change name of hpp-spline for curves, make test 100% OK

CMakeLists.txt

@@ -5,7 +5,7 @@ INCLUDE(cmake/test.cmake)
 INCLUDE(cmake/python.cmake)
 INCLUDE(cmake/hpp.cmake)
 
-SET(PROJECT_NAME hpp-spline)
+SET(PROJECT_NAME curves)
 SET(PROJECT_DESCRIPTION
   "template based classes for creating and manipulating spline and bezier curves. Comes with extra options specific to end-effector trajectories in robotics."
   )

python/spline_python.cpp

@@ -30,7 +30,7 @@ typedef std::vector<Waypoint> T_Waypoint;
 typedef std::pair<real, point6_t> Waypoint6;
 typedef std::vector<Waypoint6> T_Waypoint6;
 
-typedef curve::bezier_curve  <real, real, 3, true, point_t> bezier_t;
+typedef curve::bezier_curve  <real, real, 3, true, point_t> bezier3_t;
 typedef curve::bezier_curve  <real, real, 6, true, point6_t> bezier6_t;
 typedef curve::polynom  <real, real, 3, true, point_t, t_point_t> polynom_t;
 typedef curve::exact_cubic  <real, real, 3, true, point_t, t_point_t> exact_cubic_t;
@@ -47,7 +47,7 @@ typedef curve::curve_constraints<point6_t> curve_constraints6_t;
 /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
-EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_t)
+EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier3_t)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier6_t)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(polynom_t)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(exact_cubic_t)
@@ -81,21 +81,21 @@ Bezier* wrapBezierConstructorConstraintsTemplate(const PointList& array, const C
 }
 
 /*3D constructors */
-bezier_t* wrapBezierConstructor(const point_list_t& array)
+bezier3_t* wrapBezierConstructor(const point_list_t& array)
 {
-    return wrapBezierConstructorTemplate<bezier_t, point_list_t, t_point_t>(array) ;
+    return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point_t>(array) ;
 }
-bezier_t* wrapBezierConstructorBounds(const point_list_t& array, const real ub)
+bezier3_t* wrapBezierConstructorBounds(const point_list_t& array, const real ub)
 {
-    return wrapBezierConstructorTemplate<bezier_t, point_list_t, t_point_t>(array, ub) ;
+    return wrapBezierConstructorTemplate<bezier3_t, point_list_t, t_point_t>(array, ub) ;
 }
-bezier_t* wrapBezierConstructorConstraints(const point_list_t& array, const curve_constraints_t& constraints)
+bezier3_t* wrapBezierConstructorConstraints(const point_list_t& array, const curve_constraints_t& constraints)
 {
-    return wrapBezierConstructorConstraintsTemplate<bezier_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints) ;
+    return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints) ;
 }
-bezier_t* wrapBezierConstructorBoundsConstraints(const point_list_t& array, const curve_constraints_t& constraints, const real ub)
+bezier3_t* wrapBezierConstructorBoundsConstraints(const point_list_t& array, const curve_constraints_t& constraints, const real ub)
 {
-    return wrapBezierConstructorConstraintsTemplate<bezier_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints, ub) ;
+    return wrapBezierConstructorConstraintsTemplate<bezier3_t, point_list_t, t_point_t, curve_constraints_t>(array, constraints, ub) ;
 }
 /*END 3D constructors */
 /*6D constructors */
@@ -205,7 +205,7 @@ void set_end_acc(curve_constraints_t& c, const point_t& val)
 
 
 
-BOOST_PYTHON_MODULE(hpp_spline)
+BOOST_PYTHON_MODULE(curves)
 {
     /** BEGIN eigenpy init**/
     eigenpy::enableEigenPy();
@@ -241,21 +241,21 @@ BOOST_PYTHON_MODULE(hpp_spline)
     /** END bezier curve**/
 
     /** BEGIN bezier curve**/
-    class_<bezier_t>
+    class_<bezier3_t>
         ("bezier", no_init)
             .def("__init__", make_constructor(&wrapBezierConstructor))
             .def("__init__", make_constructor(&wrapBezierConstructorBounds))
             .def("__init__", make_constructor(&wrapBezierConstructorConstraints))
             .def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
-            .def("min", &bezier_t::min)
-            .def("max", &bezier_t::max)
-            .def("__call__", &bezier_t::operator())
-            .def("derivate", &bezier_t::derivate)
-            .def("compute_derivate", &bezier_t::compute_derivate)
-            .def("compute_primitive", &bezier_t::compute_primitive)
-            .def("waypoints", &wayPointsToList<bezier_t,3>)
-            .def_readonly("degree", &bezier_t::degree_)
-            .def_readonly("nbWaypoints", &bezier_t::size_)
+            .def("min", &bezier3_t::min)
+            .def("max", &bezier3_t::max)
+            .def("__call__", &bezier3_t::operator())
+            .def("derivate", &bezier3_t::derivate)
+            .def("compute_derivate", &bezier3_t::compute_derivate)
+            .def("compute_primitive", &bezier3_t::compute_primitive)
+            .def("waypoints", &wayPointsToList<bezier3_t,3>)
+            .def_readonly("degree", &bezier3_t::degree_)
+            .def_readonly("nbWaypoints", &bezier3_t::size_)
         ;
     /** END bezier curve**/
 
@@ -314,7 +314,7 @@ BOOST_PYTHON_MODULE(hpp_spline)
     /** END bernstein polynom**/
 
     /** BEGIN Bezier to polynom conversion**/
-    def("from_bezier", from_bezier<bezier_t,polynom_t>);
+    def("from_bezier", from_bezier<bezier3_t,polynom_t>);
     /** END Bezier to polynom conversion**/
 
 

python/test/test.py

@@ -6,7 +6,7 @@ from numpy import matrix
 from numpy.linalg import norm
 from numpy.testing import assert_allclose
 
-from hpp_spline import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
+from curves import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
 
 
 class TestSpline(unittest.TestCase):