operator == : in child class, try to cast 'other' to the child type to perform...

operator == : in child class, try to cast 'other' to the child type to perform the correct operation, before falling back to the curve_abc operator

include/curves/bezier_curve.h

@@ -155,12 +155,20 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
     return !(*this == other);
   }
 
+  virtual bool isApprox(const curve_abc_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
+    const bezier_curve_t* other_cast = dynamic_cast<const bezier_curve_t*>(&other);
+    if(other_cast)
+      return (*this == *other_cast); // no isApprox between two bezier, only exact equality
+    else
+      return curve_abc_t::isApprox(other,prec,order);
+  }
+
   virtual bool operator==(const curve_abc_t& other) const {
-    return curve_abc_t::isApprox(other);
+      return isApprox(other);
   }
 
   virtual bool operator!=(const curve_abc_t& other) const {
-    return !curve_abc_t::isApprox(other);
+    return !(*this == other);
   }
 
 

include/curves/cubic_hermite_spline.h

@@ -141,12 +141,20 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
     return !(*this == other);
   }
 
+  virtual bool isApprox(const curve_abc_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
+    const cubic_hermite_spline_t* other_cast = dynamic_cast<const cubic_hermite_spline_t*>(&other);
+    if(other_cast)
+      return isApprox(*other_cast);
+    else
+      return curve_abc_t::isApprox(other,prec,order);
+  }
+
   virtual bool operator==(const curve_abc_t& other) const {
-    return curve_abc_t::isApprox(other);
+    return isApprox(other);
   }
 
   virtual bool operator!=(const curve_abc_t& other) const {
-    return !curve_abc_t::isApprox(other);
+    return !(*this == other);
   }
 
 

include/curves/polynomial.h

@@ -281,12 +281,20 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
     return !(*this == other);
   }
 
+  virtual bool isApprox(const curve_abc_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
+    const polynomial_t* other_cast = dynamic_cast<const polynomial_t*>(&other);
+    if(other_cast)
+      return isApprox(*other_cast);
+    else
+      return curve_abc_t::isApprox(other,prec,order);
+  }
+
   virtual bool operator==(const curve_abc_t& other) const {
-    return curve_abc_t::isApprox(other);
+    return isApprox(other);
   }
 
   virtual bool operator!=(const curve_abc_t& other) const {
-    return !curve_abc_t::isApprox(other);
+    return !(*this == other);
   }
 
 

include/curves/se3_curve.h

@@ -176,12 +176,19 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
     return !(*this == other);
   }
 
+  virtual bool isApprox(const curve_abc_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
+    const SE3Curve_t* other_cast = dynamic_cast<const SE3Curve_t*>(&other);
+    if(other_cast)
+      return isApprox(*other_cast);
+    else
+      return curve_abc_t::isApprox(other,prec,order);
+  }
   virtual bool operator==(const curve_abc_t& other) const {
-    return curve_abc_t::isApprox(other);
+    return isApprox(other);
   }
 
   virtual bool operator!=(const curve_abc_t& other) const {
-    return !curve_abc_t::isApprox(other);
+    return !(*this == other);
   }
 
 

include/curves/so3_linear.h

@@ -134,12 +134,20 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric,
     return !(*this == other);
   }
 
+  virtual bool isApprox(const curve_abc_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
+    const SO3Linear_t* other_cast = dynamic_cast<const SO3Linear_t*>(&other);
+    if(other_cast)
+      return isApprox(*other_cast);
+    else
+      return curve_abc_t::isApprox(other,prec,order);
+  }
+
   virtual bool operator==(const curve_abc_t& other) const {
-    return curve_abc_t::isApprox(other);
+    return isApprox(other);
   }
 
   virtual bool operator!=(const curve_abc_t& other) const {
-    return !curve_abc_t::isApprox(other);
+    return !(*this == other);
   }