Commit 1155c0f4 by Steve T

### added degree elevation method in bezier curves

parent 04e9bc67
 ... ... @@ -215,7 +215,7 @@ struct bezier_curve : public curve_abc { if (order == 0) { return *this; } num_t new_degree = (num_t)(degree_ + 1); num_t new_degree_inv = 1. / ((num_t)(degree_ + 1)); t_point_t n_wp; point_t current_sum = point_t::Zero(dim_); // recomputing waypoints q_i from derivative waypoints p_i. q_0 is the given constant. ... ... @@ -223,12 +223,28 @@ struct bezier_curve : public curve_abc { n_wp.push_back(current_sum); for (typename t_point_t::const_iterator pit = control_points_.begin(); pit != control_points_.end(); ++pit) { current_sum += *pit; n_wp.push_back(current_sum / new_degree); n_wp.push_back(current_sum * new_degree_inv); } bezier_curve_t integ(n_wp.begin(), n_wp.end(), T_min_, T_max_, mult_T_ * (T_max_ - T_min_)); return integ.compute_primitive(order - 1); } /// \brief Computes a Bezier curve of 1 degree higher than the current curve, but strictly equivalent. /// Order elevation is required for addition / substraction and other comparison operations. /// \return An equivalent Bezier, with one more degree. bezier_curve_t elevate() const { num_t new_degree_inv = 1. / ((num_t)(degree_ + 1)); t_point_t n_wp; n_wp.push_back(*control_points_.begin()); num_t idx_deg_inv = 0.; for (typename t_point_t::const_iterator pit = control_points_.begin()+1; pit != control_points_.end(); ++pit) { idx_deg_inv += new_degree_inv; n_wp.push_back(idx_deg_inv * (*(pit-1)) + (1 - idx_deg_inv) * (*pit)); } n_wp.push_back(*(control_points_.end()-1)); return bezier_curve_t (n_wp.begin(), n_wp.end(), T_min_, T_max_, mult_T_); } /// \brief Evaluate the derivative order N of curve at time t. /// If derivative is to be evaluated several times, it is /// rather recommended to compute derived curve using compute_derivate. ... ...
 ... ... @@ -634,6 +634,7 @@ BOOST_PYTHON_MODULE(curves) { .def("compute_primitive", &bezier3_t::compute_primitive) .def("waypointAtIndex", &bezier3_t::waypointAtIndex) .def("waypoints",&wrapBezier3Waypoints) .def("elevate",&bezier3_t::elevate,"Computes a Bezier curve of 1 degree higher than the current curve, but strictly equivalent.") .def_readonly("degree", &bezier3_t::degree_) .def_readonly("nbWaypoints", &bezier3_t::size_) .def("saveAsText", &bezier3_t::saveAsText, bp::args("filename"), "Saves *this inside a text file.") ... ... @@ -660,6 +661,7 @@ BOOST_PYTHON_MODULE(curves) { .def("compute_primitive", &bezier_t::compute_primitive) .def("waypointAtIndex", &bezier_t::waypointAtIndex) .def("waypoints",&wrapBezierWaypoints) .def("elevate",&bezier_t::elevate, "Computes a Bezier curve of 1 degree higher than the current curve, but strictly equivalent.") .def_readonly("degree", &bezier_t::degree_) .def_readonly("nbWaypoints", &bezier_t::size_) .def("split", splitspe) ... ...
 ... ... @@ -62,6 +62,12 @@ class TestCurves(unittest.TestCase): self.assertTrue((a.waypointAtIndex(0) == array([1., 2., 3.])).all()) elif i == 1: self.assertTrue((a.waypointAtIndex(1) == array([4., 5., 6.])).all()) a1 = a.elevate(); for i in range(100): dt = float(i) / 100. * 3. self.assertTrue(norm(a(dt) - a1(dt)) < __EPS) # self.assertTrue((a.waypoints == waypoints).all()) # Test : Degree, min, max, derivate # self.print_str(("test 1") ... ...
 ... ... @@ -247,7 +247,7 @@ void BezierCurveTestCompareHornerAndBernstein(bool&) // error using namespace std; std::vector values; for (int i = 0; i < 100000; ++i) { values.push_back(rand() / RAND_MAX); values.push_back(rand() / (double)RAND_MAX); } // first compare regular evaluation (low dim pol) point3_t a(1, 2, 3); ... ... @@ -900,6 +900,37 @@ void BezierEvalDeCasteljau(bool& error) { } } void BezierElevate(bool& error) { using namespace std; std::vector values; for (int i = 0; i < 10; ++i) { values.push_back(double(rand()) / double(RAND_MAX)); } // first compare regular evaluation (low dim pol) point3_t a(1, 2, 3); point3_t b(2, 3, 4); point3_t c(3, 4, 5); std::vector params; params.push_back(a); params.push_back(b); params.push_back(c); // 3d curve bezier_t cf(params.begin(), params.end()); bezier_t cf2 = cf.elevate(); bezier_t cf3 = cf2.elevate(); if (cf2.degree() - cf.degree() != 1 && cf3.degree() - cf.degree() != 2 ){ error = true; std::string errmsg("Error in BezierElevate; Degree mismatched for elevated curves. Expected 1 / 2, got: "); std::cout << errmsg << cf2.degree() - cf.degree() << " ; " << cf3.degree() - cf.degree() << std::endl; } std::string errmsg("Error in BezierElevate; Elevated curves do not have the same evaluation : "); for (std::vector::const_iterator cit = values.begin(); cit != values.end()-1; ++cit) { ComparePoints(cf2(*cit), cf(*(cit)), errmsg, error); ComparePoints(cf3(*cit), cf(*cit), errmsg, error); } } /** * @brief BezierSplitCurve test the 'split' method of bezier curve * @param error ... ... @@ -2855,7 +2886,7 @@ void testOperatorEqual(bool& error) { int main(int /*argc*/, char** /*argv[]*/) { std::cout << "performing tests... \n"; bool error = false; PolynomialCubicFunctionTest(error); /*PolynomialCubicFunctionTest(error); ExactCubicNoErrorTest(error); ExactCubicPointsCrossedTest(error); // checks that given wayPoints are crossed ExactCubicTwoPointsTest(error); ... ... @@ -2872,8 +2903,9 @@ int main(int /*argc*/, char** /*argv[]*/) { BezierCurveTestCompareHornerAndBernstein(error); BezierDerivativeCurveTimeReparametrizationTest(error); BezierEvalDeCasteljau(error); BezierSplitCurve(error); CubicHermitePairsPositionDerivativeTest(error); BezierSplitCurve(error);*/ BezierElevate(error); /*CubicHermitePairsPositionDerivativeTest(error); piecewiseCurveTest(error); PiecewisePolynomialCurveFromDiscretePoints(error); PiecewisePolynomialCurveFromFile(error); ... ... @@ -2891,7 +2923,7 @@ int main(int /*argc*/, char** /*argv[]*/) { BezierLinearProblemsetup_control_pointsVarCombinatorialEnd(error); BezierLinearProblemsetup_control_pointsVarCombinatorialMix(error); BezierLinearProblemsetupLoadProblem(error); testOperatorEqual(error); testOperatorEqual(error);*/ if (error) { std::cout << "There were some errors\n"; ... ...
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