| Directory: | ./ |
|---|---|
| File: | include/ndcurves/python/python_definitions.h |
| Date: | 2025-03-05 17:18:30 |
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| Lines: | 17 | 17 | 100.0% |
| Branches: | 14 | 22 | 63.6% |
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| 1 | #include <vector> | ||
| 2 | |||
| 3 | #include "ndcurves/bezier_curve.h" | ||
| 4 | #include "ndcurves/fwd.h" | ||
| 5 | #include "ndcurves/linear_variable.h" | ||
| 6 | #include "ndcurves/polynomial.h" | ||
| 7 | #include "ndcurves/quadratic_variable.h" | ||
| 8 | |||
| 9 | #ifndef _DEFINITION_PYTHON_BINDINGS | ||
| 10 | #define _DEFINITION_PYTHON_BINDINGS | ||
| 11 | |||
| 12 | namespace ndcurves { | ||
| 13 | /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/ | ||
| 14 | typedef double real; | ||
| 15 | typedef std::vector<real> t_time_t; | ||
| 16 | typedef Eigen::VectorXd time_waypoints_t; | ||
| 17 | |||
| 18 | typedef Eigen::Matrix<double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1> | ||
| 19 | ret_pointX_t; | ||
| 20 | typedef std::pair<pointX_t, pointX_t> pair_pointX_tangent_t; | ||
| 21 | typedef Eigen::MatrixXd pointX_list_t; | ||
| 22 | typedef std::vector<pair_pointX_tangent_t, | ||
| 23 | Eigen::aligned_allocator<pair_pointX_tangent_t> > | ||
| 24 | t_pair_pointX_tangent_t; | ||
| 25 | typedef ndcurves::curve_constraints<pointX_t> curve_constraints_t; | ||
| 26 | typedef ndcurves::curve_constraints<point3_t> curve_constraints3_t; | ||
| 27 | typedef std::pair<real, pointX_t> waypoint_t; | ||
| 28 | typedef std::vector<waypoint_t> t_waypoint_t; | ||
| 29 | typedef Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> point_listX_t; | ||
| 30 | typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list3_t; | ||
| 31 | typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t; | ||
| 32 | typedef polynomial_t::coeff_t coeff_t; | ||
| 33 | |||
| 34 | typedef ndcurves::Bern<double> bernstein_t; | ||
| 35 | |||
| 36 | template <typename PointList, typename T_Point> | ||
| 37 | 94 | T_Point vectorFromEigenArray(const PointList& array) { | |
| 38 | 94 | T_Point res; | |
| 39 |
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504 | for (int i = 0; i < array.cols(); ++i) { |
| 40 |
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410 | res.push_back(array.col(i)); |
| 41 | } | ||
| 42 | 94 | return res; | |
| 43 | } | ||
| 44 | template <typename PointList, typename T_Point> | ||
| 45 | 7 | T_Point vectorFromEigenVector(const PointList& vector) { | |
| 46 | 7 | T_Point res; | |
| 47 |
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56 | for (int i = 0; i < vector.rows(); ++i) { |
| 48 |
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49 | res.push_back(vector[i]); |
| 49 | } | ||
| 50 | 7 | return res; | |
| 51 | } | ||
| 52 | |||
| 53 | template <typename T_point, typename PointList> | ||
| 54 | 12 | PointList vectorToEigenArray(const T_point& vect) { | |
| 55 | 12 | const size_t nCols = vect.size(); | |
| 56 | 12 | const size_t nRows = vect[0].rows(); | |
| 57 |
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12 | PointList res(nRows, nCols); |
| 58 |
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72 | for (size_t i = 0; i < vect.size(); ++i) { |
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60 | res.block(0, i, nRows, 1) = vect[i]; |
| 60 | } | ||
| 61 | 24 | return res; | |
| 62 | } | ||
| 63 | } // namespace ndcurves | ||
| 64 | #endif //_DEFINITION_PYTHON_BINDINGS | ||
| 65 |