[piecewise] refactor/simplify constructor from discret point

include/curves/piecewise_curve.h

@@ -216,51 +216,23 @@ namespace curves
       }
 
       template<typename Polynomial>
-      static piecewise_curve<Time, Numeric, Safe, Point, T_Point, Polynomial> 
-      convert_discrete_points_to_polynomial(T_Point points, Time T_min, Time T_max)
+      static piecewise_curve<Time, Numeric, Safe, Point, T_Point, Polynomial>
+      convert_discrete_points_to_polynomial(T_Point points, t_time_t time_points)
       {
         if(Safe &! (points.size()>1))
         {
           //std::cout<<"[Min,Max]=["<<T_min_<<","<<T_max_<<"]"<<" t="<<t<<std::endl;
-          throw std::invalid_argument("piecewise_curve -> convert_discrete_points_to_polynomial, Error, less than 2 discrete points");
+          throw std::invalid_argument("piecewise_curve::convert_discrete_points_to_polynomial: Error, less than 2 discrete points");
         }
-        typedef piecewise_curve<Time, Numeric, Safe, Point, T_Point, Polynomial> piecewise_curve_out_t;
-        Time discretization_step = (T_max-T_min)/Time(points.size()-1);
-        Time time_actual = T_min;
-        // Initialization at first points
-        point_t actual_point = points[0];
-        point_t next_point = points[1];
-        point_t coeff_order_zero(actual_point);
-        point_t coeff_order_one((next_point-actual_point)/discretization_step);
-        t_point_t coeffs;
-        coeffs.push_back(coeff_order_zero);
-        coeffs.push_back(coeff_order_one);
-        Polynomial pol(coeffs,time_actual,time_actual+discretization_step);
-        piecewise_curve_out_t ppc(pol);
-        time_actual += discretization_step;
-        // Other points
-        for (std::size_t i=1; i<points.size()-2; i++)
-        {
-          coeffs.clear();
-          actual_point = points[i];
-          next_point = points[i+1];
-          coeff_order_zero = actual_point;
-          coeff_order_one = (next_point-actual_point)/discretization_step;
-          coeffs.push_back(coeff_order_zero);
-          coeffs.push_back(coeff_order_one);
-          ppc.add_curve(Polynomial(coeffs,time_actual,time_actual+discretization_step));
-          time_actual += discretization_step;
+        if(points.size() != time_points.size()){
+            throw std::invalid_argument("piecewise_curve::convert_discrete_points_to_polynomial: Error, points and time_points must have the same size.");
+        }
+        piecewise_curve<Time, Numeric, Safe, Point, T_Point, Polynomial> piecewise_res;
+
+        for(size_t i = 1 ; i < points.size() ; ++i){
+          piecewise_res.add_curve(Polynomial(points[i-1],points[i],time_points[i-1],time_points[i]));
         }
-        // Last points
-        coeffs.clear();
-        actual_point = points[points.size()-2];
-        next_point = points[points.size()-1];
-        coeff_order_zero = actual_point;
-        coeff_order_one = (next_point-actual_point)/discretization_step;
-        coeffs.push_back(coeff_order_zero);
-        coeffs.push_back(coeff_order_one);
-        ppc.add_curve(Polynomial(coeffs,time_actual,T_max));
-        return ppc;
+        return piecewise_res;
       }
 
     private:
@@ -357,4 +329,4 @@ namespace curves
 } // end namespace
 
 
-#endif // _CLASS_PIECEWISE_CURVE
\ No newline at end of file
+#endif // _CLASS_PIECEWISE_CURVE

tests/Main.cpp

@@ -1335,37 +1335,28 @@ void curveAbcDimDynamicTest(bool& error)
 
 void piecewiseCurveConversionFromDiscretePointsTest(bool& error)
 {
-  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(...)
-  {
+  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);
+  std::vector<double> time_points;
+  for(size_t i=0;i<points.size();++i)
+    time_points.push_back(T_min+i*timestep);
+  piecewise_polynomial_curve_t ppc =  piecewise_polynomial_curve_t::
+  convert_discrete_points_to_polynomial<polynomial_t>(points,time_points);
+  if (!ppc.is_continuous(0))
+  {
+    std::cout<<"piecewiseCurveConversionFromDiscretePointsTest, Error, piecewise curve is not C0"<<std::endl;
     error = true;
     std::cout<<"Error in piecewiseCurveConversionFromDiscretePointsTest"<<std::endl;
   }