update to new name of hpp_spline

script/tools/disp_bezier.py

-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
+from hpp_spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
 
 from numpy import matrix
 from numpy.linalg import norm

script/tools/polyBezier.py

-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
-import inspect
-
-class PolyBezier:
-    
-    def __init__(self,curves):
-        if not isinstance(curves,list): # deal with single bezier curve input
-            curves = [curves]
-        self.curves=curves
-        self.times=[]
-        self.times +=[0]
-        self.d_curves=[]
-        self.dd_curves=[]
-        self.jerk_curves=[]
-        for i in range(len(curves)):
-            if not isinstance(curves[i],bezier):
-                raise TypeError("PolyBezier must be called with a list of bezier curves (or a single bezier curve)")
-            self.times+=[curves[i].max() + self.times[-1]]
-            
-    def findInterval(self,t):
-        if t>self.times[-1] or t<0:
-            raise ValueError("Parameter is outside of definition range of the curves, t = "+str(t) )       
-        for cit in range(len(self.times)):
-            if t<=self.times[cit+1]:
-                return cit  
-        raise ValueError("Error in times intervals for t = "+str(t))        
-            
-    def findIntervalAdjustTime(self,t):
-        id = self.findInterval(t)
-        t -= self.times[id]
-        return id,t
-    
-    def getBezierAt(self,t):
-        id = self.findInterval(t)
-        return self.curves[id]
-       
-    def __call__(self,t):
-        id = self.findInterval(t)
-        tc = t-self.times[id]
-        return self.curves[id](tc)
-            
-    def numCurves(self):
-        return len(self.curves)
-    
-    def length(self):
-        return self.times[-1]
-
-    def max(self):
-        return self.length()
-    
-    def lengthNonZero(self):
-        length = 0
-        for c in self.curves:
-            if c.degree > 0:
-                length += (c.max() - c.min())
-        return length
-    
-    def isInFirst(self,t):
-        id = self.findInterval(t)
-        return id==0
-    
-    def isInLast(self,t):
-        id = self.findInterval(t)
-        return id == (len(self.curves)-1)
-
-    def idFirstNonZero(self):
-        id_nonZero = 0
-        while (self.curves[id_nonZero].degree == 0):
-            id_nonZero += 1  
-        return id_nonZero
-    
-    def idLastNonZero(self):
-        id_nonZero = len(self.curves)-1
-        while (self.curves[id_nonZero].degree == 0):
-            id_nonZero -= 1
-        return id_nonZero
-    
-    def isInFirstNonZero(self,t):
-        id = self.findInterval(t)
-        id_nonZero = self.idFirstNonZero()
-        return id <= id_nonZero
-    
-    def isInLastNonZero(self,t):
-        id = self.findInterval(t)
-        id_nonZero = self.idLastNonZero()
-        return id >= id_nonZero  
-    
-    def firstNonZero(self):
-        return self.curves[self.idFirstNonZero()]
-    
-    def lastNonZero(self):
-        return self.curves[self.idLastNonZero()]
-        
-    
-    def isInExtermities(self,t):
-        return self.isInFirst(t) or self.isInLast(t)
-    
-    def computeDerivates(self):
-        if len(self.d_curves)!=len(self.curves) or len(self.dd_curves)!=len(self.curves) :
-            self.d_curves=[]
-            self.dd_curves=[]
-            for c in self.curves:   
-                self.d_curves += [c.compute_derivate(1)]
-                self.dd_curves += [c.compute_derivate(2)]  
-                self.jerk_curves +=[c.compute_derivate(3)]
-        else:
-            print "Derivatives curves were already computed"
-    
-    def d(self,t):
-        id,t = self.findIntervalAdjustTime(t)  
-        if len(self.d_curves) == len(self.curves):
-            return self.d_curves[id](t) 
-        else : 
-            return self.curves[id].derivate(t,1)
-        
-    
-    def dd(self,t):
-        id,t = self.findIntervalAdjustTime(t)         
-        if len(self.dd_curves) == len(self.curves):
-            return self.dd_curves[id](t) 
-        else : 
-            return self.curves[id].derivate(t,2)   
-        
-    def jerk(self,t):
-        id,t = self.findIntervalAdjustTime(t)         
-        if len(self.jerk_curves) == len(self.curves):
-            return self.jerk_curves[id](t) 
-        else : 
-            return self.curves[id].derivate(t,3)