diff --git a/include/curves/curve_constraint.h b/include/curves/curve_constraint.h
index 11426967bc5a1235b293c1a8b38537454d6ae19b..c7cc96c20c61ea8da83f1e8a56111ecebca58c75 100644
--- a/include/curves/curve_constraint.h
+++ b/include/curves/curve_constraint.h
@@ -19,12 +19,12 @@
namespace curves
{
-template <typename Point>
+template <typename Point, std::size_t Dim=3>
struct curve_constraints
{
typedef Point point_t;
curve_constraints():
- init_vel(point_t::Zero()),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){}
+ init_vel(point_t::Zero(Dim)),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){}
~curve_constraints(){}
diff --git a/include/curves/exact_cubic.h b/include/curves/exact_cubic.h
index 3a8bf271fc81ba4e1b971a1771255f6dfa456363..30d5ab47fac3ddf2ba23feac85470f01ea01b2f3 100644
--- a/include/curves/exact_cubic.h
+++ b/include/curves/exact_cubic.h
@@ -51,8 +51,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Safe, Point>
typedef typename std::vector<spline_t> t_spline_t;
typedef typename t_spline_t::iterator it_spline_t;
typedef typename t_spline_t::const_iterator cit_spline_t;
- typedef curve_abc<Time, Numeric, Safe, Point> curve_abc_t;
- typedef curve_constraints<point_t> spline_constraints;
+ typedef curve_constraints<Point, Dim> spline_constraints;
/* Constructors - destructors */
public:
@@ -62,7 +61,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Safe, Point>
///
template<typename In>
exact_cubic(In wayPointsBegin, In wayPointsEnd)
- : curve_abc_t(), subSplines_(computeWayPoints<In>(wayPointsBegin, wayPointsEnd)) {}
+ : subSplines_(computeWayPoints<In>(wayPointsBegin, wayPointsEnd)) {}
/// \brief Constructor.
/// \param wayPointsBegin : an iterator pointing to the first element of a waypoint container.
@@ -71,16 +70,16 @@ struct exact_cubic : public curve_abc<Time, Numeric, Safe, Point>
///
template<typename In>
exact_cubic(In wayPointsBegin, In wayPointsEnd, const spline_constraints& constraints)
- : curve_abc_t(), subSplines_(computeWayPoints<In>(wayPointsBegin, wayPointsEnd, constraints)) {}
+ : subSplines_(computeWayPoints<In>(wayPointsBegin, wayPointsEnd, constraints)) {}
/// \brief Constructor.
/// \param subSplines: vector of subsplines.
exact_cubic(const t_spline_t& subSplines)
- : curve_abc_t(), subSplines_(subSplines) {}
+ : subSplines_(subSplines) {}
/// \brief Copy Constructor.
exact_cubic(const exact_cubic& other)
- : curve_abc_t(), subSplines_(other.subSplines_) {}
+ : subSplines_(other.subSplines_) {}
/// \brief Destructor.
virtual ~exact_cubic(){}
diff --git a/tests/Main.cpp b/tests/Main.cpp
index ca6a30bfaa606b9960192629f95915c3eb3381dd..270b8506a5bf1d7a0dec17a442ef9b2747605a77 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -1318,7 +1318,8 @@ void curveAbcDimDynamicTest(bool& error)
{
typedef curve_abc<double,double,true> curve_abc_test_t;
typedef polynomial <double, double, 3, true> polynomial_test_t;
- //typedef exact_cubic <double, double, 3, true, Eigen::Matrix<double, Eigen::Dynamic, 1> > exact_cubic_test_t;
+ typedef exact_cubic <double, double, 3, true> exact_cubic_test_t;
+ typedef exact_cubic_test_t::spline_constraints spline_constraints_test_t;
typedef bezier_curve <double, double, 3, true> bezier_curve_test_t;
typedef cubic_hermite_spline <double, double, 3, true> cubic_hermite_spline_test_t;
curve_abc_test_t * pt_curve_abc;
@@ -1331,7 +1332,8 @@ void curveAbcDimDynamicTest(bool& error)
polynomial_test_t pol(vec.begin(), vec.end(), 0, 1);
try
{
- std::cout<<"pol : "<<pol(0).transpose()<<" / "<<pol(1).transpose()<<std::endl;
+ pol(0);
+ pol(1);
}
catch(...)
{
@@ -1341,7 +1343,8 @@ void curveAbcDimDynamicTest(bool& error)
bezier_curve_test_t bc = bezier_from_curve<bezier_curve_test_t, polynomial_test_t>(pol);
try
{
- std::cout<<"bc : "<<bc(0).transpose()<<" / "<<bc(1).transpose()<<std::endl;
+ bc(0);
+ bc(1);
}
catch(...)
{
@@ -1351,39 +1354,51 @@ void curveAbcDimDynamicTest(bool& error)
cubic_hermite_spline_test_t chs = hermite_from_curve<cubic_hermite_spline_test_t, polynomial_test_t>(pol);
try
{
- std::cout<<"chs : "<<chs(0).transpose()<<" / "<<chs(1).transpose()<<std::endl;
+ chs(0);
+ chs(1);
}
catch(...)
{
error = false;
}
// EXACT CUBIC : NOT SUPPORTED, problem to fix later
- /*
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)));
}
std::string errmsg("Error in ExactCubicVelocityConstraintsTest (1); while checking that given wayPoints are crossed (expected / obtained)");
- spline_constraints_t constraints;
+ spline_constraints_test_t constraints;
constraints.end_vel = point_t(0,0,0);
constraints.init_vel = point_t(0,0,0);
constraints.end_acc = point_t(0,0,0);
constraints.init_acc = point_t(0,0,0);
exact_cubic_test_t ec(waypoints.begin(), waypoints.end(), constraints);
- //std::cout<<"ec : "<<ec(0).transpose()<<" / "<<ec(1).transpose()<<std::endl;
- */
+ try
+ {
+ ec(0);
+ ec(1);
+ }
+ catch(...)
+ {
+ error = false;
+ }
+
// Test with pointer to curve_abc type
try
{
pt_curve_abc = &pol;
- std::cout<<"curve_abc - pol : "<<(*pt_curve_abc)(0).transpose()<<" / "<<(*pt_curve_abc)(1).transpose()<<std::endl;
+ (*pt_curve_abc)(0);
+ (*pt_curve_abc)(1);
pt_curve_abc = &bc;
- std::cout<<"curve_abc - bc : "<<(*pt_curve_abc)(0).transpose()<<" / "<<(*pt_curve_abc)(1).transpose()<<std::endl;
+ (*pt_curve_abc)(0);
+ (*pt_curve_abc)(1);
pt_curve_abc = &chs;
- std::cout<<"curve_abc - chs : "<<(*pt_curve_abc)(0).transpose()<<" / "<<(*pt_curve_abc)(1).transpose()<<std::endl;
- //pt_curve_abc = &ec;
- //std::cout<<"curve_abc - ec : "<<(*pt_curve_abc)(0).transpose()<<" / "<<(*pt_curve_abc)(1).transpose()<<std::endl;
+ (*pt_curve_abc)(0);
+ (*pt_curve_abc)(1);
+ pt_curve_abc = &ec;
+ (*pt_curve_abc)(0);
+ (*pt_curve_abc)(1);
}
catch(...)
{