Edit namespace, folder, file names from curve to curves

CMakeLists.txt

@@ -37,7 +37,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
 SEARCH_FOR_BOOST()
 INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 
-ADD_SUBDIRECTORY(include/curve)
+ADD_SUBDIRECTORY(include/curves)
 ADD_SUBDIRECTORY(tests)
 
 SETUP_HPP_PROJECT_FINALIZE()

cmake @ cea261e3

-Subproject commit 61e5574a0615706aab06986f6aecf665ddc31141
+Subproject commit cea261e3da7d383844530070356bca76d20197a8

include/curve/CMakeLists.txt → include/curves/CMakeLists.txt

@@ -15,7 +15,7 @@ SET(${PROJECT_NAME}_HEADERS
 
 INSTALL(FILES
   ${${PROJECT_NAME}_HEADERS}
-  DESTINATION include/curve
+  DESTINATION include/curves
   )
 
 ADD_SUBDIRECTORY(helpers)

include/curve/MathDefs.h → include/curves/MathDefs.h

@@ -20,7 +20,7 @@
 
 #include <vector>
 #include <utility>
-namespace curve{
+namespace curves{
 
 //REF: boulic et al An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
 template<typename _Matrix_Type_>
@@ -40,5 +40,5 @@ void PseudoInverse(_Matrix_Type_& pinvmat)
 	pinvmat = (svd.matrixV()*m_sigma_inv*svd.matrixU().transpose());
 }
 
-} // namespace curve
+} // namespace curves
 #endif //_SPLINEMATH

include/curve/bernstein.h → include/curves/bernstein.h

@@ -18,7 +18,7 @@
 #include <vector>
 #include <stdexcept>
 
-namespace curve
+namespace curves
 {
 ///
 /// \brief Computes factorial of a number.
@@ -74,6 +74,6 @@ std::vector<Bern<Numeric> > makeBernstein(const unsigned int n)
         res.push_back(Bern<Numeric>(n, i));
     return res;
 }
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_BERNSTEIN
 

include/curve/bezier_curve.h → include/curves/bezier_curve.h

@@ -21,7 +21,7 @@
 
 #include <iostream>
 
-namespace curve
+namespace curves
 {
 /// \class BezierCurve.
 /// \brief Represents a Bezier curve of arbitrary dimension and order.
@@ -54,7 +54,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
 	, size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
 		In it(PointsBegin);
@@ -76,7 +76,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -101,7 +101,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(mult_T)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -124,7 +124,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd)+4)
     , degree_(size_-1)
-    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curves::makeBernstein<num_t>((unsigned int)degree_))
     {
         if(Safe && (size_<1 || T_ <= 0.))
             throw std::out_of_range("can't create bezier min bound is higher than max bound");

include/curve/bezier_polynom_conversion.h → include/curves/bezier_polynom_conversion.h

@@ -21,7 +21,7 @@
 
 #include <iostream>
 
-namespace curve
+namespace curves
 {
 /// \brief Provides methods for converting a curve from a bernstein representation
 /// to a polynom representation.
@@ -64,6 +64,6 @@ Bezier from_polynom(const Polynom& polynom)
     typedef Bezier::cit_point_t    cit_point_t;
     typedef Bezier::bezier_curve_t   bezier_curve_t;
 }*/
-} // namespace curve
+} // namespace curves
 #endif //_BEZIER_POLY_CONVERSION
 

include/curve/cubic_spline.h → include/curves/cubic_spline.h

@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 
-namespace curve
+namespace curves
 {
 /// \brief Creates coefficient vector of a cubic spline defined on the interval
 /// \f$[t_{min}, t_{max}]\f$. It follows the equation : 
@@ -41,6 +41,6 @@ polynom<Time,Numeric,Dim,Safe,Point,T_Point> create_cubic(Point const& a, Point
     T_Point coeffs = make_cubic_vector<Point, T_Point>(a,b,c,d);
     return polynom<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
 }
-} // namespace curve
+} // namespace curves
 #endif //_STRUCT_CUBICSPLINE
 

include/curve/curve_abc.h → include/curves/curve_abc.h

@@ -16,7 +16,7 @@
 
 #include <functional>
 
-namespace curve
+namespace curves
 {
 /// \struct curve_abc
 /// \brief Represents a curve of dimension Dim
@@ -63,6 +63,6 @@ struct  curve_abc : std::unary_function<Time, Point>
 /*Helpers*/
 
 	};
-} // namespace curve
+} // namespace curves
 #endif //_STRUCT_CURVE_ABC
 

include/curve/curve_constraint.h → include/curves/curve_constraint.h

@@ -17,7 +17,7 @@
 #include <functional>
 #include <vector>
 
-namespace curve
+namespace curves
 {
 template <typename Point>
 struct curve_constraints
@@ -32,5 +32,5 @@ struct curve_constraints
     point_t end_vel;
     point_t end_acc;
 };
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_CUBICZEROVELACC

include/curve/exact_cubic.h → include/curves/exact_cubic.h

@@ -29,7 +29,7 @@
 #include <functional>
 #include <vector>
 
-namespace curve
+namespace curves
 {
 /// \class ExactCubic.
 /// \brief Represents a set of cubic splines defining a continuous function 
@@ -201,6 +201,6 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
     t_spline_t subSplines_; // const
 	/*Attributes*/
 };
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_EXACTCUBIC
 

include/curve/helpers/CMakeLists.txt → include/curves/helpers/CMakeLists.txt

@@ -5,5 +5,5 @@ SET(${PROJECT_NAME}_HELPERS_HEADERS
 
 INSTALL(FILES
   ${${PROJECT_NAME}_HELPERS_HEADERS}
-  DESTINATION include/curve/helpers
+  DESTINATION include/curves/helpers
   )

include/curve/helpers/effector_spline.h → include/curves/helpers/effector_spline.h

@@ -20,9 +20,9 @@
 #ifndef _CLASS_EFFECTORSPLINE
 #define _CLASS_EFFECTORSPLINE
 
-#include "curve/spline_deriv_constraint.h"
+#include "curves/spline_deriv_constraint.h"
 
-namespace curve
+namespace curves
 {
 namespace helpers
 {
@@ -118,5 +118,5 @@ exact_cubic_t* effector_spline(
     return new exact_cubic_t(splines);
 }
 } // namespace helpers
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_EFFECTORSPLINE

include/curve/helpers/effector_spline_rotation.h → include/curves/helpers/effector_spline_rotation.h

@@ -20,11 +20,11 @@
 #ifndef _CLASS_EFFECTOR_SPLINE_ROTATION
 #define _CLASS_EFFECTOR_SPLINE_ROTATION
 
-#include "curve/helpers/effector_spline.h"
-#include "curve/curve_abc.h"
+#include "curves/helpers/effector_spline.h"
+#include "curves/curve_abc.h"
 #include <Eigen/Geometry>
 
-namespace curve
+namespace curves
 {
 namespace helpers
 {
@@ -252,5 +252,5 @@ class effector_spline_rotation
 };
 
 } // namespace helpers
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_EFFECTOR_SPLINE_ROTATION

include/curve/linear_variable.h → include/curves/linear_variable.h

@@ -19,7 +19,7 @@
 #include <Eigen/Core>
 #include <stdexcept>
 
-namespace curve
+namespace curves
 {
 template <int Dim, typename Numeric=double>
 struct linear_variable{
@@ -196,6 +196,6 @@ variables<V> operator/(const variables<V>& w,const double k)
     return res;
 }
 
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_LINEAR_VARIABLE
 

include/curve/optimization/OptimizeSpline.h → include/curves/optimization/OptimizeSpline.h

@@ -12,15 +12,15 @@
 #ifndef _CLASS_SPLINEOPTIMIZER
 #define _CLASS_SPLINEOPTIMIZER
 
-#include "curve/MathDefs.h" 
-#include "curve/exact_cubic.h"
+#include "curves/MathDefs.h" 
+#include "curves/exact_cubic.h"
 
 #include "mosek/mosek.h" 
 #include <Eigen/SparseCore>
 
 #include <utility>
 
-namespace curve
+namespace curves
 {
 /// \class SplineOptimizer
 /// \brief Mosek connection to produce optimized splines
@@ -516,5 +516,5 @@ inline exact_cubic<Time, Numeric, Dim, Safe, Point>*
 	return res;
 }
 
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_SPLINEOPTIMIZER

include/curve/polynom.h → include/curves/polynom.h

@@ -23,7 +23,7 @@
 #include <functional>
 #include <stdexcept>
 
-namespace curve
+namespace curves
 {
 /// \class polynom
 /// \brief Represents a polynomf arbitrary order defined on the interval
@@ -199,6 +199,6 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
         return res;
     }
 }; //class polynom
-} // namespace curve
+} // namespace curves
 #endif //_STRUCT_POLYNOM
 

include/curve/quintic_spline.h → include/curves/quintic_spline.h

@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 
-namespace curve
+namespace curves
 {
 /// \brief Creates coefficient vector of a quintic spline defined on the interval
 /// \f$[t_{min}, t_{max}]\f$. It follows the equation :
@@ -44,6 +44,6 @@ polynom<Time,Numeric,Dim,Safe,Point,T_Point> create_quintic(Point const& a, Poin
     T_Point coeffs = make_quintic_vector<Point, T_Point>(a,b,c,d,e,f);
     return polynom<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
 }
-} // namespace curve
+} // namespace curves
 #endif //_STRUCT_QUINTIC_SPLINE
 

include/curve/spline_deriv_constraint.h → include/curves/spline_deriv_constraint.h

@@ -28,7 +28,7 @@
 #include <functional>
 #include <vector>
 
-namespace curve
+namespace curves
 {
 /// \class spline_deriv_constraint.
 /// \brief Represents a set of cubic splines defining a continuous function 
@@ -137,6 +137,6 @@ struct spline_deriv_constraint : public exact_cubic<Time, Numeric, Dim, Safe, Po
     private:
     /* Constructors - destructors */
 };
-} // namespace curve
+} // namespace curves
 #endif //_CLASS_CUBICZEROVELACC
 

python/CMakeLists.txt

 SET(${PY_NAME}_BINDINGS_SOURCES
-  curve_python.cpp
+  curves_python.cpp
   python_variables.cpp
   python_variables.h
   )
@@ -15,4 +15,4 @@ ENDIF(APPLE)
 
 INSTALL(TARGETS ${PY_NAME} DESTINATION ${PYTHON_SITELIB})
 
-ADD_PYTHON_UNIT_TEST("python-curve" "python/test/test.py" "python")
+ADD_PYTHON_UNIT_TEST("python-curves" "python/test/test.py" "python")