addition / subtraction possible for bezier curves of different degrees

include/curves/bezier_curve.h

@@ -448,9 +448,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
 
   bezier_curve_t& operator+=(const bezier_curve_t& other) {
       assert_operator_compatible(other);
-      if(fabs(mult_T_ - other.mult_T_) > bezier_curve_t::MARGIN)
-          throw std::runtime_error("addition not implemented yet for curves of different mult");
-      bezier_curve_t other_elevated = other;
+      bezier_curve_t other_elevated = other * (other.mult_T_ / this->mult_T_); // TODO remove mult_T_ from Bezier
       if(other.degree() > degree()){
           elevate_self(other.degree() - degree());
       }
@@ -466,9 +464,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
 
   bezier_curve_t& operator-=(const bezier_curve_t& other)  {
       assert_operator_compatible(other);
-      if(fabs(mult_T_ - other.mult_T_) > bezier_curve_t::MARGIN)
-          throw std::runtime_error("addition not implemented yet for curves of different mult");
-      bezier_curve_t other_elevated = other;
+      bezier_curve_t other_elevated = other * (other.mult_T_ / this->mult_T_);
       if(other.degree() > degree()){
           elevate_self(other.degree() - degree());
       }

tests/test-operations.cpp

@@ -56,14 +56,15 @@ BOOST_AUTO_TEST_CASE(bezierOperations, * boost::unit_test::tolerance(0.001)) {
         vec1.push_back(Eigen::Vector3d::Random());
         vec2.push_back(Eigen::Vector3d::Random());
     }
-    for (int i =0; i<2; ++i)
+    for (int i =0; i<4; ++i)
     {
         vec1.push_back(Eigen::Vector3d::Random());
     }
-    bezier_t p1(vec1.begin(),vec1.end(),0.,1.);
-    bezier_t p2(vec2.begin(),vec2.end(),0.,1.);
-    bezier_t p3(vec2.begin(),vec2.end(),0.,0.5);
-    bezier_t p4(vec2.begin(),vec2.end(),0.1,1.);
+    bezier_t p1(vec1.begin(),vec1.end(),0.2,.8);
+    bezier_t p2(vec2.begin(),vec2.end(),0.2,.8);
+    bezier_t p1Dev = p1.compute_derivate(2);
+    bezier_t p3(vec2.begin(),vec2.end(),0.2,0.5);
+    bezier_t p4(vec2.begin(),vec2.end(),0.1,.8);
     bezier_t p5(vec2.begin(),vec2.end(),0.1,.5);
     double k = 10.2;
 
@@ -76,29 +77,37 @@ BOOST_AUTO_TEST_CASE(bezierOperations, * boost::unit_test::tolerance(0.001)) {
 
     bezier_t pSum  = p1 + p2;
     bezier_t pSumR = p2 + p1;
+    bezier_t pSumDev  = p1Dev + p2;
+    bezier_t pSumRDev = p2 + p1Dev;
     bezier_t pSub  = p1 - p2;
     bezier_t pSubR = p2 - p1;
+    bezier_t pSubDev  = p1Dev - p2;
+    bezier_t pSubRDev = p2 - p1Dev;
     bezier_t pdiv  = p1 / k;
     bezier_t pMul  = p1 * k;
     bezier_t pMulR = k  * p1;
     bezier_t pNeg  = -p1;
-    for (double i = 0.; i <=100.; ++i ){
+    for (double i = 20; i <=80.; ++i ){
         double dt = i / 100.;
-        BOOST_TEST(( pSum(dt) - (p1(dt)+p2(dt))).norm()==0.);
-        BOOST_TEST((pSumR(dt) - (p1(dt)+p2(dt))).norm()==0.);
-        BOOST_TEST(( pSub(dt) - (p1(dt)-p2(dt))).norm()==0.);
-        BOOST_TEST((pSubR(dt) - (p2(dt)-p1(dt))).norm()==0.);
-        BOOST_TEST(( pMul(dt) -  p1(dt)*k).norm()==0.);
-        BOOST_TEST((pMulR(dt) -  p1(dt)*k).norm()==0.);
-        BOOST_TEST(( pdiv(dt) -  p1(dt)/k).norm()==0.);
-        BOOST_TEST(( pNeg(dt) +  p1(dt)).norm() == 0);
+        BOOST_TEST(( pSum(dt)    - (p1(dt)+p2(dt))).norm()==0.);
+        BOOST_TEST((pSumR(dt)    - (p1(dt)+p2(dt))).norm()==0.);
+        BOOST_TEST(( pSumDev(dt) - (p1Dev(dt)+p2(dt))).norm()==0.);
+        BOOST_TEST((pSumRDev(dt) - (p1Dev(dt)+p2(dt))).norm()==0.);
+        BOOST_TEST((pSub(dt)     - (p1(dt)-p2(dt))).norm()==0.);
+        BOOST_TEST((pSubR(dt)    - (p2(dt)-p1(dt))).norm()==0.);
+        BOOST_TEST((pSubDev(dt)  - (p1Dev(dt)-p2(dt))).norm()==0.);
+        BOOST_TEST((pSubRDev(dt) - (p2(dt)-p1Dev(dt))).norm()==0.);
+        BOOST_TEST((pMul(dt)     -  p1(dt)*k).norm()==0.);
+        BOOST_TEST((pMulR(dt)    -  p1(dt)*k).norm()==0.);
+        BOOST_TEST(( pdiv(dt)    -  p1(dt)/k).norm()==0.);
+        BOOST_TEST(( pNeg(dt)    +  p1(dt)).norm() == 0);
     }
 
     pSum = bezier_t(p1); pSum += p2;
     pSub = p1; pSub -= p2;
     pdiv = p1; pdiv /= k;
     pMul = p1; pMul *= k;
-    for (double i = 0.; i <=100.; ++i ){
+    for (double i = 20; i <=80.; ++i ){
         double dt = i / 100.;
         BOOST_TEST(( pSum(dt) - (p1(dt)+p2(dt))).norm()==0.);
         BOOST_TEST(( pSub(dt) - (p1(dt)-p2(dt))).norm()==0.);