diff --git a/python/curves_python.cpp b/python/curves_python.cpp
index 1e720267c2e6f8979066ba6f2e63dba84c120b40..656ee3be892e542476ba7266d986470e849ff2cf 100644
--- a/python/curves_python.cpp
+++ b/python/curves_python.cpp
@@ -403,8 +403,6 @@ BOOST_PYTHON_MODULE(curves) {
class_<CurveWrapper, boost::noncopyable>("curve", no_init)
.def("__call__", pure_virtual(&curve_abc_t::operator()), "Evaluate the curve at the given time.",
args("self", "t"))
- .def("__eq__", &curve_abc_t::operator==)
- .def("__ne__", &curve_abc_t::operator!=)
.def("derivate", pure_virtual(&curve_abc_t::derivate), "Evaluate the derivative of order N of curve at time t.",
args("self", "t", "N"))
.def("compute_derivate", pure_virtual(&curve_abc_t::compute_derivate_ptr),return_value_policy<manage_new_object>(), "Return the derivative of *this at the order N.", args("self", "N"))
@@ -427,8 +425,6 @@ BOOST_PYTHON_MODULE(curves) {
class_<Curve3Wrapper, boost::noncopyable, bases<curve_abc_t> >("curve3", no_init)
.def("__call__", pure_virtual(&curve_3_t::operator()), "Evaluate the curve at the given time.",
args("self", "t"))
- .def("__eq__", &curve_3_t::operator==)
- .def("__ne__", &curve_3_t::operator!=)
.def("derivate", pure_virtual(&curve_3_t::derivate), "Evaluate the derivative of order N of curve at time t.",
args("self", "t", "N"))
.def("compute_derivate", pure_virtual(&curve_3_t::compute_derivate_ptr),return_value_policy<manage_new_object>(), "Return the derivative of *this at the order N.", args("self", "N"))
@@ -439,8 +435,6 @@ BOOST_PYTHON_MODULE(curves) {
class_<CurveRotationWrapper, boost::noncopyable, bases<curve_abc_t> >("curve_rotation", no_init)
.def("__call__", pure_virtual(&curve_rotation_t::operator()), "Evaluate the curve at the given time.",
args("self", "t"))
- .def("__eq__", &curve_rotation_t::operator==)
- .def("__ne__", &curve_rotation_t::operator!=)
.def("derivate", pure_virtual(&curve_rotation_t::derivate),
"Evaluate the derivative of order N of curve at time t.", args("self", "t", "N"))
.def("compute_derivate", pure_virtual(&curve_rotation_t::compute_derivate_ptr),return_value_policy<manage_new_object>(), "Return the derivative of *this at the order N.", args("self", "N"))
@@ -451,8 +445,6 @@ BOOST_PYTHON_MODULE(curves) {
class_<CurveSE3Wrapper, boost::noncopyable, bases<curve_abc_t> >("curve_SE3", no_init)
.def("__call__", &se3Return, "Evaluate the curve at the given time. Return as an homogeneous matrix.",
args("self", "t"))
- .def("__eq__", &curve_SE3_t::operator==)
- .def("__ne__", &curve_SE3_t::operator!=)
.def("derivate", pure_virtual(&curve_SE3_t::derivate),
"Evaluate the derivative of order N of curve at time t. Return as a vector 6.", args("self", "t", "N"))
.def("compute_derivate", pure_virtual(&curve_SE3_t::compute_derivate_ptr),return_value_policy<manage_new_object>(), "Return the derivative of *this at the order N.", args("self", "N"))
@@ -494,6 +486,8 @@ BOOST_PYTHON_MODULE(curves) {
.def("loadFromBinary", &bezier3_t::loadFromBinary<bezier3_t>, bp::args("filename"),
"Loads *this from a binary file.")
//.def(SerializableVisitor<bezier_t>())
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
;
/** END bezier3 curve**/
/** BEGIN bezier curve**/
@@ -517,6 +511,8 @@ BOOST_PYTHON_MODULE(curves) {
"Saves *this inside a binary file.")
.def("loadFromBinary", &bezier_t::loadFromBinary<bezier_t>, bp::args("filename"),
"Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
//.def(SerializableVisitor<bezier_t>())
;
/** END bezier curve**/
@@ -557,7 +553,10 @@ BOOST_PYTHON_MODULE(curves) {
.def("waypoints", &wayPointsToLists, return_value_policy<manage_new_object>())
.def("waypointAtIndex", &bezier_linear_variable_t::waypointAtIndex)
.def_readonly("degree", &bezier_linear_variable_t::degree_)
- .def_readonly("nbWaypoints", &bezier_linear_variable_t::size_);
+ .def_readonly("nbWaypoints", &bezier_linear_variable_t::size_)
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
class_<quadratic_variable_t>("cost", no_init)
.add_property("A", &cost_t_quad)
@@ -609,7 +608,10 @@ BOOST_PYTHON_MODULE(curves) {
.def("saveAsBinary", &polynomial_t::saveAsBinary<polynomial_t>, bp::args("filename"),
"Saves *this inside a binary file.")
.def("loadFromBinary", &polynomial_t::loadFromBinary<polynomial_t>, bp::args("filename"),
- "Loads *this from a binary file.");
+ "Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
/** END polynomial function**/
/** BEGIN piecewise curve function **/
@@ -673,7 +675,10 @@ BOOST_PYTHON_MODULE(curves) {
.def("saveAsBinary", &piecewise_t::saveAsBinary<piecewise_t>,
bp::args("filename"), "Saves *this inside a binary file.")
.def("loadFromBinary", &piecewise_t::loadFromBinary<piecewise_t>,
- bp::args("filename"), "Loads *this from a binary file.");
+ bp::args("filename"), "Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
class_<piecewise_SE3_t, bases<curve_SE3_t> >("piecewise_SE3", init<>())
.def("__init__", make_constructor(&wrapPiecewiseSE3Constructor, default_call_policies(), arg("curve")),
@@ -704,6 +709,8 @@ BOOST_PYTHON_MODULE(curves) {
"Saves *this inside a binary file.")
.def("loadFromBinary", &piecewise_SE3_t::loadFromBinary<piecewise_SE3_t>, bp::args("filename"),
"Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
#ifdef CURVES_WITH_PINOCCHIO_SUPPORT
.def("append", &addFinalSE3,
"Append a new linear SE3 curve at the end of the piecewise curve, defined between self.max() "
@@ -730,7 +737,10 @@ BOOST_PYTHON_MODULE(curves) {
.def("saveAsBinary", &exact_cubic_t::saveAsBinary<exact_cubic_t>, bp::args("filename"),
"Saves *this inside a binary file.")
.def("loadFromBinary", &exact_cubic_t::loadFromBinary<exact_cubic_t>, bp::args("filename"),
- "Loads *this from a binary file.");
+ "Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
/** END exact_cubic curve**/
/** BEGIN cubic_hermite_spline **/
@@ -747,7 +757,10 @@ BOOST_PYTHON_MODULE(curves) {
.def("saveAsBinary", &cubic_hermite_spline_t::saveAsBinary<cubic_hermite_spline_t>, bp::args("filename"),
"Saves *this inside a binary file.")
.def("loadFromBinary", &cubic_hermite_spline_t::loadFromBinary<cubic_hermite_spline_t>, bp::args("filename"),
- "Loads *this from a binary file.");
+ "Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
/** END cubic_hermite_spline **/
/** BEGIN curve constraints**/
@@ -761,7 +774,10 @@ BOOST_PYTHON_MODULE(curves) {
/** END curve constraints**/
/** BEGIN bernstein polynomial**/
class_<bernstein_t>("bernstein", init<const unsigned int, const unsigned int>())
- .def("__call__", &bernstein_t::operator());
+ .def("__call__", &bernstein_t::operator())
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
+ ;
/** END bernstein polynomial**/
/** BEGIN SO3 Linear**/
@@ -791,6 +807,8 @@ BOOST_PYTHON_MODULE(curves) {
"Saves *this inside a binary file.")
.def("loadFromBinary",&SO3Linear_t::loadFromBinary<SO3Linear_t>,bp::args("filename"),
"Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
;
/** END SO3 Linear**/
@@ -842,6 +860,8 @@ BOOST_PYTHON_MODULE(curves) {
"Saves *this inside a binary file.")
.def("loadFromBinary",&SE3Curve_t::loadFromBinary<SE3Curve_t>,bp::args("filename"),
"Loads *this from a binary file.")
+ .def(bp::self == bp::self)
+ .def(bp::self != bp::self)
#ifdef CURVES_WITH_PINOCCHIO_SUPPORT
.def("__init__",
make_constructor(&wrapSE3CurveFromSE3Pinocchio, default_call_policies(),