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 import matrix
from numpy.linalg import norm 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 ...@@ -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): def displayBezierWaypoints(r,wp,step=0.001,color=[0.85, 0.75, 0.15, 1.0],name=None):
waypoints=matrix(wp).transpose() waypoints=matrix(wp).transpose()
curve = bezier(waypoints) curve = bezier3(waypoints)
displayBezierCurve(r,curve,step,color,name) displayBezierCurve(r,curve,step,color,name)
return curve return curve
......
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
from hpp.corbaserver.rbprm import Client as RbprmClient from hpp.corbaserver.rbprm import Client as RbprmClient
from hpp.corbaserver.robot import Robot from hpp.corbaserver.robot import Robot
from numpy import array, matrix from numpy import array, matrix
from hpp_spline import bezier from curves import bezier3
## Load and handle a RbprmFullbody robot for rbprm planning ## Load and handle a RbprmFullbody robot for rbprm planning
# #
...@@ -903,7 +903,7 @@ class FullBody (Robot): ...@@ -903,7 +903,7 @@ class FullBody (Robot):
l = self.clientRbprm.rbprm.getPathAsBezier(pathId) l = self.clientRbprm.rbprm.getPathAsBezier(pathId)
t = l[0][0] t = l[0][0]
wps = matrix(l[1:]).transpose() wps = matrix(l[1:]).transpose()
curve = bezier(wps,t) curve = bezier3(wps,t)
return curve return curve
......
...@@ -43,7 +43,7 @@ ...@@ -43,7 +43,7 @@
#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh> #include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
#include <algorithm> // std::random_shuffle #include <algorithm> // std::random_shuffle
#include <hpp/rbprm/interpolation/time-constraint-helper.hh> #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/interpolation/polynom-trajectory.hh>
#include <hpp/rbprm/planner/random-shortcut-dynamic.hh> #include <hpp/rbprm/planner/random-shortcut-dynamic.hh>
#include <hpp/rbprm/planner/oriented-path-optimizer.hh> #include <hpp/rbprm/planner/oriented-path-optimizer.hh>
...@@ -59,7 +59,7 @@ ...@@ -59,7 +59,7 @@
namespace hpp { namespace hpp {
namespace rbprm { namespace rbprm {
typedef spline::bezier_curve<> bezier; typedef curves::bezier_curve<> bezier;
namespace impl { namespace impl {
const pinocchio::Computation_t flag = static_cast <pinocchio::Computation_t> const pinocchio::Computation_t flag = static_cast <pinocchio::Computation_t>
......
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