Commit 7a1f724a authored by JasonChmn's avatar JasonChmn
Browse files

Edit bezier to bezier3

parent f2b272b7
Pipeline #4633 failed with stages
in 1 minute and 54 seconds
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
......
......@@ -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
......
......@@ -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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