curves_python.cpp

#include "curves/bezier_curve.h"
#include "curves/polynomial.h"
#include "curves/exact_cubic.h"
#include "curves/curve_constraint.h"
#include "curves/curve_conversion.h"
#include "curves/bernstein.h"
#include "curves/cubic_hermite_spline.h"
#include "curves/piecewise_curve.h"

#include "python_definitions.h"
#include "python_variables.h"
#include "archive_python_binding.h"

#include <vector>

#include <eigenpy/memory.hpp>
#include <eigenpy/eigenpy.hpp>
#include <Eigen/Dense>

#include <boost/python.hpp>

/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
using namespace curves;
typedef double real;
typedef Eigen::VectorXd time_waypoints_t;

typedef Eigen::VectorXd pointX_t;
typedef Eigen::Matrix<double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1> ret_pointX_t;
typedef std::pair<pointX_t, pointX_t> pair_pointX_tangent_t;
typedef Eigen::MatrixXd pointX_list_t;
typedef std::vector<pointX_t, Eigen::aligned_allocator<pointX_t> > t_pointX_t;
typedef std::vector<pair_pointX_tangent_t, Eigen::aligned_allocator<pair_pointX_tangent_t> > t_pair_pointX_tangent_t;
typedef curves::curve_constraints<pointX_t> curve_constraints_t;
typedef std::pair<real, pointX_t> waypoint_t;
typedef std::vector<waypoint_t> t_waypoint_t;

// Curves
typedef curves::cubic_hermite_spline<real, real, true, pointX_t> cubic_hermite_spline_t;
typedef curves::bezier_curve<real, real, true, pointX_t> bezier_t;
typedef curves::polynomial<real, real, true, pointX_t, t_pointX_t> polynomial_t;
typedef polynomial_t::coeff_t coeff_t;
typedef curves::piecewise_curve<real, real, true, pointX_t, t_pointX_t, polynomial_t> piecewise_polynomial_curve_t;
typedef curves::piecewise_curve<real, real, true, pointX_t, t_pointX_t, bezier_t> piecewise_bezier_curve_t;
typedef curves::piecewise_curve<real, real, true, pointX_t, t_pointX_t, cubic_hermite_spline_t>
    piecewise_cubic_hermite_curve_t;
typedef curves::exact_cubic<real, real, true, pointX_t, t_pointX_t> exact_cubic_t;

// Bezier 3
typedef curves::bezier_curve<real, real, true, Eigen::Vector3d> bezier3_t;

typedef curves::Bern<double> bernstein_t;

/*** TEMPLATE SPECIALIZATION FOR PYTHON ****/
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bernstein_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(cubic_hermite_spline_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(bezier3_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(polynomial_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(curve_constraints_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(piecewise_polynomial_curve_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(piecewise_bezier_curve_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(piecewise_cubic_hermite_curve_t)
EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(exact_cubic_t)

namespace curves {
using namespace boost::python;

/* Template constructor bezier */
template <typename Bezier, typename PointList, typename T_Point>
Bezier* wrapBezierConstructorTemplate(const PointList& array, const real T_min = 0., const real T_max = 1.) {
  T_Point asVector = vectorFromEigenArray<PointList, T_Point>(array);
  return new Bezier(asVector.begin(), asVector.end(), T_min, T_max);
}

template <typename Bezier, typename PointList, typename T_Point, typename CurveConstraints>
Bezier* wrapBezierConstructorConstraintsTemplate(const PointList& array, const CurveConstraints& constraints,
                                                 const real T_min = 0., const real T_max = 1.) {
  T_Point asVector = vectorFromEigenArray<PointList, T_Point>(array);
  return new Bezier(asVector.begin(), asVector.end(), constraints, T_min, T_max);
}
/* End Template constructor bezier */

/*3D constructors bezier */
bezier_t* wrapBezierConstructor(const pointX_list_t& array) {
  return wrapBezierConstructorTemplate<bezier_t, pointX_list_t, t_pointX_t>(array);
}
bezier_t* wrapBezierConstructorBounds(const pointX_list_t& array, const real T_min, const real T_max) {
  return wrapBezierConstructorTemplate<bezier_t, pointX_list_t, t_pointX_t>(array, T_min, T_max);
}
bezier_t* wrapBezierConstructorConstraints(const pointX_list_t& array, const curve_constraints_t& constraints) {
  return wrapBezierConstructorConstraintsTemplate<bezier_t, pointX_list_t, t_pointX_t, curve_constraints_t>(
      array, constraints);
}
bezier_t* wrapBezierConstructorBoundsConstraints(const pointX_list_t& array, const curve_constraints_t& constraints,
                                                 const real T_min, const real T_max) {
  return wrapBezierConstructorConstraintsTemplate<bezier_t, pointX_list_t, t_pointX_t, curve_constraints_t>(
      array, constraints, T_min, T_max);
}
/*END 3D constructors bezier */

/* Wrap Cubic hermite spline */
t_pair_pointX_tangent_t getPairsPointTangent(const pointX_list_t& points, const pointX_list_t& tangents) {
  t_pair_pointX_tangent_t res;
  if (points.size() != tangents.size()) {
    throw std::length_error("size of points and tangents must be the same");
  }
  for (int i = 0; i < points.cols(); ++i) {
    res.push_back(pair_pointX_tangent_t(points.col(i), tangents.col(i)));
  }
  return res;
}

cubic_hermite_spline_t* wrapCubicHermiteSplineConstructor(const pointX_list_t& points, const pointX_list_t& tangents,
                                                          const time_waypoints_t& time_pts) {
  t_pair_pointX_tangent_t ppt = getPairsPointTangent(points, tangents);
  std::vector<real> time_control_pts;
  for (int i = 0; i < time_pts.size(); ++i) {
    time_control_pts.push_back(time_pts[i]);
  }
  return new cubic_hermite_spline_t(ppt.begin(), ppt.end(), time_control_pts);
}
/* End wrap Cubic hermite spline */

/* Wrap polynomial */
polynomial_t* wrapPolynomialConstructor1(const coeff_t& array, const real min, const real max) {
  return new polynomial_t(array, min, max);
}
polynomial_t* wrapPolynomialConstructor2(const coeff_t& array) { return new polynomial_t(array, 0., 1.); }
polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree1(const pointX_t& init, const pointX_t& end,
                                                                     const real min, const real max) {
  return new polynomial_t(init, end, min, max);
}
polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree3(const pointX_t& init, const pointX_t& d_init,
                                                                     const pointX_t& end, const pointX_t& d_end,
                                                                     const real min, const real max) {
  return new polynomial_t(init, d_init, end, d_end, min, max);
}
polynomial_t* wrapPolynomialConstructorFromBoundaryConditionsDegree5(const pointX_t& init, const pointX_t& d_init,
                                                                     const pointX_t& dd_init, const pointX_t& end,
                                                                     const point_t& d_end, const point_t& dd_end,
                                                                     const real min, const real max) {
  return new polynomial_t(init, d_init, dd_init, end, d_end, dd_end, min, max);
}
/* End wrap polynomial */

/* Wrap piecewise curve */
piecewise_polynomial_curve_t* wrapPiecewisePolynomialCurveConstructor(const polynomial_t& pol) {
  return new piecewise_polynomial_curve_t(pol);
}
piecewise_polynomial_curve_t* wrapPiecewisePolynomialCurveEmptyConstructor() {
  return new piecewise_polynomial_curve_t();
}
piecewise_bezier_curve_t* wrapPiecewiseBezierCurveConstructor(const bezier_t& bc) {
  return new piecewise_bezier_curve_t(bc);
}
piecewise_bezier_curve_t* wrapPiecewiseBezierCurveEmptyConstructor() { return new piecewise_bezier_curve_t(); }
piecewise_cubic_hermite_curve_t* wrapPiecewiseCubicHermiteCurveConstructor(const cubic_hermite_spline_t& ch) {
  return new piecewise_cubic_hermite_curve_t(ch);
}
piecewise_cubic_hermite_curve_t* wrapPiecewiseCubicHermiteCurveEmptyConstructor() {
  return new piecewise_cubic_hermite_curve_t();
}
static piecewise_polynomial_curve_t discretPointToPolynomialC0(const pointX_list_t& points,
                                                               const time_waypoints_t& time_points) {
  t_pointX_t points_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
  t_time_t time_points_list = vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
  return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial<polynomial_t>(points_list,
                                                                                           time_points_list);
}
static piecewise_polynomial_curve_t discretPointToPolynomialC1(const pointX_list_t& points,
                                                               const pointX_list_t& points_derivative,
                                                               const time_waypoints_t& time_points) {
  t_pointX_t points_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
  t_pointX_t points_derivative_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
  t_time_t time_points_list = vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
  return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial<polynomial_t>(
      points_list, points_derivative_list, time_points_list);
}
static piecewise_polynomial_curve_t discretPointToPolynomialC2(const pointX_list_t& points,
                                                               const pointX_list_t& points_derivative,
                                                               const pointX_list_t& points_second_derivative,
                                                               const time_waypoints_t& time_points) {
  t_pointX_t points_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points);
  t_pointX_t points_derivative_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_derivative);
  t_pointX_t points_second_derivative_list = vectorFromEigenArray<pointX_list_t, t_pointX_t>(points_second_derivative);

  t_time_t time_points_list = vectorFromEigenVector<time_waypoints_t, t_time_t>(time_points);
  return piecewise_polynomial_curve_t::convert_discrete_points_to_polynomial<polynomial_t>(
      points_list, points_derivative_list, points_second_derivative_list, time_points_list);
}
void addFinalPointC0(piecewise_polynomial_curve_t self, const pointX_t& end, const real time) {
  if (self.is_continuous(1))
    std::cout << "Warning: by adding this final point to the piecewise curve, you loose C1 continuity and only "
                 "guarantee C0 continuity."
              << std::endl;
  polynomial_t pol(self(self.max()), end, self.max(), time);
  self.add_curve(pol);
}
void addFinalPointC1(piecewise_polynomial_curve_t self, const pointX_t& end, const pointX_t& d_end, const real time) {
  if (self.is_continuous(2))
    std::cout << "Warning: by adding this final point to the piecewise curve, you loose C2 continuity and only "
                 "guarantee C1 continuity."
              << std::endl;
  if (!self.is_continuous(1)) std::cout << "Warning: the current piecewise curve is not C1 continuous." << std::endl;
  polynomial_t pol(self(self.max()), self.derivate(self.max(), 1), end, d_end, self.max(), time);
  self.add_curve(pol);
}
void addFinalPointC2(piecewise_polynomial_curve_t self, const pointX_t& end, const pointX_t& d_end,
                     const pointX_t& dd_end, const real time) {
  if (self.is_continuous(3))
    std::cout << "Warning: by adding this final point to the piecewise curve, you loose C3 continuity and only "
                 "guarantee C2 continuity."
              << std::endl;
  if (!self.is_continuous(2)) std::cout << "Warning: the current piecewise curve is not C2 continuous." << std::endl;
  polynomial_t pol(self(self.max()), self.derivate(self.max(), 1), self.derivate(self.max(), 2), end, d_end, dd_end,
                   self.max(), time);
  self.add_curve(pol);
}

/* end wrap piecewise polynomial curve */

/* Wrap exact cubic spline */
t_waypoint_t getWayPoints(const coeff_t& array, const time_waypoints_t& time_wp) {
  t_waypoint_t res;
  for (int i = 0; i < array.cols(); ++i) {
    res.push_back(std::make_pair(time_wp(i), array.col(i)));
  }
  return res;
}

exact_cubic_t* wrapExactCubicConstructor(const coeff_t& array, const time_waypoints_t& time_wp) {
  t_waypoint_t wps = getWayPoints(array, time_wp);
  return new exact_cubic_t(wps.begin(), wps.end());
}

exact_cubic_t* wrapExactCubicConstructorConstraint(const coeff_t& array, const time_waypoints_t& time_wp,
                                                   const curve_constraints_t& constraints) {
  t_waypoint_t wps = getWayPoints(array, time_wp);
  return new exact_cubic_t(wps.begin(), wps.end(), constraints);
}

/// For constraints XD
point_t get_init_vel(const curve_constraints_t& c) { return c.init_vel; }

point_t get_init_acc(const curve_constraints_t& c) { return c.init_acc; }

point_t get_end_vel(const curve_constraints_t& c) { return c.end_vel; }

point_t get_end_acc(const curve_constraints_t& c) { return c.end_acc; }

void set_init_vel(curve_constraints_t& c, const point_t& val) { c.init_vel = val; }

void set_init_acc(curve_constraints_t& c, const point_t& val) { c.init_acc = val; }

void set_end_vel(curve_constraints_t& c, const point_t& val) { c.end_vel = val; }

void set_end_acc(curve_constraints_t& c, const point_t& val) { c.end_acc = val; }
/* End wrap exact cubic spline */

// TO DO : Replace all load and save function for serialization in class by using
//         SerializableVisitor in archive_python_binding.
BOOST_PYTHON_MODULE(curves) {
  /** BEGIN eigenpy init**/
  eigenpy::enableEigenPy();
  eigenpy::enableEigenPySpecific<pointX_t, pointX_t>();
  eigenpy::enableEigenPySpecific<pointX_list_t, pointX_list_t>();
  eigenpy::enableEigenPySpecific<coeff_t, coeff_t>();
  /*eigenpy::exposeAngleAxis();
  eigenpy::exposeQuaternion();*/
  /** END eigenpy init**/
  /** BEGIN bezier3 curve**/
  class_<bezier3_t>("bezier3", init<>())
      .def("__init__", make_constructor(&wrapBezierConstructor))
      .def("__init__", make_constructor(&wrapBezierConstructorBounds))
      .def("__init__", make_constructor(&wrapBezierConstructorConstraints))
      .def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
      .def("min", &bezier3_t::min)
      .def("max", &bezier3_t::max)
      .def("dim", &bezier3_t::dim)
      .def("__call__", &bezier3_t::operator())
      .def("derivate", &bezier3_t::derivate)
      .def("compute_derivate", &bezier3_t::compute_derivate)
      .def("compute_primitive", &bezier3_t::compute_primitive)
      .def("waypointAtIndex", &bezier3_t::waypointAtIndex)
      .def("saveAsText", &bezier3_t::saveAsText<bezier3_t>, bp::args("filename"), "Saves *this inside a text file.")
      .def("loadFromText", &bezier3_t::loadFromText<bezier3_t>, bp::args("filename"), "Loads *this from a text file.")
      .def("saveAsXML", &bezier3_t::saveAsXML<bezier3_t>, bp::args("filename", "tag_name"),
           "Saves *this inside a XML file.")
      .def("loadFromXML", &bezier3_t::loadFromXML<bezier3_t>, bp::args("filename", "tag_name"),
           "Loads *this from a XML file.")
      .def("saveAsBinary", &bezier3_t::saveAsBinary<bezier3_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &bezier3_t::loadFromBinary<bezier3_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      .def_readonly("degree", &bezier3_t::degree_)
      .def_readonly("nbWaypoints", &bezier3_t::size_)
      //.def(SerializableVisitor<bezier_t>())
      ;
  /** END bezier3 curve**/
  /** BEGIN bezier curve**/
  class_<bezier_t>("bezier", init<>())
      .def("__init__", make_constructor(&wrapBezierConstructor))
      .def("__init__", make_constructor(&wrapBezierConstructorBounds))
      .def("__init__", make_constructor(&wrapBezierConstructorConstraints))
      .def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
      .def("min", &bezier_t::min)
      .def("max", &bezier_t::max)
      .def("dim", &bezier_t::dim)
      .def("__call__", &bezier_t::operator())
      .def("derivate", &bezier_t::derivate)
      .def("compute_derivate", &bezier_t::compute_derivate)
      .def("compute_primitive", &bezier_t::compute_primitive)
      .def("waypointAtIndex", &bezier_t::waypointAtIndex)
      .def("saveAsText", &bezier_t::saveAsText<bezier_t>, bp::args("filename"), "Saves *this inside a text file.")
      .def("loadFromText", &bezier_t::loadFromText<bezier_t>, bp::args("filename"), "Loads *this from a text file.")
      .def("saveAsXML", &bezier_t::saveAsXML<bezier_t>, bp::args("filename", "tag_name"),
           "Saves *this inside a XML file.")
      .def("loadFromXML", &bezier_t::loadFromXML<bezier_t>, bp::args("filename", "tag_name"),
           "Loads *this from a XML file.")
      .def("saveAsBinary", &bezier_t::saveAsBinary<bezier_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &bezier_t::loadFromBinary<bezier_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      .def_readonly("degree", &bezier_t::degree_)
      .def_readonly("nbWaypoints", &bezier_t::size_)
      //.def(SerializableVisitor<bezier_t>())
      ;
  /** END bezier curve**/
  /** BEGIN variable points bezier curve**/
  class_<LinearControlPointsHolder>("LinearWaypoint", no_init)
      .def_readonly("A", &LinearControlPointsHolder::A)
      .def_readonly("b", &LinearControlPointsHolder::b);
  class_<LinearBezierVector>("bezierVarVector", no_init)
      .def_readonly("size", &LinearBezierVector::size)
      .def("at", &LinearBezierVector::at, return_value_policy<manage_new_object>());
  class_<bezier_linear_variable_t>("bezierVar", no_init)
      .def("__init__", make_constructor(&wrapBezierLinearConstructor))
      .def("__init__", make_constructor(&wrapBezierLinearConstructorBounds))
      .def("min", &bezier_linear_variable_t::min)
      .def("max", &bezier_linear_variable_t::max)
      .def("dim", &bezier_linear_variable_t::dim)
      //.def("__call__", &bezier_linear_control_t::operator())
      .def("derivate", &bezier_linear_variable_t::derivate)
      .def("compute_derivate", &bezier_linear_variable_t::compute_derivate)
      .def("compute_primitive", &bezier_linear_variable_t::compute_primitive)
      .def("split", &split, return_value_policy<manage_new_object>())
      .def("waypoints", &wayPointsToLists, return_value_policy<manage_new_object>())
      .def_readonly("degree", &bezier_linear_variable_t::degree_)
      .def_readonly("nbWaypoints", &bezier_linear_variable_t::size_);
  /** END variable points bezier curve**/
  /** BEGIN polynomial curve function**/
  class_<polynomial_t>("polynomial", init<>())
      .def("__init__",
           make_constructor(&wrapPolynomialConstructor1, default_call_policies(), args("coeffs", "min", "max")),
           "Create polynomial spline from an Eigen matrix of coefficient defined for t \in [min,max]."
           " The matrix should contain one coefficient per column, from the zero order coefficient,up to the highest "
           "order."
           " Spline order is given by the number of the columns -1.")
      .def("__init__", make_constructor(&wrapPolynomialConstructor2, default_call_policies(), arg("coeffs")),
           "Create polynomial spline from an Eigen matrix of coefficient defined for t \in [0,1]."
           " The matrix should contain one coefficient per column, from the zero order coefficient,up to the highest "
           "order."
           " Spline order is given by the number of the columns -1.")
      .def("__init__",
           make_constructor(&wrapPolynomialConstructorFromBoundaryConditionsDegree1, default_call_policies(),
                            args("init", "end", "min", "max")),
           "Create a polynomial of degree 1 defined for t \in [min,max], "
           "such that c(min) == init and c(max) == end.")
      .def("__init__",
           make_constructor(&wrapPolynomialConstructorFromBoundaryConditionsDegree3, default_call_policies(),
                            args("init", "d_init", "end", "d_end", "min", "max")),
           "Create a polynomial of degree 3 defined for t \in [min,max], "
           "such that c(min) == init and c(max) == end"
           " dc(min) == d_init and dc(max) == d_end")
      .def("__init__",
           make_constructor(&wrapPolynomialConstructorFromBoundaryConditionsDegree5, default_call_policies(),
                            args("init", "d_init", "dd_init", "end", "d_end", "dd_end", "min", "max")),
           "Create a polynomial of degree 5 defined for t \in [min,max], "
           "such that c(min) == init and c(max) == end"
           " dc(min) == d_init and dc(max) == d_end"
           " ddc(min) == dd_init and ddc(max) == dd_end")
      .def("min", &polynomial_t::min, "Get the LOWER bound on interval definition of the curve.")
      .def("max", &polynomial_t::max, "Get the HIGHER bound on interval definition of the curve.")
      .def("dim", &polynomial_t::dim)
      .def("coeffAtDegree", &polynomial_t::coeffAtDegree)
      .def("coeff", &polynomial_t::coeff)
      .def("__call__", &polynomial_t::operator(), "Evaluate the spline at the given time.")
      .def("derivate", &polynomial_t::derivate, "Evaluate the derivative of order N of curve at time t.",
           args("self", "t", "N"))
      .def("compute_derivate", &polynomial_t::compute_derivate, "Compute derivative of order N of curve at time t.")
      .def("saveAsText", &polynomial_t::saveAsText<polynomial_t>, bp::args("filename"),
           "Saves *this inside a text file.")
      .def("loadFromText", &polynomial_t::loadFromText<polynomial_t>, bp::args("filename"),
           "Loads *this from a text file.")
      .def("saveAsXML", &polynomial_t::saveAsXML<polynomial_t>, bp::args("filename", "tag_name"),
           "Saves *this inside a XML file.")
      .def("loadFromXML", &polynomial_t::loadFromXML<polynomial_t>, bp::args("filename", "tag_name"),
           "Loads *this from a XML file.")
      .def("saveAsBinary", &polynomial_t::saveAsBinary<polynomial_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &polynomial_t::loadFromBinary<polynomial_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      //.def(SerializableVisitor<polynomial_t>())
      ;

  /** END polynomial function**/
  /** BEGIN piecewise curve function **/
  class_<piecewise_polynomial_curve_t>("piecewise_polynomial_curve", init<>())
      .def("__init__",
           make_constructor(&wrapPiecewisePolynomialCurveConstructor, default_call_policies(), arg("curve")),
           "Create a peicewise-polynomial curve containing the given polynomial curve.")
      .def("FromPointsList", &discretPointToPolynomialC0,
           "Create a piecewise-polynomial connecting exactly all the given points at the given time. The created "
           "piecewise is C0 continuous.",
           args("points", "time_points"))
      .def("FromPointsList", &discretPointToPolynomialC1,
           "Create a piecewise-polynomial connecting exactly all the given points at the given time and respect the "
           "given points derivative values. The created piecewise is C1 continuous.",
           args("points", "points_derivative", "time_points"))
      .def("FromPointsList", &discretPointToPolynomialC2,
           "Create a piecewise-polynomial connecting exactly all the given points at the given time and respect the "
           "given points derivative and second derivative values. The created piecewise is C2 continuous.",
           args("points", "points_derivative", "points_second_derivative", "time_points"))
      .staticmethod("FromPointsList")
      .def("append", &addFinalPointC0,
           "Append a new polynomial curve of degree 1 at the end of the piecewise curve, defined between self.max() "
           "and time and connecting exactly self(self.max()) and end",
           args("self", "end", "time"))
      .def("append", &addFinalPointC1,
           "Append a new polynomial curve of degree 3 at the end of the piecewise curve, defined between self.max() "
           "and time and connecting exactly self(self.max()) and end. It guarantee C1 continuity and guarantee that "
           "self.derivate(time,1) == d_end",
           args("self", "end", "d_end", "time"))
      .def("append", &addFinalPointC2,
           "Append a new polynomial curve of degree 5 at the end of the piecewise curve, defined between self.max() "
           "and time and connecting exactly self(self.max()) and end. It guarantee C2 continuity and guarantee that "
           "self.derivate(time,1) == d_end and self.derivate(time,2) == dd_end",
           args("self", "end", "d_end", "d_end", "time"))
      .def("min", &piecewise_polynomial_curve_t::min, "Set the LOWER bound on interval definition of the curve.")
      .def("max", &piecewise_polynomial_curve_t::max, "Set the HIGHER bound on interval definition of the curve.")
      .def("dim", &piecewise_polynomial_curve_t::dim)
      .def("__call__", &piecewise_polynomial_curve_t::operator(), "Evaluate the curve at the given time.")
      .def("derivate", &piecewise_polynomial_curve_t::derivate,
           "Evaluate the derivative of order N of curve at time t.", args("self", "t", "N"))
      .def("compute_derivate", &piecewise_polynomial_curve_t::compute_derivate,
           "Return a piecewise_polynomial curve which is the derivate of this.", args("self", "order"))
      .def("append", &piecewise_polynomial_curve_t::add_curve,
           "Add a new curve to piecewise curve, which should be defined in T_{min},T_{max}] "
           "where T_{min} is equal toT_{max} of the actual piecewise curve.")
      .def("is_continuous", &piecewise_polynomial_curve_t::is_continuous,
           "Check if the curve is continuous at the given order.")
      .def("saveAsText", &piecewise_polynomial_curve_t::saveAsText<piecewise_polynomial_curve_t>, bp::args("filename"),
           "Saves *this inside a text file.")
      .def("loadFromText", &piecewise_polynomial_curve_t::loadFromText<piecewise_polynomial_curve_t>,
           bp::args("filename"), "Loads *this from a text file.")
      .def("saveAsXML", &piecewise_polynomial_curve_t::saveAsXML<piecewise_polynomial_curve_t>,
           bp::args("filename", "tag_name"), "Saves *this inside a XML file.")
      .def("loadFromXML", &piecewise_polynomial_curve_t::loadFromXML<piecewise_polynomial_curve_t>,
           bp::args("filename", "tag_name"), "Loads *this from a XML file.")
      .def("saveAsBinary", &piecewise_polynomial_curve_t::saveAsBinary<piecewise_polynomial_curve_t>,
           bp::args("filename"), "Saves *this inside a binary file.")
      .def("loadFromBinary", &piecewise_polynomial_curve_t::loadFromBinary<piecewise_polynomial_curve_t>,
           bp::args("filename"), "Loads *this from a binary file.")
      //.def(SerializableVisitor<piecewise_polynomial_curve_t>())
      ;
  class_<piecewise_bezier_curve_t>("piecewise_bezier_curve", init<>())
      .def("__init__", make_constructor(&wrapPiecewiseBezierCurveConstructor))
      .def("min", &piecewise_bezier_curve_t::min)
      .def("max", &piecewise_bezier_curve_t::max)
      .def("dim", &piecewise_bezier_curve_t::dim)
      .def("__call__", &piecewise_bezier_curve_t::operator())
      .def("derivate", &piecewise_bezier_curve_t::derivate)
      .def("compute_derivate", &piecewise_polynomial_curve_t::compute_derivate,
           "Return a piecewise_polynomial curve which is the derivate of this.", args("self", "order"))
      .def("add_curve", &piecewise_bezier_curve_t::add_curve)
      .def("is_continuous", &piecewise_bezier_curve_t::is_continuous)
      .def("saveAsText", &piecewise_bezier_curve_t::saveAsText<piecewise_bezier_curve_t>, bp::args("filename"),
           "Saves *this inside a text file.")
      .def("loadFromText", &piecewise_bezier_curve_t::loadFromText<piecewise_bezier_curve_t>, bp::args("filename"),
           "Loads *this from a text file.")
      .def("saveAsXML", &piecewise_bezier_curve_t::saveAsXML<piecewise_bezier_curve_t>,
           bp::args("filename", "tag_name"), "Saves *this inside a XML file.")
      .def("loadFromXML", &piecewise_bezier_curve_t::loadFromXML<piecewise_bezier_curve_t>,
           bp::args("filename", "tag_name"), "Loads *this from a XML file.")
      .def("saveAsBinary", &piecewise_bezier_curve_t::saveAsBinary<piecewise_bezier_curve_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &piecewise_bezier_curve_t::loadFromBinary<piecewise_bezier_curve_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      //.def(SerializableVisitor<piecewise_bezier_curve_t>())
      ;
  class_<piecewise_cubic_hermite_curve_t>("piecewise_cubic_hermite_curve", init<>())
      .def("__init__", make_constructor(&wrapPiecewiseCubicHermiteCurveConstructor))
      .def("min", &piecewise_cubic_hermite_curve_t::min)
      .def("max", &piecewise_cubic_hermite_curve_t::max)
      .def("dim", &piecewise_cubic_hermite_curve_t::dim)
      .def("__call__", &piecewise_cubic_hermite_curve_t::operator())
      .def("derivate", &piecewise_cubic_hermite_curve_t::derivate)
      .def("add_curve", &piecewise_cubic_hermite_curve_t::add_curve)
      .def("is_continuous", &piecewise_cubic_hermite_curve_t::is_continuous)
      .def("saveAsText", &piecewise_cubic_hermite_curve_t::saveAsText<piecewise_cubic_hermite_curve_t>,
           bp::args("filename"), "Saves *this inside a text file.")
      .def("loadFromText", &piecewise_cubic_hermite_curve_t::loadFromText<piecewise_cubic_hermite_curve_t>,
           bp::args("filename"), "Loads *this from a text file.")
      .def("saveAsXML", &piecewise_cubic_hermite_curve_t::saveAsXML<piecewise_cubic_hermite_curve_t>,
           bp::args("filename", "tag_name"), "Saves *this inside a XML file.")
      .def("loadFromXML", &piecewise_cubic_hermite_curve_t::loadFromXML<piecewise_cubic_hermite_curve_t>,
           bp::args("filename", "tag_name"), "Loads *this from a XML file.")
      .def("saveAsBinary", &piecewise_cubic_hermite_curve_t::saveAsBinary<piecewise_cubic_hermite_curve_t>,
           bp::args("filename"), "Saves *this inside a binary file.")
      .def("loadFromBinary", &piecewise_cubic_hermite_curve_t::loadFromBinary<piecewise_cubic_hermite_curve_t>,
           bp::args("filename"), "Loads *this from a binary file.")
      //.def(SerializableVisitor<piecewise_cubic_hermite_curve_t>())
      ;
  /** END piecewise curve function **/
  /** BEGIN exact_cubic curve**/
  class_<exact_cubic_t>("exact_cubic", init<>())
      .def("__init__", make_constructor(&wrapExactCubicConstructor))
      .def("__init__", make_constructor(&wrapExactCubicConstructorConstraint))
      .def("min", &exact_cubic_t::min)
      .def("max", &exact_cubic_t::max)
      .def("dim", &exact_cubic_t::dim)
      .def("__call__", &exact_cubic_t::operator())
      .def("derivate", &exact_cubic_t::derivate)
      .def("getNumberSplines", &exact_cubic_t::getNumberSplines)
      .def("getSplineAt", &exact_cubic_t::getSplineAt)
      .def("saveAsText", &exact_cubic_t::saveAsText<exact_cubic_t>, bp::args("filename"),
           "Saves *this inside a text file.")
      .def("loadFromText", &exact_cubic_t::loadFromText<exact_cubic_t>, bp::args("filename"),
           "Loads *this from a text file.")
      .def("saveAsXML", &exact_cubic_t::saveAsXML<exact_cubic_t>, bp::args("filename", "tag_name"),
           "Saves *this inside a XML file.")
      .def("loadFromXML", &exact_cubic_t::loadFromXML<exact_cubic_t>, bp::args("filename", "tag_name"),
           "Loads *this from a XML file.")
      .def("saveAsBinary", &exact_cubic_t::saveAsBinary<exact_cubic_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &exact_cubic_t::loadFromBinary<exact_cubic_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      //.def(SerializableVisitor<exact_cubic_t>())
      ;
  /** END exact_cubic curve**/
  /** BEGIN cubic_hermite_spline **/
  class_<cubic_hermite_spline_t>("cubic_hermite_spline", init<>())
      .def("__init__", make_constructor(&wrapCubicHermiteSplineConstructor))
      .def("min", &cubic_hermite_spline_t::min)
      .def("max", &cubic_hermite_spline_t::max)
      .def("dim", &cubic_hermite_spline_t::dim)
      .def("__call__", &cubic_hermite_spline_t::operator())
      .def("derivate", &cubic_hermite_spline_t::derivate)
      .def("saveAsText", &cubic_hermite_spline_t::saveAsText<cubic_hermite_spline_t>, bp::args("filename"),
           "Saves *this inside a text file.")
      .def("loadFromText", &cubic_hermite_spline_t::loadFromText<cubic_hermite_spline_t>, bp::args("filename"),
           "Loads *this from a text file.")
      .def("saveAsXML", &cubic_hermite_spline_t::saveAsXML<cubic_hermite_spline_t>, bp::args("filename", "tag_name"),
           "Saves *this inside a XML file.")
      .def("loadFromXML", &cubic_hermite_spline_t::loadFromXML<cubic_hermite_spline_t>,
           bp::args("filename", "tag_name"), "Loads *this from a XML file.")
      .def("saveAsBinary", &cubic_hermite_spline_t::saveAsBinary<cubic_hermite_spline_t>, bp::args("filename"),
           "Saves *this inside a binary file.")
      .def("loadFromBinary", &cubic_hermite_spline_t::loadFromBinary<cubic_hermite_spline_t>, bp::args("filename"),
           "Loads *this from a binary file.")
      //.def(SerializableVisitor<cubic_hermite_spline_t>())
      ;
  /** END cubic_hermite_spline **/
  /** BEGIN curve constraints**/
  class_<curve_constraints_t>("curve_constraints", init<>())
      .add_property("init_vel", &get_init_vel, &set_init_vel)
      .add_property("init_acc", &get_init_acc, &set_init_acc)
      .add_property("end_vel", &get_end_vel, &set_end_vel)
      .add_property("end_acc", &get_end_acc, &set_end_acc);
  /** END curve constraints**/
  /** BEGIN bernstein polynomial**/
  class_<bernstein_t>("bernstein", init<const unsigned int, const unsigned int>())
      .def("__call__", &bernstein_t::operator());
  /** END bernstein polynomial**/
  /** BEGIN curves conversion**/
  def("polynomial_from_bezier", polynomial_from_curve<polynomial_t, bezier_t>);
  def("polynomial_from_hermite", polynomial_from_curve<polynomial_t, cubic_hermite_spline_t>);
  def("bezier_from_hermite", bezier_from_curve<bezier_t, cubic_hermite_spline_t>);
  def("bezier_from_polynomial", bezier_from_curve<bezier_t, polynomial_t>);
  def("hermite_from_bezier", hermite_from_curve<cubic_hermite_spline_t, bezier_t>);
  def("hermite_from_polynomial", hermite_from_curve<cubic_hermite_spline_t, polynomial_t>);
  /** END curves conversion**/
}  // End BOOST_PYTHON_MODULE
}  // namespace curves