Edit bezier and bezier_t for bezier3 and bezier3_t, add comments in test.py

python/spline_python.cpp

@@ -242,7 +242,7 @@ BOOST_PYTHON_MODULE(curves)
 
     /** BEGIN bezier curve**/
     class_<bezier3_t>
-        ("bezier", no_init)
+        ("bezier3", no_init)
             .def("__init__", make_constructor(&wrapBezierConstructor))
             .def("__init__", make_constructor(&wrapBezierConstructorBounds))
             .def("__init__", make_constructor(&wrapBezierConstructorConstraints))

python/test/test.py

@@ -6,7 +6,7 @@ from numpy import matrix
 from numpy.linalg import norm
 from numpy.testing import assert_allclose
 
-from curves import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
+from curves import bezier3, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
 
 
 class TestSpline(unittest.TestCase):
@@ -15,10 +15,17 @@ class TestSpline(unittest.TestCase):
         waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).T
         time_waypoints = matrix([0., 1.]).T
 
-        # testing bezier curve
-        a = bezier6(waypoints6)
-        a = bezier(waypoints, 3.)
+        # Test : Bezier3/Bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraints, bernstein
+        # Done : Bezier3/Bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraints
+        # To do ? Bernstein
 
+        # TESTING BEZIER CURVE 
+        # - Functions : constructor, min, max, derivate,compute_derivate, compute_primitive
+        # - Variables : degree, nbWayPoints
+        # Create bezier6 and bezier3
+        a = bezier6(waypoints6)
+        a = bezier3(waypoints, 3.)
+        # Test : Degree, min, max, derivate
         self.assertEqual(a.degree, a.nbWaypoints - 1)
         a.min()
         a.max()
@@ -26,26 +33,25 @@ class TestSpline(unittest.TestCase):
         assert_allclose(a.derivate(0.4, 0), a(0.4))
         a.derivate(0.4, 2)
         a = a.compute_derivate(100)
-
         prim = a.compute_primitive(1)
-
+        # Check primitive and derivate - order 1
         for i in range(10):
             t = float(i) / 10.
             assert_allclose(a(t), prim.derivate(t, 1))
         assert_allclose(prim(0), matrix([0., 0., 0.]).T)
-
+        # Check primitive and derivate - order 2
         prim = a.compute_primitive(2)
         for i in range(10):
             t = float(i) / 10.
             assert_allclose(a(t), prim.derivate(t, 2), atol=1e-20)
         assert_allclose(prim(0), matrix([0., 0., 0.]).T)
-
+        # Create new bezier3 curve
         waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).T
-        a0 = bezier(waypoints)
-        a1 = bezier(waypoints, 3.)
+        a0 = bezier3(waypoints)
+        a1 = bezier3(waypoints, 3.)
         prim0 = a0.compute_primitive(1)
         prim1 = a1.compute_primitive(1)
-
+        # Check change in argument time_t of bezier3
         for i in range(10):
             t = float(i) / 10.
             assert_allclose(a0(t), a1(3 * t))
@@ -55,20 +61,20 @@ class TestSpline(unittest.TestCase):
         assert_allclose(prim(0), matrix([0., 0., 0.]).T)
         with self.assertRaises(AssertionError):
             assert_allclose(prim(0), matrix([0., 0., 0.]))
-
         # testing bezier with constraints
         c = curve_constraints()
         c.init_vel = matrix([0., 1., 1.]).T
         c.end_vel = matrix([0., 1., 1.]).T
         c.init_acc = matrix([0., 1., -1.]).T
         c.end_acc = matrix([0., 100., 1.]).T
-
+        #Check derivate with constraints
         waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).T
-        a = bezier(waypoints, c)
+        a = bezier3(waypoints, c)
         assert_allclose(a.derivate(0, 1), c.init_vel)
         assert_allclose(a.derivate(1, 2), c.end_acc)
 
-        # testing polynom function
+        # TESTING POLYNOM FUNCTION
+        # - Functions : constructor, min, max, derivate
         a = polynom(waypoints)
         a = polynom(waypoints, -1., 3.)
         a.min()
@@ -77,7 +83,8 @@ class TestSpline(unittest.TestCase):
         assert_allclose(a.derivate(0.4, 0), a(0.4))
         a.derivate(0.4, 2)
 
-        # testing exact_cubic function
+        # TESTING EXACT_CUBIC FUNCTION
+        # - Functions : constructor, min, max, derivate
         a = exact_cubic(waypoints, time_waypoints)
         a.min()
         a.max()
@@ -85,24 +92,22 @@ class TestSpline(unittest.TestCase):
         assert_allclose(a.derivate(0.4, 0), a(0.4))
         a.derivate(0.4, 2)
 
-        # testing spline_deriv_constraints
+        # TESTING SPLINE_DERIV_CONSTRAINTS
+        # - Functions : constructor, min, max, derivate
         c = curve_constraints()
         c.init_vel
         c.end_vel
         c.init_acc
         c.end_acc
-
         c.init_vel = matrix([0., 1., 1.]).T
         c.end_vel = matrix([0., 1., 1.]).T
         c.init_acc = matrix([0., 1., 1.]).T
         c.end_acc = matrix([0., 1., 1.]).T
-
         a = spline_deriv_constraint(waypoints, time_waypoints)
         a = spline_deriv_constraint(waypoints, time_waypoints, c)
 
-        # converting bezier to polynom
-
-        a = bezier(waypoints)
+        # CONVERTING BEZIER TO POLYNOM
+        a = bezier3(waypoints)
         a_pol = from_bezier(a)
         assert_allclose(a(0.3), a_pol(0.3))