From 5b1a835e34ee4d3287a8ad113ee4ffb7a2fe2f43 Mon Sep 17 00:00:00 2001
From: JasonChmn <jason.chemin@hotmail.fr>
Date: Thu, 22 Aug 2019 17:04:59 +0200
Subject: [PATCH] [Serialization] Add serialization of Dim getter for all
curves
---
include/curves/bezier_curve.h | 1 +
include/curves/cubic_hermite_spline.h | 21 +-
include/curves/piecewise_curve.h | 1 +
include/curves/polynomial.h | 1 +
tests/Main.cpp | 565 +++++++++++++-------------
5 files changed, 310 insertions(+), 279 deletions(-)
diff --git a/include/curves/bezier_curve.h b/include/curves/bezier_curve.h
index 3c5ab11..8f98930 100644
--- a/include/curves/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -440,6 +440,7 @@ namespace curves
if (version) {
// Do something depending on version ?
}
+ ar & boost::serialization::make_nvp("dim", dim_);
ar & boost::serialization::make_nvp("T_min", T_min_);
ar & boost::serialization::make_nvp("T_max", T_max_);
ar & boost::serialization::make_nvp("mult_T", mult_T_);
diff --git a/include/curves/cubic_hermite_spline.h b/include/curves/cubic_hermite_spline.h
index bfca68f..48da1fe 100644
--- a/include/curves/cubic_hermite_spline.h
+++ b/include/curves/cubic_hermite_spline.h
@@ -43,7 +43,7 @@ namespace curves
/// \brief Empty constructor. Curve obtained this way can not perform other class functions.
///
cubic_hermite_spline()
- : T_min_(0), T_max_(0)
+ : dim_(0), T_min_(0), T_max_(0)
{}
/// \brief Constructor.
@@ -66,12 +66,18 @@ namespace curves
{
control_points_.push_back(*it);
}
+ // Set dimension according to size of points
+ if (control_points_.size()!=0)
+ {
+ dim_ = control_points_[0].first.size();
+ }
+ // Set time
setTime(time_control_points);
}
cubic_hermite_spline(const cubic_hermite_spline& other)
- : control_points_(other.control_points_), time_control_points_(other.time_control_points_),
+ : dim_(other.dim_), control_points_(other.control_points_), time_control_points_(other.time_control_points_),
duration_splines_(other.duration_splines_), T_min_(other.T_min_), T_max_(other.T_max_),
size_(other.size_), degree_(other.degree_)
{}
@@ -88,7 +94,7 @@ namespace curves
///
virtual Point operator()(const Time t) const
{
- check_if_not_empty();
+ check_conditions();
if(Safe &! (T_min_ <= t && t <= T_max_))
{
throw std::invalid_argument("can't evaluate cubic hermite spline, out of range");
@@ -110,7 +116,7 @@ namespace curves
///
virtual Point derivate(const Time t, const std::size_t order) const
{
- check_if_not_empty();
+ check_conditions();
return evalCubicHermiteSpline(t, order);
}
@@ -314,12 +320,16 @@ namespace curves
return left_id-1;
}
- void check_if_not_empty() const
+ void check_conditions() const
{
if (control_points_.size() == 0)
{
throw std::runtime_error("Error in cubic hermite : there is no control points set / did you use empty constructor ?");
}
+ else if(dim_ == 0)
+ {
+ throw std::runtime_error("Error in cubic hermite : Dimension of points is zero / did you use empty constructor ?");
+ }
}
/// \brief compute duration of each spline.
@@ -399,6 +409,7 @@ namespace curves
if (version) {
// Do something depending on version ?
}
+ ar & boost::serialization::make_nvp("dim", dim_);
ar & boost::serialization::make_nvp("control_points", control_points_);
ar & boost::serialization::make_nvp("time_control_points", time_control_points_);
ar & boost::serialization::make_nvp("duration_splines", duration_splines_);
diff --git a/include/curves/piecewise_curve.h b/include/curves/piecewise_curve.h
index e4dbc2c..a1211c0 100644
--- a/include/curves/piecewise_curve.h
+++ b/include/curves/piecewise_curve.h
@@ -334,6 +334,7 @@ namespace curves
if (version) {
// Do something depending on version ?
}
+ ar & boost::serialization::make_nvp("dim", dim_);
ar & boost::serialization::make_nvp("curves", curves_);
ar & boost::serialization::make_nvp("time_curves", time_curves_);
ar & boost::serialization::make_nvp("size", size_);
diff --git a/include/curves/polynomial.h b/include/curves/polynomial.h
index ebca9fc..a6435bb 100644
--- a/include/curves/polynomial.h
+++ b/include/curves/polynomial.h
@@ -257,6 +257,7 @@ namespace curves
if (version) {
// Do something depending on version ?
}
+ ar & boost::serialization::make_nvp("dim", dim_);
ar & boost::serialization::make_nvp("coefficients", coefficients_);
ar & boost::serialization::make_nvp("dim", dim_);
ar & boost::serialization::make_nvp("degree", degree_);
diff --git a/tests/Main.cpp b/tests/Main.cpp
index 7ee49b9..6023f46 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -1071,171 +1071,172 @@ void CubicHermitePairsPositionDerivativeTest(bool& error)
{
std::cout << "Cubic hermite spline test, Error when calling getTime\n";
}
- // Test derivative : three pairs, time default
- res1 = cubic_hermite_spline_2Pairs.derivate(0.,1);
- ComparePoints(t0, res1, errmsg3, error);
- res1 = cubic_hermite_spline_2Pairs.derivate(0.5,1);
- ComparePoints(t1, res1, errmsg3, error);
- res1 = cubic_hermite_spline_2Pairs.derivate(1.,1);
- ComparePoints(t2, res1, errmsg3, error);
}
void piecewiseCurveTest(bool& error)
{
- // TEST WITH POLYNOMIALS
- std::string errmsg1("in piecewise polynomial curve test, Error While checking value of point on curve : ");
- point_t a(1,1,1); // in [0,1[
- point_t b(2,1,1); // in [1,2[
- point_t c(3,1,1); // in [2,3]
- point_t res;
- t_point_t vec1, vec2, vec3;
- vec1.push_back(a); // x=1, y=1, z=1
- vec2.push_back(b); // x=2, y=1, z=1
- vec3.push_back(c); // x=3, y=1, z=1
- // Create three polynomials of constant value in the interval of definition
- polynomial_t pol1(vec1.begin(), vec1.end(), 0, 1);
- polynomial_t pol2(vec2.begin(), vec2.end(), 1, 2);
- polynomial_t pol3(vec3.begin(), vec3.end(), 2, 3);
- // 1 polynomial in curve
- piecewise_polynomial_curve_t pc(pol1);
- res = pc(0.5);
- ComparePoints(a,res,errmsg1,error);
- // 3 polynomials in curve
- pc.add_curve(pol2);
- pc.add_curve(pol3);
- // Check values on piecewise curve
- // t in [0,1[ -> res=a
- res = pc(0.);
- ComparePoints(a,res,errmsg1,error);
- res = pc(0.5);
- ComparePoints(a,res,errmsg1,error);
- // t in [1,2[ -> res=b
- res = pc(1.0);
- ComparePoints(b,res,errmsg1,error);
- res = pc(1.5);
- ComparePoints(b,res,errmsg1,error);
- // t in [2,3] -> res=c
- res = pc(2.0);
- ComparePoints(c,res,errmsg1,error);
- res = pc(3.0);
- ComparePoints(c,res,errmsg1,error);
- // Create piecewise curve C0 from bezier
- point_t a0(1,2,3);
- point_t b0(2,3,4);
- point_t c0(3,4,5);
- point_t d0(4,5,6);
- std::vector<point_t> params0;
- std::vector<point_t> params1;
- params0.push_back(a0); // bezier between [0,1]
- params0.push_back(b0);
- params0.push_back(c0);
- params0.push_back(d0);
- params1.push_back(d0); // bezier between [1,2]
- params1.push_back(c0);
- params1.push_back(b0);
- params1.push_back(a0);
- bezier_curve_t bc0(params0.begin(), params0.end(), 0., 1.);
- bezier_curve_t bc1(params1.begin(), params1.end(), 1., 2.);
- piecewise_bezier_curve_t pc_C0(bc0);
- pc_C0.add_curve(bc1);
- // Check value in t=0.5 and t=1.5
- res = pc_C0(0.0);
- ComparePoints(a0,res,errmsg1,error);
- res = pc_C0(1.0);
- ComparePoints(d0,res,errmsg1,error);
- res = pc_C0(2.0);
- ComparePoints(a0,res,errmsg1,error);
- // Create piecewise curve C1 from Hermite
- point_t p0(0.,0.,0.);
- point_t p1(1.,2.,3.);
- point_t p2(4.,4.,4.);
- tangent_t t0(0.5,0.5,0.5);
- tangent_t t1(0.1,0.2,-0.5);
- tangent_t t2(0.1,0.2,0.3);
- std::vector< pair_point_tangent_t > control_points_0;
- control_points_0.push_back(pair_point_tangent_t(p0,t0));
- control_points_0.push_back(pair_point_tangent_t(p1,t1)); // control_points_0 = 1st piece of curve
- std::vector< pair_point_tangent_t > control_points_1;
- control_points_1.push_back(pair_point_tangent_t(p1,t1));
- control_points_1.push_back(pair_point_tangent_t(p2,t2)); // control_points_1 = 2nd piece of curve
- std::vector< double > time_control_points0, time_control_points1;
- time_control_points0.push_back(0.);
- time_control_points0.push_back(1.); // hermite 0 between [0,1]
- time_control_points1.push_back(1.);
- time_control_points1.push_back(3.); // hermite 1 between [1,3]
- cubic_hermite_spline_t chs0(control_points_0.begin(), control_points_0.end(), time_control_points0);
- cubic_hermite_spline_t chs1(control_points_1.begin(), control_points_1.end(), time_control_points1);
- piecewise_cubic_hermite_curve_t pc_C1(chs0);
- pc_C1.add_curve(chs1);
- // Create piecewise curve C2
- point_t a1(0,0,0);
- point_t b1(1,1,1);
- t_point_t veca, vecb;
- // in [0,1[
- veca.push_back(a1);
- veca.push_back(b1); // x=t, y=t, z=t
- // in [1,2]
- vecb.push_back(b1);
- vecb.push_back(b1); // x=(t-1)+1, y=(t-1)+1, z=(t-1)+1
- polynomial_t pola(veca.begin(), veca.end(), 0, 1);
- polynomial_t polb(vecb.begin(), vecb.end(), 1, 2);
- piecewise_polynomial_curve_t pc_C2(pola);
- pc_C2.add_curve(polb);
- // check C0 continuity
- std::string errmsg2("in piecewise polynomial curve test, Error while checking continuity C0 on ");
- std::string errmsg3("in piecewise polynomial curve test, Error while checking continuity C1 on ");
- std::string errmsg4("in piecewise polynomial curve test, Error while checking continuity C2 on ");
- // not C0
- bool isC0 = pc.is_continuous(0);
- if (isC0)
- {
- std::cout << errmsg2 << " pc " << std::endl;
- error = true;
- }
- // C0
- isC0 = pc_C0.is_continuous(0);
- if (not isC0)
- {
- std::cout << errmsg2 << " pc_C0 " << std::endl;
- error = true;
- }
- // not C1
- bool isC1 = pc_C0.is_continuous(1);
- if (isC1)
- {
- std::cout << errmsg3 << " pc_C0 " << std::endl;
- error = true;
- }
- // C1
- isC1 = pc_C1.is_continuous(1);
- if (not isC1)
- {
- std::cout << errmsg3 << " pc_C1 " << std::endl;
- error = true;
- }
- // not C2
- bool isC2 = pc_C1.is_continuous(2);
- if (isC2)
+ try
{
- std::cout << errmsg4 << " pc_C1 " << std::endl;
- error = true;
+ // TEST WITH POLYNOMIALS
+ std::string errmsg1("in piecewise polynomial curve test, Error While checking value of point on curve : ");
+ point_t a(1,1,1); // in [0,1[
+ point_t b(2,1,1); // in [1,2[
+ point_t c(3,1,1); // in [2,3]
+ point_t res;
+ t_point_t vec1, vec2, vec3;
+ vec1.push_back(a); // x=1, y=1, z=1
+ vec2.push_back(b); // x=2, y=1, z=1
+ vec3.push_back(c); // x=3, y=1, z=1
+ // Create three polynomials of constant value in the interval of definition
+ polynomial_t pol1(vec1.begin(), vec1.end(), 0, 1);
+ polynomial_t pol2(vec2.begin(), vec2.end(), 1, 2);
+ polynomial_t pol3(vec3.begin(), vec3.end(), 2, 3);
+ // 1 polynomial in curve
+ piecewise_polynomial_curve_t pc(pol1);
+ res = pc(0.5);
+ ComparePoints(a,res,errmsg1,error);
+ // 3 polynomials in curve
+ pc.add_curve(pol2);
+ pc.add_curve(pol3);
+ // Check values on piecewise curve
+ // t in [0,1[ -> res=a
+ res = pc(0.);
+ ComparePoints(a,res,errmsg1,error);
+ res = pc(0.5);
+ ComparePoints(a,res,errmsg1,error);
+ // t in [1,2[ -> res=b
+ res = pc(1.0);
+ ComparePoints(b,res,errmsg1,error);
+ res = pc(1.5);
+ ComparePoints(b,res,errmsg1,error);
+ // t in [2,3] -> res=c
+ res = pc(2.0);
+ ComparePoints(c,res,errmsg1,error);
+ res = pc(3.0);
+ ComparePoints(c,res,errmsg1,error);
+ // Create piecewise curve C0 from bezier
+ point_t a0(1,2,3);
+ point_t b0(2,3,4);
+ point_t c0(3,4,5);
+ point_t d0(4,5,6);
+ std::vector<point_t> params0;
+ std::vector<point_t> params1;
+ params0.push_back(a0); // bezier between [0,1]
+ params0.push_back(b0);
+ params0.push_back(c0);
+ params0.push_back(d0);
+ params1.push_back(d0); // bezier between [1,2]
+ params1.push_back(c0);
+ params1.push_back(b0);
+ params1.push_back(a0);
+ bezier_curve_t bc0(params0.begin(), params0.end(), 0., 1.);
+ bezier_curve_t bc1(params1.begin(), params1.end(), 1., 2.);
+ piecewise_bezier_curve_t pc_C0(bc0);
+ pc_C0.add_curve(bc1);
+ // Check value in t=0.5 and t=1.5
+ res = pc_C0(0.0);
+ ComparePoints(a0,res,errmsg1,error);
+ res = pc_C0(1.0);
+ ComparePoints(d0,res,errmsg1,error);
+ res = pc_C0(2.0);
+ ComparePoints(a0,res,errmsg1,error);
+ // Create piecewise curve C1 from Hermite
+ point_t p0(0.,0.,0.);
+ point_t p1(1.,2.,3.);
+ point_t p2(4.,4.,4.);
+ tangent_t t0(0.5,0.5,0.5);
+ tangent_t t1(0.1,0.2,-0.5);
+ tangent_t t2(0.1,0.2,0.3);
+ std::vector< pair_point_tangent_t > control_points_0;
+ control_points_0.push_back(pair_point_tangent_t(p0,t0));
+ control_points_0.push_back(pair_point_tangent_t(p1,t1)); // control_points_0 = 1st piece of curve
+ std::vector< pair_point_tangent_t > control_points_1;
+ control_points_1.push_back(pair_point_tangent_t(p1,t1));
+ control_points_1.push_back(pair_point_tangent_t(p2,t2)); // control_points_1 = 2nd piece of curve
+ std::vector< double > time_control_points0, time_control_points1;
+ time_control_points0.push_back(0.);
+ time_control_points0.push_back(1.); // hermite 0 between [0,1]
+ time_control_points1.push_back(1.);
+ time_control_points1.push_back(3.); // hermite 1 between [1,3]
+ cubic_hermite_spline_t chs0(control_points_0.begin(), control_points_0.end(), time_control_points0);
+ cubic_hermite_spline_t chs1(control_points_1.begin(), control_points_1.end(), time_control_points1);
+ piecewise_cubic_hermite_curve_t pc_C1(chs0);
+ pc_C1.add_curve(chs1);
+ // Create piecewise curve C2
+ point_t a1(0,0,0);
+ point_t b1(1,1,1);
+ t_point_t veca, vecb;
+ // in [0,1[
+ veca.push_back(a1);
+ veca.push_back(b1); // x=t, y=t, z=t
+ // in [1,2]
+ vecb.push_back(b1);
+ vecb.push_back(b1); // x=(t-1)+1, y=(t-1)+1, z=(t-1)+1
+ polynomial_t pola(veca.begin(), veca.end(), 0, 1);
+ polynomial_t polb(vecb.begin(), vecb.end(), 1, 2);
+ piecewise_polynomial_curve_t pc_C2(pola);
+ pc_C2.add_curve(polb);
+ // check C0 continuity
+ std::string errmsg2("in piecewise polynomial curve test, Error while checking continuity C0 on ");
+ std::string errmsg3("in piecewise polynomial curve test, Error while checking continuity C1 on ");
+ std::string errmsg4("in piecewise polynomial curve test, Error while checking continuity C2 on ");
+ // not C0
+ bool isC0 = pc.is_continuous(0);
+ if (isC0)
+ {
+ std::cout << errmsg2 << " pc " << std::endl;
+ error = true;
+ }
+ // C0
+ isC0 = pc_C0.is_continuous(0);
+ if (not isC0)
+ {
+ std::cout << errmsg2 << " pc_C0 " << std::endl;
+ error = true;
+ }
+ // not C1
+ bool isC1 = pc_C0.is_continuous(1);
+ if (isC1)
+ {
+ std::cout << errmsg3 << " pc_C0 " << std::endl;
+ error = true;
+ }
+ // C1
+ isC1 = pc_C1.is_continuous(1);
+ if (not isC1)
+ {
+ std::cout << errmsg3 << " pc_C1 " << std::endl;
+ error = true;
+ }
+ // not C2
+ bool isC2 = pc_C1.is_continuous(2);
+ if (isC2)
+ {
+ std::cout << errmsg4 << " pc_C1 " << std::endl;
+ error = true;
+ }
+ // C2
+ isC2 = pc_C2.is_continuous(2);
+ if (not isC2)
+ {
+ std::cout << errmsg4 << " pc_C2 " << std::endl;
+ error = true;
+ }
+ // CONVERT PIECEWISE POLYNOMIAL CURVES TO BEZIER AND HERMITE
+ std::string errmsg5("in piecewise polynomial curve test, Error while checking piecewise curve conversion");
+ piecewise_bezier_curve_t pc_bezier = pc.convert_piecewise_curve_to_bezier<bezier_curve_t>();
+ CompareCurves<piecewise_polynomial_curve_t, piecewise_bezier_curve_t>(pc, pc_bezier, errmsg5, error);
+ piecewise_cubic_hermite_curve_t pc_hermite = pc.convert_piecewise_curve_to_cubic_hermite<cubic_hermite_spline_t>();
+ CompareCurves<piecewise_polynomial_curve_t, piecewise_cubic_hermite_curve_t>(pc, pc_hermite, errmsg5, error);
+ piecewise_polynomial_curve_t pc_polynomial_same = pc.convert_piecewise_curve_to_polynomial<polynomial_t>();
+ CompareCurves<piecewise_polynomial_curve_t, piecewise_polynomial_curve_t>(pc, pc_polynomial_same, errmsg5, error);
}
- // C2
- isC2 = pc_C2.is_continuous(2);
- if (not isC2)
+ catch(...)
{
- std::cout << errmsg4 << " pc_C2 " << std::endl;
error = true;
+ std::cout<<"Error in piecewiseCurveTest"<<std::endl;
}
- // CONVERT PIECEWISE POLYNOMIAL CURVES TO BEZIER AND HERMITE
- std::string errmsg5("in piecewise polynomial curve test, Error while checking piecewise curve conversion");
- piecewise_bezier_curve_t pc_bezier = pc.convert_piecewise_curve_to_bezier<bezier_curve_t>();
- CompareCurves<piecewise_polynomial_curve_t, piecewise_bezier_curve_t>(pc, pc_bezier, errmsg5, error);
- piecewise_cubic_hermite_curve_t pc_hermite = pc.convert_piecewise_curve_to_cubic_hermite<cubic_hermite_spline_t>();
- CompareCurves<piecewise_polynomial_curve_t, piecewise_cubic_hermite_curve_t>(pc, pc_hermite, errmsg5, error);
- piecewise_polynomial_curve_t pc_polynomial_same = pc.convert_piecewise_curve_to_polynomial<polynomial_t>();
- CompareCurves<piecewise_polynomial_curve_t, piecewise_polynomial_curve_t>(pc, pc_polynomial_same, errmsg5, error);
}
void curveAbcDimDynamicTest(bool& error)
@@ -1331,133 +1332,149 @@ void curveAbcDimDynamicTest(bool& error)
void piecewiseCurveConversionFromDiscretePointsTest(bool& error)
{
- std::string errMsg("piecewiseCurveConversionFromDiscretePointsTest, Error, value on curve is wrong : ");
- point_t p0(0.,0.,0.);
- point_t p1(1.,2.,3.);
- point_t p2(4.,4.,4.);
- point_t p3(10.,10.,10.);
- point_t p_test_0_5 = (p0+p1)/2.0;
- t_point_t points;
- points.push_back(p0);
- points.push_back(p1);
- points.push_back(p2);
- points.push_back(p3);
- double T_min = 1.0;
- double T_max = 3.0;
- double timestep = (T_max-T_min)/double(points.size()-1);
- piecewise_polynomial_curve_t ppc = piecewise_polynomial_curve_t::
- convert_discrete_points_to_polynomial<polynomial_t>(points,T_min,T_max);
- if (!ppc.is_continuous(0))
- {
- std::cout<<"piecewiseCurveConversionFromDiscretePointsTest, Error, piecewise curve is not C0"<<std::endl;
+ try
+ {
+ std::string errMsg("piecewiseCurveConversionFromDiscretePointsTest, Error, value on curve is wrong : ");
+ point_t p0(0.,0.,0.);
+ point_t p1(1.,2.,3.);
+ point_t p2(4.,4.,4.);
+ point_t p3(10.,10.,10.);
+ point_t p_test_0_5 = (p0+p1)/2.0;
+ t_point_t points;
+ points.push_back(p0);
+ points.push_back(p1);
+ points.push_back(p2);
+ points.push_back(p3);
+ double T_min = 1.0;
+ double T_max = 3.0;
+ double timestep = (T_max-T_min)/double(points.size()-1);
+ piecewise_polynomial_curve_t ppc = piecewise_polynomial_curve_t::
+ convert_discrete_points_to_polynomial<polynomial_t>(points,T_min,T_max);
+ if (!ppc.is_continuous(0))
+ {
+ std::cout<<"piecewiseCurveConversionFromDiscretePointsTest, Error, piecewise curve is not C0"<<std::endl;
+ error = true;
+ }
+ ComparePoints(p0, ppc(T_min), errMsg, error);
+ ComparePoints(p_test_0_5, ppc(T_min+timestep/2.0), errMsg, error);
+ ComparePoints(p1, ppc(T_min+timestep), errMsg, error);
+ ComparePoints(p2, ppc(T_min+2*timestep), errMsg, error);
+ ComparePoints(p3, ppc(T_max), errMsg, error);
+ }
+ catch(...)
+ {
error = true;
+ std::cout<<"Error in piecewiseCurveConversionFromDiscretePointsTest"<<std::endl;
}
- ComparePoints(p0, ppc(T_min), errMsg, error);
- ComparePoints(p_test_0_5, ppc(T_min+timestep/2.0), errMsg, error);
- ComparePoints(p1, ppc(T_min+timestep), errMsg, error);
- ComparePoints(p2, ppc(T_min+2*timestep), errMsg, error);
- ComparePoints(p3, ppc(T_max), errMsg, error);
}
void serializationCurvesTest(bool& error)
{
- std::string errMsg1("in serializationCurveTest, Error While serializing Polynomial : ");
- std::string errMsg2("in serializationCurveTest, Error While serializing Bezier : ");
- std::string errMsg3("in serializationCurveTest, Error While serializing Cubic Hermite : ");
- std::string errMsg4("in serializationCurveTest, Error While serializing Piecewise curves : ");
- std::string errMsg5("in serializationCurveTest, Error While serializing Exact cubic : ");
- std::string errMsg6("in serializationCurveTest, Error While serializing using abstract pointers : ");
- point_t a(1,1,1); // in [0,1[
- point_t b(2,1,1); // in [1,2[
- point_t c(3,1,1); // in [2,3]
- point_t res;
- t_point_t vec1, vec2, vec3;
- vec1.push_back(a); // x=1, y=1, z=1
- vec2.push_back(b); // x=2, y=1, z=1
- vec3.push_back(c); // x=3, y=1, z=1
- polynomial_t pol1(vec1.begin(), vec1.end(), 0, 1);
- polynomial_t pol2(vec2.begin(), vec2.end(), 1, 2);
- polynomial_t pol3(vec3.begin(), vec3.end(), 2, 3);
- piecewise_polynomial_curve_t ppc(pol1);
- ppc.add_curve(pol2);
- ppc.add_curve(pol3);
- std::string fileName("fileTest.test");
- std::string fileName1("fileTest1.test");
- // Simple curves
- // Test serialization on Polynomial
- pol1.saveAsText<polynomial_t>(fileName1);
- polynomial_t pol_test;
- pol_test.loadFromText<polynomial_t>(fileName1);
- CompareCurves<polynomial_t, polynomial_t>(pol1, pol_test, errMsg1, error);
- // Test serialization on Bezier
- bezier_curve_t bc = bezier_from_curve<bezier_curve_t, polynomial_t>(pol1);
- bc.saveAsText<bezier_curve_t>(fileName);
- bezier_curve_t bc_test;
- bc_test.loadFromText<bezier_curve_t>(fileName);
- CompareCurves<polynomial_t, bezier_curve_t>(pol1, bc_test, errMsg2, error);
- // Test serialization on Cubic Hermite
- cubic_hermite_spline_t chs = hermite_from_curve<cubic_hermite_spline_t, polynomial_t>(pol1);
- chs.saveAsText<cubic_hermite_spline_t>(fileName);
- cubic_hermite_spline_t chs_test;
- chs_test.loadFromText<cubic_hermite_spline_t>(fileName);
- CompareCurves<polynomial_t, cubic_hermite_spline_t>(pol1, chs_test, errMsg3, error);
- // Piecewise curves
- // Test serialization on Piecewise Polynomial curve
- ppc.saveAsText<piecewise_polynomial_curve_t>(fileName);
- piecewise_polynomial_curve_t ppc_test;
- ppc_test.loadFromText<piecewise_polynomial_curve_t>(fileName);
- CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc, ppc_test, errMsg4, error);
- // Test serialization on Piecewise Bezier curve
- piecewise_bezier_curve_t pbc = ppc.convert_piecewise_curve_to_bezier<bezier_curve_t>();
- pbc.saveAsText<piecewise_bezier_curve_t>(fileName);
- piecewise_bezier_curve_t pbc_test;
- pbc_test.loadFromText<piecewise_bezier_curve_t>(fileName);
- CompareCurves<piecewise_polynomial_curve_t,piecewise_bezier_curve_t>(ppc, pbc_test, errMsg4, error);
- // Test serialization on Piecewise Cubic Hermite curve
- piecewise_cubic_hermite_curve_t pchc = ppc.convert_piecewise_curve_to_cubic_hermite<cubic_hermite_spline_t>();
- pchc.saveAsText<piecewise_cubic_hermite_curve_t>(fileName);
- piecewise_cubic_hermite_curve_t pchc_test;
- pchc_test.loadFromText<piecewise_cubic_hermite_curve_t>(fileName);
- CompareCurves<piecewise_polynomial_curve_t,piecewise_cubic_hermite_curve_t>(ppc, pchc_test, errMsg4, error);
- // Test serialization on exact cubic
- curves::T_Waypoint waypoints;
- for(double i = 0; i <= 1; i = i + 0.2)
+ try
{
- waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
+ std::string errMsg1("in serializationCurveTest, Error While serializing Polynomial : ");
+ std::string errMsg2("in serializationCurveTest, Error While serializing Bezier : ");
+ std::string errMsg3("in serializationCurveTest, Error While serializing Cubic Hermite : ");
+ std::string errMsg4("in serializationCurveTest, Error While serializing Piecewise curves : ");
+ std::string errMsg5("in serializationCurveTest, Error While serializing Exact cubic : ");
+ std::string errMsg6("in serializationCurveTest, Error While serializing using abstract pointers : ");
+ point_t a(1,1,1); // in [0,1[
+ point_t b(2,1,1); // in [1,2[
+ point_t c(3,1,1); // in [2,3]
+ point_t res;
+ t_point_t vec1, vec2, vec3;
+ vec1.push_back(a); // x=1, y=1, z=1
+ vec2.push_back(b); // x=2, y=1, z=1
+ vec3.push_back(c); // x=3, y=1, z=1
+ polynomial_t pol1(vec1.begin(), vec1.end(), 0, 1);
+ polynomial_t pol2(vec2.begin(), vec2.end(), 1, 2);
+ polynomial_t pol3(vec3.begin(), vec3.end(), 2, 3);
+ piecewise_polynomial_curve_t ppc(pol1);
+ ppc.add_curve(pol2);
+ ppc.add_curve(pol3);
+ std::string fileName("fileTest.test");
+ std::string fileName1("fileTest1.test");
+ // Simple curves
+ // Test serialization on Polynomial
+ pol1.saveAsText<polynomial_t>(fileName1);
+ polynomial_t pol_test;
+ pol_test.loadFromText<polynomial_t>(fileName1);
+ CompareCurves<polynomial_t, polynomial_t>(pol1, pol_test, errMsg1, error);
+ // Test serialization on Bezier
+ bezier_curve_t bc = bezier_from_curve<bezier_curve_t, polynomial_t>(pol1);
+ bc.saveAsText<bezier_curve_t>(fileName);
+ bezier_curve_t bc_test;
+ bc_test.loadFromText<bezier_curve_t>(fileName);
+ CompareCurves<polynomial_t, bezier_curve_t>(pol1, bc_test, errMsg2, error);
+ // Test serialization on Cubic Hermite
+ cubic_hermite_spline_t chs = hermite_from_curve<cubic_hermite_spline_t, polynomial_t>(pol1);
+ chs.saveAsText<cubic_hermite_spline_t>(fileName);
+ cubic_hermite_spline_t chs_test;
+ chs_test.loadFromText<cubic_hermite_spline_t>(fileName);
+ CompareCurves<polynomial_t, cubic_hermite_spline_t>(pol1, chs_test, errMsg3, error);
+ // Piecewise curves
+ // Test serialization on Piecewise Polynomial curve
+ ppc.saveAsText<piecewise_polynomial_curve_t>(fileName);
+ piecewise_polynomial_curve_t ppc_test;
+ ppc_test.loadFromText<piecewise_polynomial_curve_t>(fileName);
+ CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc, ppc_test, errMsg4, error);
+ // Test serialization on Piecewise Bezier curve
+ piecewise_bezier_curve_t pbc = ppc.convert_piecewise_curve_to_bezier<bezier_curve_t>();
+ pbc.saveAsText<piecewise_bezier_curve_t>(fileName);
+ piecewise_bezier_curve_t pbc_test;
+ pbc_test.loadFromText<piecewise_bezier_curve_t>(fileName);
+ CompareCurves<piecewise_polynomial_curve_t,piecewise_bezier_curve_t>(ppc, pbc_test, errMsg4, error);
+ // Test serialization on Piecewise Cubic Hermite curve
+ piecewise_cubic_hermite_curve_t pchc = ppc.convert_piecewise_curve_to_cubic_hermite<cubic_hermite_spline_t>();
+ pchc.saveAsText<piecewise_cubic_hermite_curve_t>(fileName);
+ piecewise_cubic_hermite_curve_t pchc_test;
+ pchc_test.loadFromText<piecewise_cubic_hermite_curve_t>(fileName);
+ CompareCurves<piecewise_polynomial_curve_t,piecewise_cubic_hermite_curve_t>(ppc, pchc_test, errMsg4, error);
+ // Test serialization on exact cubic
+ curves::T_Waypoint waypoints;
+ for(double i = 0; i <= 1; i = i + 0.2)
+ {
+ waypoints.push_back(std::make_pair(i,point_t(i,i,i)));
+ }
+ spline_constraints_t constraints;
+ constraints.end_vel = point_t(0.1,0,0);
+ constraints.init_vel = point_t(0.2,0,0);
+ constraints.end_acc = point_t(0.01,0,0);
+ constraints.init_acc = point_t(0.01,0,0);
+ exact_cubic_t ec(waypoints.begin(), waypoints.end(), constraints);
+ ec.saveAsText<exact_cubic_t>(fileName);
+ exact_cubic_t ec_test;
+ ec_test.loadFromText<exact_cubic_t>(fileName);
+ CompareCurves<exact_cubic_t,exact_cubic_t>(ec, ec_test, errMsg5, error);
+ // Test with pointer on abstract struct curve_abc
+ // Polynomial
+ curve_abc_t * pt_0;
+ curve_abc_t * pt_1;
+ pol_test = polynomial_t();
+ pt_0 = &pol1;
+ pt_1 = &pol_test;
+ (*pt_0).saveAsText<polynomial_t>(fileName);
+ (*pt_1).loadFromText<polynomial_t>(fileName);
+ CompareCurves<polynomial_t,polynomial_t>(pol1,
+ (*dynamic_cast<polynomial_t*>(pt_1)),
+ errMsg6, error);
+ // Piecewise Polynomial
+ pt_0 = NULL;
+ pt_1 = NULL;
+ ppc_test = piecewise_polynomial_curve_t();
+ pt_0 = &ppc;
+ pt_1 = &ppc_test;
+ (*pt_0).saveAsText<piecewise_polynomial_curve_t>(fileName);
+ (*pt_1).loadFromText<piecewise_polynomial_curve_t>(fileName);
+ CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc,
+ (*dynamic_cast<piecewise_polynomial_curve_t*>(pt_1)),
+ errMsg6, error);
+ }
+ catch(...)
+ {
+ error = true;
+ std::cout<<"Error in serializationCurvesTest"<<std::endl;
}
- spline_constraints_t constraints;
- constraints.end_vel = point_t(0.1,0,0);
- constraints.init_vel = point_t(0.2,0,0);
- constraints.end_acc = point_t(0.01,0,0);
- constraints.init_acc = point_t(0.01,0,0);
- exact_cubic_t ec(waypoints.begin(), waypoints.end(), constraints);
- ec.saveAsText<exact_cubic_t>(fileName);
- exact_cubic_t ec_test;
- ec_test.loadFromText<exact_cubic_t>(fileName);
- CompareCurves<exact_cubic_t,exact_cubic_t>(ec, ec_test, errMsg5, error);
- // Test with pointer on abstract struct curve_abc
- // Polynomial
- curve_abc_t * pt_0;
- curve_abc_t * pt_1;
- pol_test = polynomial_t();
- pt_0 = &pol1;
- pt_1 = &pol_test;
- (*pt_0).saveAsText<polynomial_t>(fileName);
- (*pt_1).loadFromText<polynomial_t>(fileName);
- CompareCurves<polynomial_t,polynomial_t>(pol1,
- (*dynamic_cast<polynomial_t*>(pt_1)),
- errMsg6, error);
- // Piecewise Polynomial
- pt_0 = NULL;
- pt_1 = NULL;
- ppc_test = piecewise_polynomial_curve_t();
- pt_0 = &ppc;
- pt_1 = &ppc_test;
- (*pt_0).saveAsText<piecewise_polynomial_curve_t>(fileName);
- (*pt_1).loadFromText<piecewise_polynomial_curve_t>(fileName);
- CompareCurves<piecewise_polynomial_curve_t,piecewise_polynomial_curve_t>(ppc,
- (*dynamic_cast<piecewise_polynomial_curve_t*>(pt_1)),
- errMsg6, error);
}
int main(int /*argc*/, char** /*argv[]*/)
--
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