>())
1785
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 16 .def_pickle(curve_pickle_suite<constant_t>());
1786 /** END constant function**/
1787 /** BEGIN constant 3 curve function**/
1788
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 16 class_<constant3_t, bases<curve_3_t>, std::shared_ptr<constant3_t>>(
1789
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 16 "constant3", init<>())
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 16 .def("__init__",
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 16 make_constructor(&wrapConstant3ConstructorTime,
1792 ✗ default_call_policies(),
1793
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 32 args("value", "min", "max")),
1794 "Create a constant curve defined for t in [min,max]."
1795 " This curve always evaluate to the given value and derivate to "
1796 "zero value.")
1797
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 16 .def("__init__",
1798
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 16 make_constructor(&wrapConstant3Constructor, default_call_policies(),
1799
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 32 arg("value")),
1800 "Create a constant curve defined for t in [0,inf]."
1801 " This curve always evaluate to the given value and derivate to "
1802 "zero value.")
1803
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 16 .def(SerializableVisitor<constant3_t>())
1804
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1807
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 16 .def_pickle(curve_pickle_suite<constant3_t>());
1808 /** END constant 3 function**/
1809 /** BEGIN sinusoidal curve function**/
1810
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 16 class_<sinusoidal_t, bases<curve_abc_t>, std::shared_ptr<sinusoidal_t>>(
1811
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 16 "sinusoidal", init<>())
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 16 make_constructor(&wrapSinusoidalConstructor, default_call_policies(),
1814
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 32 args("Offset", "Amplitude", "Period", "Phase")),
1815 "Create a sinusoidal curve defined for t in [0, inf]."
1816 " c(t) = offset + amplitude * sin(2pi/T * t + phi)")
1817
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 16 .def("__init__",
1818
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 16 make_constructor(
1819 ✗ &wrapSinusoidalConstructorTime, default_call_policies(),
1820
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 32 args("Offset", "Amplitude", "Period", "Phase", "min", "max")),
1821 "Create a sinusoidal curve defined for t in [min, max]."
1822 " c(t) = offset + amplitude * sin(2pi/T * t + phi)")
1823
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 16 .def("__init__",
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 16 make_constructor(&wrapSinusoidalConstructorStationary,
1825 ✗ default_call_policies(),
1826
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 32 args("duration", "p_init", "p_final")),
1827 "Create a sinusoidal curve defined for t in [0, inf]."
1828 "That connect the two stationnary points p_init and p_final in "
1829 "duration (an half period)")
1830
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 16 .def(
1831 "__init__",
1832
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 16 make_constructor(&wrapSinusoidalConstructorStationaryTime,
1833 ✗ default_call_policies(),
1834
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 32 args("duration", "p_init", "p_final", "min", "max")),
1835 "Create a sinusoidal curve defined for t in [min, max]."
1836 "That connect the two stationnary points p_init and p_final in "
1837 "duration (an half period)")
1838
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 16 .def(SerializableVisitor<sinusoidal_t>())
1839
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1840
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 16 .def_pickle(curve_pickle_suite<sinusoidal_t>());
1843 /** END sinusoidal function**/
1844 /** BEGIN curves conversion**/
1845
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 16 def("convert_to_polynomial", polynomial_from_curve<polynomial_t>);
1846
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 16 def("convert_to_bezier", bezier_from_curve<bezier_t>);
1847
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 16 def("convert_to_hermite", hermite_from_curve<cubic_hermite_spline_t>);
1848 /** END curves conversion**/
1849
1850
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 16 optimization::python::exposeOptimization();
1851
1852 #ifdef CURVES_WITH_PINOCCHIO_SUPPORT
1853
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 16 scope().attr("CURVES_WITH_PINOCCHIO_SUPPORT") = true;
1854 #else
1855 scope().attr("CURVES_WITH_PINOCCHIO_SUPPORT") = false;
1856 #endif
1857
1858 16 } // End BOOST_PYTHON_MODULE
1859 } // namespace ndcurves
1860