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Guilhem Saurel
ndcurves
Commits
d2f18b68
Commit
d2f18b68
authored
Jan 09, 2020
by
stevet
Browse files
waypointtolist agnostic to row dimension
parent
f9e558da
Changes
1
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Inline
Side-by-side
python/python_variables.cpp
View file @
d2f18b68
...
...
@@ -56,12 +56,13 @@ linear_variable_t* wayPointsToLists(const bezier_linear_variable_t& self) {
const
t_point
&
wps
=
self
.
waypoints
();
// retrieve num variables.
std
::
size_t
dim
=
wps
[
0
].
B
().
cols
();
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
Eigen
::
Dynamic
>
matrices
(
dim
,
wps
.
size
()
*
3
);
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
1
>
vectors
=
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
1
>::
Zero
(
3
*
wps
.
size
());
std
::
size_t
dimRows
=
wps
[
0
].
c
().
rows
();
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
Eigen
::
Dynamic
>
matrices
(
dim
,
wps
.
size
()
*
dimRows
);
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
1
>
vectors
=
Eigen
::
Matrix
<
real
,
Eigen
::
Dynamic
,
1
>::
Zero
(
dimRows
*
wps
.
size
());
int
i
=
0
;
for
(
cit_point
cit
=
wps
.
begin
();
cit
!=
wps
.
end
();
++
cit
,
++
i
)
{
matrices
.
block
(
0
,
i
*
3
,
dim
,
3
)
=
cit
->
B
().
transpose
();
vectors
.
segment
<
3
>
(
i
*
3
)
=
cit
->
c
();
matrices
.
block
(
0
,
i
*
dimRows
,
dim
,
dimRows
)
=
cit
->
B
().
transpose
();
vectors
.
segment
(
i
*
dimRows
,
dimRows
)
=
cit
->
c
();
}
return
new
linear_variable_t
(
matrices
.
transpose
(),
vectors
.
transpose
());
}
...
...
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