Commit b3cb6f03 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

cleaning

parent c9705b45
...@@ -148,7 +148,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> { ...@@ -148,7 +148,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point> {
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const bezier_curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const bezier_curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in bezier called."<<std::endl;
bool equal = T_min_ == other.min() bool equal = T_min_ == other.min()
&& T_max_ == other.max() && T_max_ == other.max()
&& dim_ == other.dim() && dim_ == other.dim()
......
...@@ -111,7 +111,6 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> { ...@@ -111,7 +111,6 @@ struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point> {
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const cubic_hermite_spline_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const cubic_hermite_spline_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in hermite called."<<std::endl;
bool equal = T_min_ == other.min() bool equal = T_min_ == other.min()
&& T_max_ == other.max() && T_max_ == other.max()
&& dim_ == other.dim() && dim_ == other.dim()
......
...@@ -68,7 +68,6 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria ...@@ -68,7 +68,6 @@ struct curve_abc : std::unary_function<Time, Point>, public serialization::Seria
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isEquivalent(const curve_t* other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{ bool isEquivalent(const curve_t* other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision(),const size_t order = 5) const{
std::cout<<"is equivalent in curve_abc called"<<std::endl;
bool equal = (min() == other->min()) bool equal = (min() == other->min())
&& (max() == other->max()) && (max() == other->max())
&& (dim() == other->dim()); && (dim() == other->dim());
......
...@@ -88,7 +88,6 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point,Point_deriv ...@@ -88,7 +88,6 @@ struct piecewise_curve : public curve_abc<Time, Numeric, Safe, Point,Point_deriv
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const piecewise_curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const piecewise_curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in piecewise called."<<std::endl;
if(num_curves() != other.num_curves()) if(num_curves() != other.num_curves())
return false; return false;
for (size_t i = 0 ; i < num_curves() ; ++i) { for (size_t i = 0 ; i < num_curves() ; ++i) {
......
...@@ -262,7 +262,6 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> { ...@@ -262,7 +262,6 @@ struct polynomial : public curve_abc<Time, Numeric, Safe, Point> {
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const polynomial_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const polynomial_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in polynomial called."<<std::endl;
return T_min_ == other.min() return T_min_ == other.min()
&& T_max_ == other.max() && T_max_ == other.max()
&& dim_ == other.dim() && dim_ == other.dim()
......
...@@ -158,7 +158,6 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric ...@@ -158,7 +158,6 @@ struct SE3Curve : public curve_abc<Time, Numeric, Safe, Eigen::Transform<Numeric
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const SE3Curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const SE3Curve_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in SE3 called."<<std::endl;
return T_min_ == other.min() return T_min_ == other.min()
&& T_max_ == other.max() && T_max_ == other.max()
&& (translation_curve_ == other.translation_curve_ || translation_curve_->isApprox(other.translation_curve_.get(),prec)) && (translation_curve_ == other.translation_curve_ || translation_curve_->isApprox(other.translation_curve_.get(),prec))
......
...@@ -115,7 +115,6 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric, ...@@ -115,7 +115,6 @@ struct SO3Linear : public curve_abc<Time, Numeric, Safe, Eigen::Matrix<Numeric,
* @return true is the two curves are approximately equals * @return true is the two curves are approximately equals
*/ */
bool isApprox(const SO3Linear_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{ bool isApprox(const SO3Linear_t& other, const Numeric prec = Eigen::NumTraits<Numeric>::dummy_precision()) const{
std::cout<<"is approx in SO3 called."<<std::endl;
return T_min_ == other.min() return T_min_ == other.min()
&& T_max_ == other.max() && T_max_ == other.max()
&& dim_ == other.dim() && dim_ == other.dim()
......
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