Change namespace and edit names in spline to curve for more generalization

CMakeLists.txt

@@ -5,7 +5,7 @@ INCLUDE(cmake/test.cmake)
 INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_ORG humanoid-path-planner)
-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."
  )
@@ -35,7 +35,7 @@ IF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 
-ADD_SUBDIRECTORY(include/hpp/spline)
+ADD_SUBDIRECTORY(include/curve)
 ADD_SUBDIRECTORY(tests)
 
 SETUP_PROJECT_FINALIZE()

cmake @ cea261e3

-Subproject commit 320c636960b03b3bad7c7a08bd2e104951f42bc3
+Subproject commit cea261e3da7d383844530070356bca76d20197a8

include/hpp/spline/CMakeLists.txt → include/curve/CMakeLists.txt

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

include/hpp/spline/MathDefs.h → include/curve/MathDefs.h

@@ -21,7 +21,7 @@
 #include <vector>
 #include <utility> 
 
-namespace spline{
+namespace curve{
 	
 //REF: boulic et al An inverse kinematics architecture enforcing an arbitrary number of strict priority levels
 template<typename _Matrix_Type_>
@@ -41,6 +41,6 @@ void PseudoInverse(_Matrix_Type_& pinvmat)
 	pinvmat = (svd.matrixV()*m_sigma_inv*svd.matrixU().transpose());
 }
 
-} // namespace spline
+} // namespace curve
 #endif //_SPLINEMATH
 

include/hpp/spline/bernstein.h → include/curve/bernstein.h

@@ -18,7 +18,7 @@
 #include <vector>
 #include <stdexcept>
 
-namespace spline
+namespace curve
 {
 ///
 /// \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 spline
+} // namespace curve
 #endif //_CLASS_BERNSTEIN
 

include/hpp/spline/bezier_curve.h → include/curve/bezier_curve.h

@@ -21,7 +21,7 @@
 
 #include <iostream>
 
-namespace spline
+namespace curve
 {
 /// \class BezierCurve
 /// \brief Represents a Bezier curve of arbitrary dimension and order.
@@ -51,7 +51,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
 	, size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
 		In it(PointsBegin);
@@ -70,7 +70,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -91,7 +91,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(mult_T)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curve::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -113,7 +113,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd)+4)
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
+    , bernstein_(curve::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");
@@ -364,6 +364,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
         return bezier_curve_t(ts.begin(), ts.end(),T);
     }
 };
-}
+} // namespace curve
 #endif //_CLASS_BEZIERCURVE
 

include/hpp/spline/bezier_polynom_conversion.h → include/curve/bezier_polynom_conversion.h

@@ -21,7 +21,7 @@
 
 #include <iostream>
 
-namespace spline
+namespace curve
 {
 /// \brief Provides methods for converting a curve from a bernstein representation
 /// to a polynom representation
@@ -67,6 +67,6 @@ Bezier from_polynom(const Polynom& polynom)
     typedef Bezier::cit_point_t    cit_point_t;
     typedef Bezier::bezier_curve_t   bezier_curve_t;
 }*/
-}
+} // namespace curve
 #endif //_BEZIER_POLY_CONVERSION
 

include/hpp/spline/cubic_spline.h → include/curve/cubic_spline.h

@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 
-namespace spline
+namespace curve
 {
 /// \brief Creates coefficient vector of a cubic spline defined on the interval
 /// [tBegin, tEnd]. 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(), min, max);
 }
-}
+} // namespace curve
 #endif //_STRUCT_CUBICSPLINE
 

include/hpp/spline/curve_abc.h → include/curve/curve_abc.h

@@ -16,7 +16,7 @@
 
 #include <functional>
 
-namespace spline
+namespace curve
 {
 /// \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
 #endif //_STRUCT_CURVE_ABC
 

include/hpp/spline/curve_constraint.h → include/curve/curve_constraint.h

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

include/hpp/spline/exact_cubic.h → include/curve/exact_cubic.h

@@ -29,7 +29,7 @@
 #include <functional>
 #include <vector>
 
-namespace spline
+namespace curve
 {
 /// \class ExactCubic
 /// \brief Represents a set of cubic splines defining a continuous function 
@@ -198,6 +198,6 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
     t_spline_t subSplines_; // const
 	/*Attributes*/
 };
-}
+} // namespace curve
 #endif //_CLASS_EXACTCUBIC
 

include/hpp/spline/helpers/CMakeLists.txt → include/curve/helpers/CMakeLists.txt

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

include/hpp/spline/helpers/effector_spline.h → include/curve/helpers/effector_spline.h

@@ -20,9 +20,9 @@
 #ifndef _CLASS_EFFECTORSPLINE
 #define _CLASS_EFFECTORSPLINE
 
-#include "hpp/spline/spline_deriv_constraint.h"
+#include "curve/spline_deriv_constraint.h"
 
-namespace spline
+namespace curve
 {
 namespace helpers
 {
@@ -117,6 +117,6 @@ exact_cubic_t* effector_spline(
     splines.push_back(end_spline);
     return new exact_cubic_t(splines);
 }
-}
-}
+} // namespace helpers
+} // namespace curve
 #endif //_CLASS_EFFECTORSPLINE

include/hpp/spline/helpers/effector_spline_rotation.h → include/curve/helpers/effector_spline_rotation.h

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

include/hpp/spline/linear_variable.h → include/curve/linear_variable.h

@@ -19,7 +19,7 @@
 #include <Eigen/Core>
 #include <stdexcept>
 
-namespace spline
+namespace curve
 {
 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 spline
+} // namespace curve
 #endif //_CLASS_LINEAR_VARIABLE
 

include/hpp/spline/polynom.h → include/curve/polynom.h

@@ -23,7 +23,7 @@
 #include <functional>
 #include <stdexcept>
 
-namespace spline
+namespace curve
 {
 /// \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
 #endif //_STRUCT_POLYNOM
 

include/hpp/spline/quintic_spline.h → include/curve/quintic_spline.h

@@ -20,7 +20,7 @@
 
 #include <stdexcept>
 
-namespace spline
+namespace curve
 {
 /// \brief Creates coefficient vector of a quintic spline defined on the interval
 /// [tBegin, tEnd]. It follows the equation
@@ -43,6 +43,6 @@ 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(), min, max);
 }
-}
+} // namespace curve
 #endif //_STRUCT_QUINTIC_SPLINE
 

include/hpp/spline/spline_deriv_constraint.h → include/curve/spline_deriv_constraint.h

@@ -28,7 +28,7 @@
 #include <functional>
 #include <vector>
 
-namespace spline
+namespace curve
 {
 /// \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
 #endif //_CLASS_CUBICZEROVELACC
 

python/CMakeLists.txt

@@ -3,7 +3,7 @@ STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
 ADD_REQUIRED_DEPENDENCY("eigenpy")
 
 # Define the wrapper library that wraps our library
-add_library( ${PY_NAME} SHARED spline_python.cpp python_variables.cpp python_variables.h )
+add_library( ${PY_NAME} SHARED curve_python.cpp python_variables.cpp python_variables.h )
 #~ target_link_libraries( centroidal_dynamics ${Boost_LIBRARIES} ${PROJECT_NAME} )
 # don't prepend wrapper library name with lib
 set_target_properties( ${PY_NAME} PROPERTIES PREFIX ""  )
@@ -18,4 +18,4 @@ INSTALL(
   TARGETS ${PY_NAME}	DESTINATION ${PYTHON_SITELIB}
   )
 
-ADD_PYTHON_UNIT_TEST("python-spline" "python/test/test.py" "python")
+ADD_PYTHON_UNIT_TEST("python-curve" "python/test/test.py" "python")

python/spline_python.cpp → python/curve_python.cpp

-#include "hpp/spline/bezier_curve.h"
-#include "hpp/spline/polynom.h"
-#include "hpp/spline/exact_cubic.h"
-#include "hpp/spline/spline_deriv_constraint.h"
-#include "hpp/spline/curve_constraint.h"
-#include "hpp/spline/bezier_polynom_conversion.h"
-#include "hpp/spline/bernstein.h"
+#include "curve/bezier_curve.h"
+#include "curve/polynom.h"
+#include "curve/exact_cubic.h"
+#include "curve/spline_deriv_constraint.h"
+#include "curve/curve_constraint.h"
+#include "curve/bezier_polynom_conversion.h"
+#include "curve/bernstein.h"
 
 #include "python_definitions.h"
 #include "python_variables.h"
@@ -17,22 +17,22 @@
 #include <boost/python.hpp>
 
 /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
-using namespace  spline;
+using namespace curve;
 
-typedef spline::bezier_curve  <real, real, 3, true, point_t> bezier_t;
-typedef spline::bezier_curve  <real, real, 6, true, point6_t> bezier6_t;
-typedef spline::polynom  <real, real, 3, true, point_t, t_point_t> polynom_t;
-typedef spline::exact_cubic  <real, real, 3, true, point_t, t_point_t> exact_cubic_t;
+typedef curve::bezier_curve  <real, real, 3, true, point_t> bezier_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;
 typedef polynom_t::coeff_t coeff_t;
 typedef std::pair<real, point_t> waypoint_t;
 typedef std::vector<waypoint_t, Eigen::aligned_allocator<point_t> > t_waypoint_t;
 
-typedef spline::Bern<double> bernstein_t;
+typedef curve::Bern<double> bernstein_t;
 
 
-typedef spline::spline_deriv_constraint  <real, real, 3, true, point_t, t_point_t> spline_deriv_constraint_t;
-typedef spline::curve_constraints<point_t> curve_constraints_t;
-typedef spline::curve_constraints<point6_t> curve_constraints6_t;
+typedef curve::spline_deriv_constraint  <real, real, 3, true, point_t, t_point_t> spline_deriv_constraint_t;
+typedef curve::curve_constraints<point_t> curve_constraints_t;
+typedef curve::curve_constraints<point6_t> curve_constraints6_t;
 /*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
@@ -43,7 +43,7 @@ EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(exact_cubic_t)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(curve_constraints_t)
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(spline_deriv_constraint_t)
 
-namespace spline
+namespace curve
 {
 using namespace boost::python;
 
@@ -186,7 +186,7 @@ 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();
@@ -332,4 +332,4 @@ BOOST_PYTHON_MODULE(hpp_spline)
 
 }
 
-} // namespace spline
+} // namespace curve