diff --git a/include/curves/bezier_curve.h b/include/curves/bezier_curve.h
index 3f3c4cdd49ccd25051f50c3512fcd9ec5709bf21..35793891c780e0dc0313afa0a11dc5c7ca96a285 100644
--- a/include/curves/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -31,8 +31,8 @@ namespace curves
/// For degree lesser than 4, the evaluation is analitycal. Otherwise
/// the bernstein polynoms are used to evaluate the spline at a given location.
///
- template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false
- , typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
+ template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
+ typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct bezier_curve : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< bezier_curve<Time, Numeric, Dim, Safe, Point> >
{
diff --git a/include/curves/cubic_hermite_spline.h b/include/curves/cubic_hermite_spline.h
index 594b6c6f533d709b15cc7f826cb343aa8acba3f0..b7aa9a5e805aa3bd67ea2820c4f510bc28355b38 100644
--- a/include/curves/cubic_hermite_spline.h
+++ b/include/curves/cubic_hermite_spline.h
@@ -35,8 +35,7 @@ namespace curves
///
template<typename Time= double, typename Numeric=Time, std::size_t Dim=3, bool Safe=false,
typename Point= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>,
- typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1>
- >
+ typename Tangent= Eigen::Matrix<Numeric, Eigen::Dynamic, 1> >
struct cubic_hermite_spline : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< cubic_hermite_spline<Time, Numeric, Dim, Safe, Point, Tangent> >
{
diff --git a/include/curves/cubic_spline.h b/include/curves/cubic_spline.h
index f8233987db571cda9c4057348c2254f37d0d73d7..2baa960e309ea262b2340d5f7875dd8040b8368b 100644
--- a/include/curves/cubic_spline.h
+++ b/include/curves/cubic_spline.h
@@ -22,27 +22,27 @@
namespace curves
{
- /// \brief Creates coefficient vector of a cubic spline defined on the interval
- /// \f$[t_{min}, t_{max}]\f$. It follows the equation : <br>
- /// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 \f$ where \f$ t \in [t_{min}, t_{max}] \f$
- /// with a, b, c and d the control points.
- ///
- template<typename Point, typename T_Point>
- T_Point make_cubic_vector(Point const& a, Point const& b, Point const& c, Point const &d)
- {
- T_Point res;
- res.push_back(a);res.push_back(b);res.push_back(c);res.push_back(d);
- return res;
- }
-
- template<typename Time, typename Numeric, std::size_t Dim, bool Safe,
- typename Point, typename T_Point>
- polynomial<Time,Numeric,Dim,Safe,Point,T_Point> create_cubic(Point const& a, Point const& b, Point const& c, Point const &d,
- const Time t_min, const Time t_max)
- {
- T_Point coeffs = make_cubic_vector<Point, T_Point>(a,b,c,d);
- return polynomial<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
- }
+ /// \brief Creates coefficient vector of a cubic spline defined on the interval
+ /// \f$[t_{min}, t_{max}]\f$. It follows the equation : <br>
+ /// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 \f$ where \f$ t \in [t_{min}, t_{max}] \f$
+ /// with a, b, c and d the control points.
+ ///
+ template<typename Point, typename T_Point>
+ T_Point make_cubic_vector(Point const& a, Point const& b, Point const& c, Point const &d)
+ {
+ T_Point res;
+ res.push_back(a);res.push_back(b);res.push_back(c);res.push_back(d);
+ return res;
+ }
+
+ template<typename Time, typename Numeric, std::size_t Dim, bool Safe,
+ typename Point, typename T_Point>
+ polynomial<Time,Numeric,Dim,Safe,Point,T_Point> create_cubic(Point const& a, Point const& b, Point const& c, Point const &d,
+ const Time t_min, const Time t_max)
+ {
+ T_Point coeffs = make_cubic_vector<Point, T_Point>(a,b,c,d);
+ return polynomial<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
+ }
} // namespace curves
#endif //_STRUCT_CUBICSPLINE
diff --git a/include/curves/curve_constraint.h b/include/curves/curve_constraint.h
index 26f9c3e986965b1e22bf6f5aad0526d52753efa0..d43323faf4630ea5c1fa089212d7c98cd57c1dbd 100644
--- a/include/curves/curve_constraint.h
+++ b/include/curves/curve_constraint.h
@@ -19,19 +19,19 @@
namespace curves
{
- template <typename Point, std::size_t Dim=3>
- struct curve_constraints
- {
- typedef Point point_t;
- curve_constraints():
- init_vel(point_t::Zero(Dim)),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){}
+ template <typename Point, std::size_t Dim=3>
+ struct curve_constraints
+ {
+ typedef Point point_t;
+ curve_constraints():
+ init_vel(point_t::Zero(Dim)),init_acc(init_vel),end_vel(init_vel),end_acc(init_vel){}
- ~curve_constraints(){}
+ ~curve_constraints(){}
- point_t init_vel;
- point_t init_acc;
- point_t end_vel;
- point_t end_acc;
- };
+ point_t init_vel;
+ point_t init_acc;
+ point_t end_vel;
+ point_t end_acc;
+ };
} // namespace curves
#endif //_CLASS_CUBICZEROVELACC
diff --git a/include/curves/polynomial.h b/include/curves/polynomial.h
index bda91b365cc38136729695fff012e84c6eedc978..8ea041622c965ae3410da61879330b3c04fcc489 100644
--- a/include/curves/polynomial.h
+++ b/include/curves/polynomial.h
@@ -39,10 +39,10 @@ namespace curves
struct polynomial : public curve_abc<Time, Numeric, Safe, Point>,
public serialization::Serializable< polynomial<Time, Numeric, Dim, Safe, Point, T_Point> >
{
- typedef Point point_t;
+ typedef Point point_t;
typedef T_Point t_point_t;
- typedef Time time_t;
- typedef Numeric num_t;
+ typedef Time time_t;
+ typedef Numeric num_t;
typedef curve_abc<Time, Numeric, Safe, Point> curve_abc_t;
typedef Eigen::Matrix<double, Dim, Eigen::Dynamic> coeff_t;
typedef Eigen::Ref<coeff_t> coeff_t_ref;
diff --git a/include/curves/quintic_spline.h b/include/curves/quintic_spline.h
index e6f6356fa32fd9216424d20e141f332878658876..b516fd9ad1b4494445ae89ab089d96a4646971eb 100644
--- a/include/curves/quintic_spline.h
+++ b/include/curves/quintic_spline.h
@@ -22,28 +22,28 @@
namespace curves
{
- /// \brief Creates coefficient vector of a quintic spline defined on the interval
- /// \f$[t_{min}, t_{max}]\f$. It follows the equation :<br>
- /// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$ <br>
- /// where \f$ t \in [t_{min}, t_{max}] \f$.
- ///
- template<typename Point, typename T_Point>
- T_Point make_quintic_vector(Point const& a, Point const& b, Point const& c,
- Point const &d, Point const& e, Point const& f)
- {
- T_Point res;
- res.push_back(a);res.push_back(b);res.push_back(c);
- res.push_back(d);res.push_back(e);res.push_back(f);
- return res;
- }
-
- template<typename Time, typename Numeric, std::size_t Dim, bool Safe, typename Point, typename T_Point>
- polynomial<Time,Numeric,Dim,Safe,Point,T_Point> create_quintic(Point const& a, Point const& b, Point const& c, Point const &d, Point const &e, Point const &f,
- const Time t_min, const Time t_max)
- {
- T_Point coeffs = make_quintic_vector<Point, T_Point>(a,b,c,d,e,f);
- return polynomial<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
- }
+ /// \brief Creates coefficient vector of a quintic spline defined on the interval
+ /// \f$[t_{min}, t_{max}]\f$. It follows the equation :<br>
+ /// \f$ x(t) = a + b(t - t_{min}) + c(t - t_{min})^2 + d(t - t_{min})^3 + e(t - t_{min})^4 + f(t - t_{min})^5 \f$ <br>
+ /// where \f$ t \in [t_{min}, t_{max}] \f$.
+ ///
+ template<typename Point, typename T_Point>
+ T_Point make_quintic_vector(Point const& a, Point const& b, Point const& c,
+ Point const &d, Point const& e, Point const& f)
+ {
+ T_Point res;
+ res.push_back(a);res.push_back(b);res.push_back(c);
+ res.push_back(d);res.push_back(e);res.push_back(f);
+ return res;
+ }
+
+ template<typename Time, typename Numeric, std::size_t Dim, bool Safe, typename Point, typename T_Point>
+ polynomial<Time,Numeric,Dim,Safe,Point,T_Point> create_quintic(Point const& a, Point const& b, Point const& c, Point const &d, Point const &e, Point const &f,
+ const Time t_min, const Time t_max)
+ {
+ T_Point coeffs = make_quintic_vector<Point, T_Point>(a,b,c,d,e,f);
+ return polynomial<Time,Numeric,Dim,Safe,Point,T_Point>(coeffs.begin(),coeffs.end(), t_min, t_max);
+ }
} // namespace curves
#endif //_STRUCT_QUINTIC_SPLINE
diff --git a/python/python_definitions.h b/python/python_definitions.h
index b65a3b49a02ddd29f3c4bf7be6c0e5f9c218b529..d4648c2f2d7368d8d347d47368ea8f896b90d977 100644
--- a/python/python_definitions.h
+++ b/python/python_definitions.h
@@ -8,33 +8,33 @@
namespace curves
{
- typedef double real;
- typedef Eigen::Vector3d point_t;
- typedef Eigen::Vector3d tangent_t;
- typedef Eigen::VectorXd vectorX_t;
- typedef std::pair<point_t, tangent_t> pair_point_tangent_t;
- typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> point6_t;
- typedef Eigen::Matrix<double, 3, 1, 0, 3, 1> ret_point_t;
- typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> ret_point6_t;
- typedef Eigen::VectorXd time_waypoints_t;
- typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
- typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
- typedef std::vector<point_t,Eigen::aligned_allocator<point_t> > t_point_t;
- typedef std::vector<point6_t,Eigen::aligned_allocator<point6_t> > t_point6_t;
- typedef std::pair<real, point_t> Waypoint;
- typedef std::vector<Waypoint> T_Waypoint;
- typedef std::pair<real, point6_t> Waypoint6;
- typedef std::vector<Waypoint6> T_Waypoint6;
+ typedef double real;
+ typedef Eigen::Vector3d point_t;
+ typedef Eigen::Vector3d tangent_t;
+ typedef Eigen::VectorXd vectorX_t;
+ typedef std::pair<point_t, tangent_t> pair_point_tangent_t;
+ typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> point6_t;
+ typedef Eigen::Matrix<double, 3, 1, 0, 3, 1> ret_point_t;
+ typedef Eigen::Matrix<double, 6, 1, 0, 6, 1> ret_point6_t;
+ typedef Eigen::VectorXd time_waypoints_t;
+ typedef Eigen::Matrix<real, 3, Eigen::Dynamic> point_list_t;
+ typedef Eigen::Matrix<real, 6, Eigen::Dynamic> point_list6_t;
+ typedef std::vector<point_t,Eigen::aligned_allocator<point_t> > t_point_t;
+ typedef std::vector<point6_t,Eigen::aligned_allocator<point6_t> > t_point6_t;
+ typedef std::pair<real, point_t> Waypoint;
+ typedef std::vector<Waypoint> T_Waypoint;
+ typedef std::pair<real, point6_t> Waypoint6;
+ typedef std::vector<Waypoint6> T_Waypoint6;
- template <typename PointList, typename T_Point>
- T_Point vectorFromEigenArray(const PointList& array)
- {
- T_Point res;
- for(int i =0;i<array.cols();++i)
- {
- res.push_back(array.col(i));
- }
- return res;
- }
+ template <typename PointList, typename T_Point>
+ T_Point vectorFromEigenArray(const PointList& array)
+ {
+ T_Point res;
+ for(int i =0;i<array.cols();++i)
+ {
+ res.push_back(array.col(i));
+ }
+ return res;
+ }
} //namespace curves
#endif //_DEFINITION_PYTHON_BINDINGS