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#include <Eigen/Dense> |
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#include <eigenpy/eigenpy.hpp> |
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#include <eigenpy/geometry.hpp> |
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#include <eigenpy/memory.hpp> |
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#include <vector> |
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#include "ndcurves/bernstein.h" |
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#include "ndcurves/bezier_curve.h" |
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#include "ndcurves/constant_curve.h" |
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#include "ndcurves/cubic_hermite_spline.h" |
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#include "ndcurves/curve_constraint.h" |
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#include "ndcurves/curve_conversion.h" |
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#include "ndcurves/exact_cubic.h" |
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#include "ndcurves/fwd.h" |
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#include "ndcurves/linear_variable.h" |
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#include "ndcurves/piecewise_curve.h" |
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#include "ndcurves/polynomial.h" |
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#include "ndcurves/python/python_definitions.h" |
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#include "ndcurves/se3_curve.h" |
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#include "ndcurves/sinusoidal.h" |
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#include "ndcurves/so3_linear.h" |
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#ifndef _VARIABLES_PYTHON_BINDINGS |
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#define _VARIABLES_PYTHON_BINDINGS |
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namespace ndcurves { |
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static const int dim = 3; |
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typedef linear_variable<real, true> linear_variable_t; |
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typedef quadratic_variable<real> quadratic_variable_t; |
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typedef bezier_curve<real, real, true, linear_variable_t> |
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bezier_linear_variable_t; |
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/*linear variable control points*/ |
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bezier_linear_variable_t* wrapBezierLinearConstructor( |
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const point_list3_t& matrices, const point_list3_t& vectors); |
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bezier_linear_variable_t* wrapBezierLinearConstructorBounds( |
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const point_list3_t& matrices, const point_list3_t& vectors, |
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const real T_min, const real T_max); |
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typedef Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> matrix_x_t; |
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struct matrix_pair { |
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matrix_pair() {} |
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matrix_pair(const Eigen::Ref<const matrix_x_t> A, |
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const Eigen::Ref<const matrix_x_t> b) |
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: A_(A), b_(b) {} |
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matrix_x_t A_; |
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matrix_x_t b_; |
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matrix_x_t A() { return A_; } |
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matrix_x_t b() { return b_; } |
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}; |
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Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic> cost_t_quad( |
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const quadratic_variable_t& p); |
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Eigen::Matrix<real, Eigen::Dynamic, 1> cost_t_linear( |
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const quadratic_variable_t& p); |
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real cost_t_constant(const quadratic_variable_t& p); |
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linear_variable_t* wayPointsToLists(const bezier_linear_variable_t& self); |
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struct LinearBezierVector { |
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std::vector<bezier_linear_variable_t> beziers_; |
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std::size_t size() { return beziers_.size(); } |
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bezier_linear_variable_t* at(std::size_t i) { |
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assert(i < size()); |
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return new bezier_linear_variable_t(beziers_[i]); |
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} |
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}; |
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/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/ |
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} // namespace ndcurves |
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// EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(ndcurves::piecewise_SE3_t) |
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#endif //_VARIABLES_PYTHON_BINDINGS |
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