From 235934bd3f919b963118890c827868e5067da4e8 Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Tue, 11 Jun 2019 15:21:33 +0200
Subject: [PATCH] Edit bezier to bezier3
---
script/tools/disp_bezier.py | 4 ++--
src/hpp/corbaserver/rbprm/rbprmfullbody.py | 4 ++--
src/rbprmbuilder.impl.cc | 4 ++--
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/script/tools/disp_bezier.py b/script/tools/disp_bezier.py
index 1f0d107..a512dd0 100644
--- a/script/tools/disp_bezier.py
+++ b/script/tools/disp_bezier.py
@@ -1,4 +1,4 @@
-from hpp_spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
+from curves import bezier3
from numpy import matrix
from numpy.linalg import norm
@@ -30,7 +30,7 @@ def displayBezierCurve(r,curve,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=Non
def displayBezierWaypoints(r,wp,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None):
waypoints=matrix(wp).transpose()
- curve = bezier(waypoints)
+ curve = bezier3(waypoints)
displayBezierCurve(r,curve,step,color,name)
return curve
diff --git a/src/hpp/corbaserver/rbprm/rbprmfullbody.py b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
index 10b07a8..9adfa35 100755
--- a/src/hpp/corbaserver/rbprm/rbprmfullbody.py
+++ b/src/hpp/corbaserver/rbprm/rbprmfullbody.py
@@ -19,7 +19,7 @@
from hpp.corbaserver.rbprm import Client as RbprmClient
from hpp.corbaserver.robot import Robot
from numpy import array, matrix
-from hpp_spline import bezier
+from curves import bezier3
## Load and handle a RbprmFullbody robot for rbprm planning
#
@@ -903,7 +903,7 @@ class FullBody (Robot):
l = self.clientRbprm.rbprm.getPathAsBezier(pathId)
t = l[0][0]
wps = matrix(l[1:]).transpose()
- curve = bezier(wps,t)
+ curve = bezier3(wps,t)
return curve
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 7d8406f..b8ac6d0 100644
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -43,7 +43,7 @@
#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include <algorithm> // std::random_shuffle
#include <hpp/rbprm/interpolation/time-constraint-helper.hh>
-#include <hpp/spline/bezier_curve.h>
+#include <curves/bezier_curve.h>
#include <hpp/rbprm/interpolation/polynom-trajectory.hh>
#include <hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include <hpp/rbprm/planner/oriented-path-optimizer.hh>
@@ -59,7 +59,7 @@
namespace hpp {
namespace rbprm {
- typedef spline::bezier_curve<> bezier;
+ typedef curves::bezier_curve<> bezier;
namespace impl {
const pinocchio::Computation_t flag = static_cast <pinocchio::Computation_t>
--
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