exposed degree of curve

include/spline/bezier_curve.h

@@ -47,7 +47,8 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
 	: minBound_(minBound)
 	, maxBound_(maxBound)
 	, size_(std::distance(PointsBegin, PointsEnd))
-    , bernstein_(spline::makeBernstein<num_t>(size_-1))
+    , degree_(size_-1)
+    , bernstein_(spline::makeBernstein<num_t>(degree_))
 	{
         assert(bernstein_.size() == size_);
 		In it(PointsBegin);
@@ -117,16 +118,12 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     bezier_curve_t compute_derivate(const std::size_t order) const
     {
         if(order == 0) return *this;
-        num_t degree = (num_t)(size_-1);
         t_point_t derived_wp;
         for(typename t_point_t::const_iterator pit =  pts_.begin(); pit != pts_.end()-1; ++pit)
-            derived_wp.push_back(degree * (*(pit+1) - (*pit)));
+            derived_wp.push_back(degree_ * (*(pit+1) - (*pit)));
         if(derived_wp.empty())
             derived_wp.push_back(point_t::Zero());
         bezier_curve_t deriv(derived_wp.begin(), derived_wp.end(),minBound_,maxBound_);
-        std::cout << "deriv size" << deriv.size_ << std::endl;
-        std::cout << "val size" << size_ << std::endl;
-        assert(deriv.size_ +1 == this->size_);
         return deriv.compute_derivate(order-1);
     }
 
@@ -136,7 +133,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     bezier_curve_t compute_primitive(const std::size_t order) const
     {
         if(order == 0) return *this;
-        num_t new_degree = (num_t)(size_);
+        num_t new_degree = (num_t)(degree_+1);
         t_point_t n_wp;
         point_t current_sum =  point_t::Zero();
         // recomputing waypoints q_i from derivative waypoints p_i. q_0 is the given constant.
@@ -148,7 +145,6 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
             n_wp.push_back(current_sum / new_degree);
         }
         bezier_curve_t integ(n_wp.begin(), n_wp.end(),minBound_,maxBound_);
-        assert(integ.size_== this->size_ +1 );
         return integ.compute_primitive(order-1);
     }
 
@@ -179,10 +175,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
         return res;
     }
 
-    const t_point_t& waypoints() const
-    {
-        return pts_;
-    }
+    const t_point_t& waypoints() const {return pts_;}
 
 /*Operations*/
 
@@ -194,6 +187,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
 	public:
     const time_t minBound_, maxBound_;
     const std::size_t size_;
+    const std::size_t degree_;
     const std::vector<Bern<Numeric> > bernstein_;
 	
     private:

python/spline_python.cpp

@@ -200,6 +200,8 @@ BOOST_PYTHON_MODULE(spline)
             .def("compute_derivate", &bezier6_t::compute_derivate)
             .def("compute_primitive", &bezier6_t::compute_primitive)
             .def("waypoints", &wayPointsToList<bezier6_t,6>)
+            .def_readonly("degree", &bezier6_t::degree_)
+            .def_readonly("nbWaypoints", &bezier6_t::size_)
         ;
     /** END bezier curve**/
 
@@ -215,6 +217,8 @@ BOOST_PYTHON_MODULE(spline)
             .def("compute_derivate", &bezier_t::compute_derivate)
             .def("compute_primitive", &bezier_t::compute_primitive)
             .def("waypoints", &wayPointsToList<bezier_t,3>)
+            .def_readonly("degree", &bezier_t::degree_)
+            .def_readonly("nbWaypoints", &bezier_t::size_)
         ;
     /** END bezier curve**/
 

python/test/test.py

@@ -9,6 +9,7 @@ time_waypoints = matrix([0.,1.])
 a = bezier(waypoints, -1., 3.)
 
 a = bezier(waypoints)
+assert(a.degree == a.nbWaypoints -1)
 a.min()
 a.max()
 a(0.4)