Edit bezier to bezier3

script/tools/disp_bezier.py

-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
 

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
 
 

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>