diff --git a/python/test/test.py b/python/test/test.py
index ae317926a0ad0966d1895a6ba37e6928eca47550..6afa25b71b79082048b446437dcf8077c62d474a 100644
--- a/python/test/test.py
+++ b/python/test/test.py
@@ -8,10 +8,8 @@ from numpy import array, array_equal, isclose, random, zeros
from numpy.linalg import norm
from curves import (CURVES_WITH_PINOCCHIO_SUPPORT, Quaternion, SE3Curve, SO3Linear, bezier, bezier3,
- bezier_from_hermite, bezier_from_polynomial, cubic_hermite_spline, curve_constraints, exact_cubic,
- hermite_from_bezier, hermite_from_polynomial, piecewise_bezier_curve,
- piecewise_cubic_hermite_curve, piecewise_polynomial_curve,piecewise_SE3_curve, polynomial, polynomial_from_bezier,
- polynomial_from_hermite)
+ cubic_hermite_spline, curve_constraints, exact_cubic,polynomial,
+ piecewise, piecewise_SE3, convert_to_polynomial,convert_to_bezier,convert_to_hermite)
eigenpy.switchToNumpyArray()
@@ -69,7 +67,6 @@ class TestCurves(unittest.TestCase):
a.max()
a(0.4)
self.assertTrue((a(a.min()) == array([1., 2., 3.])).all())
- self.assertTrue((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a = a.compute_derivate(100)
prim = a.compute_primitive(1)
@@ -161,7 +158,6 @@ class TestCurves(unittest.TestCase):
a.max()
a(0.4)
self.assertTrue((a(a.min()) == array([1., 2., 3.])).all())
- self.assertTrue((a.derivate(0.4, 0) == a(0.4)).all())
a.derivate(0.4, 2)
a = a.compute_derivate(100)
prim = a.compute_primitive(1)
@@ -337,7 +333,7 @@ class TestCurves(unittest.TestCase):
polynomial(waypoints0, 0., 0.1)
a = polynomial(waypoints1, 0., 1.)
b = polynomial(waypoints2, 1., 3.)
- pc = piecewise_polynomial_curve(a)
+ pc = piecewise(a)
pc.append(b)
pc.min()
pc.max()
@@ -349,7 +345,7 @@ class TestCurves(unittest.TestCase):
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
- pc_test = piecewise_polynomial_curve()
+ pc_test = piecewise()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
@@ -361,7 +357,7 @@ class TestCurves(unittest.TestCase):
pc.append(c)
### Test the different append methods :
- pc = piecewise_polynomial_curve()
+ pc = piecewise()
self.assertEqual(pc.num_curves(),0)
end_point1 = array([1.,3.,5.,6.5,-2.])
max1 = 2.5
@@ -371,7 +367,7 @@ class TestCurves(unittest.TestCase):
pc.append(a)
pc.append(end_point1.reshape(-1,1),max1)
- pc = piecewise_polynomial_curve()
+ pc = piecewise()
d = polynomial(waypoints3, 0., 1.2)
self.assertEqual(pc.num_curves(),0)
pc.append(d)
@@ -393,7 +389,7 @@ class TestCurves(unittest.TestCase):
points_second_derivative = array(random.rand(3, N))
time_points = array(random.rand(1, N)).T
time_points.sort(0)
- polC0 = piecewise_polynomial_curve.FromPointsList(points, time_points)
+ polC0 = piecewise.FromPointsList(points, time_points)
self.assertEqual(polC0.min(), time_points[0, 0])
self.assertEqual(polC0.max(), time_points[-1, 0])
self.assertTrue(polC0.is_continuous(0))
@@ -401,7 +397,7 @@ class TestCurves(unittest.TestCase):
for i in range(N):
self.assertTrue(isclose(polC0(time_points[i, 0]), points[:, i]).all())
- polC1 = piecewise_polynomial_curve.FromPointsList(points, points_derivative, time_points)
+ polC1 = piecewise.FromPointsList(points, points_derivative, time_points)
self.assertEqual(polC1.min(), time_points[0, 0])
self.assertEqual(polC1.max(), time_points[-1, 0])
self.assertTrue(polC1.is_continuous(0))
@@ -411,7 +407,7 @@ class TestCurves(unittest.TestCase):
self.assertTrue(isclose(polC1(time_points[i, 0]), points[:, i]).all())
self.assertTrue(isclose(polC1.derivate(time_points[i, 0], 1), points_derivative[:, i]).all())
- polC2 = piecewise_polynomial_curve.FromPointsList(points, points_derivative, points_second_derivative,
+ polC2 = piecewise.FromPointsList(points, points_derivative, points_second_derivative,
time_points)
self.assertEqual(polC2.min(), time_points[0, 0])
self.assertEqual(polC2.max(), time_points[-1, 0])
@@ -428,13 +424,13 @@ class TestCurves(unittest.TestCase):
time_points[0, 0] = 1
time_points[1, 0] = 0.5
with self.assertRaises(ValueError):
- polC0 = piecewise_polynomial_curve.FromPointsList(points, time_points)
+ polC0 = piecewise.FromPointsList(points, time_points)
with self.assertRaises(ValueError):
- polC1 = piecewise_polynomial_curve.FromPointsList(points, points_derivative, time_points)
+ polC1 = piecewise.FromPointsList(points, points_derivative, time_points)
with self.assertRaises(ValueError):
- polC2 = piecewise_polynomial_curve.FromPointsList(points, points_derivative, points_second_derivative,
+ polC2 = piecewise.FromPointsList(points, points_derivative, points_second_derivative,
time_points)
def test_piecewise_bezier_curve(self):
@@ -443,7 +439,7 @@ class TestCurves(unittest.TestCase):
waypoints = array([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier(waypoints, 0., 1.)
b = bezier(waypoints, 1., 2.)
- pc = piecewise_bezier_curve(a)
+ pc = piecewise(a)
pc.append(b)
pc.min()
pc.max()
@@ -455,7 +451,7 @@ class TestCurves(unittest.TestCase):
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
- pc_test = piecewise_bezier_curve()
+ pc_test = piecewise()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
@@ -471,7 +467,7 @@ class TestCurves(unittest.TestCase):
time_points1 = array([[1., 2.]]).transpose()
a = cubic_hermite_spline(points, tangents, time_points0)
b = cubic_hermite_spline(points, tangents, time_points1)
- pc = piecewise_cubic_hermite_curve(a)
+ pc = piecewise(a)
pc.append(b)
pc.min()
pc.max()
@@ -483,7 +479,7 @@ class TestCurves(unittest.TestCase):
pc.is_continuous(1)
# Test serialization
pc.saveAsText("serialization_pc.test")
- pc_test = piecewise_cubic_hermite_curve()
+ pc_test = piecewise()
pc_test.loadFromText("serialization_pc.test")
self.assertTrue((pc(0.4) == pc_test(0.4)).all())
os.remove("serialization_pc.test")
@@ -550,23 +546,23 @@ class TestCurves(unittest.TestCase):
waypoints = array([[1., 2., 3.], [4., 5., 6.]]).transpose()
a = bezier(waypoints)
# converting bezier to polynomial
- a_pol = polynomial_from_bezier(a)
+ a_pol = convert_to_polynomial(a)
self.assertTrue(norm(a(0.3) - a_pol(0.3)) < __EPS)
# converting polynomial to hermite
- a_chs = hermite_from_polynomial(a_pol)
+ a_chs = convert_to_hermite(a_pol)
self.assertTrue(norm(a_chs(0.3) - a_pol(0.3)) < __EPS)
# converting hermite to bezier
- a_bc = bezier_from_hermite(a_chs)
+ a_bc = convert_to_bezier(a_chs)
self.assertTrue(norm(a_chs(0.3) - a_bc(0.3)) < __EPS)
self.assertTrue(norm(a(0.3) - a_bc(0.3)) < __EPS)
# converting bezier to hermite
- a_chs = hermite_from_bezier(a)
+ a_chs = convert_to_hermite(a)
self.assertTrue(norm(a(0.3) - a_chs(0.3)) < __EPS)
# converting hermite to polynomial
- a_pol = polynomial_from_hermite(a_chs)
+ a_pol = convert_to_polynomial(a_chs)
self.assertTrue(norm(a_pol(0.3) - a_chs(0.3)) < __EPS)
# converting polynomial to bezier
- a_bc = bezier_from_polynomial(a_pol)
+ a_bc = convert_to_bezier(a_pol)
self.assertTrue(norm(a_bc(0.3) - a_pol(0.3)) < __EPS)
self.assertTrue(norm(a(0.3) - a_bc(0.3)) < __EPS)
return
@@ -582,7 +578,7 @@ class TestCurves(unittest.TestCase):
translation = bezier(waypoints, min, max)
# test with bezier
se3 = SE3Curve(translation, init_rot, end_rot)
- pc = piecewise_SE3_curve(se3)
+ pc = piecewise_SE3(se3)
self.assertEqual(pc.num_curves(),1)
self.assertEqual(pc.min(), min)
self.assertEqual(pc.max(), max)
@@ -616,17 +612,17 @@ class TestCurves(unittest.TestCase):
pc.append(se3_3)
pc.saveAsText("serialization_curve.txt")
- pc_txt = piecewise_SE3_curve()
+ pc_txt = piecewise_SE3()
pc_txt.loadFromText("serialization_curve.txt")
self.compareCurves(pc,pc_txt)
pc.saveAsXML("serialization_curve.xml","pc")
- pc_xml = piecewise_SE3_curve()
+ pc_xml = piecewise_SE3()
pc_xml.loadFromXML("serialization_curve.xml","pc")
self.compareCurves(pc,pc_xml)
pc.saveAsBinary("serialization_curve")
- pc_bin = piecewise_SE3_curve()
+ pc_bin = piecewise_SE3()
pc_bin.loadFromBinary("serialization_curve")
self.compareCurves(pc,pc_bin)
@@ -646,7 +642,7 @@ class TestCurves(unittest.TestCase):
translation = bezier(waypoints, min, max)
# test with bezier
se3 = SE3Curve(translation, init_rot, end_rot)
- pc = piecewise_SE3_curve()
+ pc = piecewise_SE3()
self.assertEqual(pc.num_curves(),0)
pc.append(se3)
self.assertEqual(pc.num_curves(),1)
@@ -696,7 +692,7 @@ class TestCurves(unittest.TestCase):
self.assertTrue(isclose(pmin[0:3, 3], translation(min)).all())
self.assertTrue(isclose(pmax[0:3, 3], end_translation).all())
self.assertTrue(pc.is_continuous(0))
- pc = piecewise_SE3_curve()
+ pc = piecewise_SE3()
with self.assertRaises(RuntimeError):
pc.append(end_pose,max)
@@ -719,7 +715,7 @@ class TestCurves(unittest.TestCase):
min = 0.7
max = 12.
se3 = SE3Curve(init_pose, end_pose, min, max)
- pc = piecewise_SE3_curve(se3)
+ pc = piecewise_SE3(se3)
self.assertEqual(pc.num_curves(),1)
p = pc.evaluateAsSE3(min)
self.assertTrue(isinstance(p, SE3))
@@ -992,7 +988,7 @@ class TestCurves(unittest.TestCase):
# points_second_derivative = array(random.rand(3, N))
time_points = array(random.rand(1, N)).T
time_points.sort(0)
- translation = piecewise_polynomial_curve.FromPointsList(points, time_points)
+ translation = piecewise.FromPointsList(points, time_points)
min = translation.min()
max = translation.max()
se3 = SE3Curve(translation, init_rot, end_rot)