Commit 29f71eda authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Format

parent c33aaf14
Pipeline #8275 passed with stage
in 6 minutes and 31 seconds
...@@ -55,31 +55,24 @@ struct TextFile : public AbstractCurve<Numeric, Point> { ...@@ -55,31 +55,24 @@ struct TextFile : public AbstractCurve<Numeric, Point> {
public: public:
virtual bool loadTextFile(const std::string& fileName) { virtual bool loadTextFile(const std::string& fileName) {
Eigen::MatrixXd data = parametriccurves::utils::readMatrixFromFile(fileName); Eigen::MatrixXd data = parametriccurves::utils::readMatrixFromFile(fileName);
if(data.cols()==size) if (data.cols() == size) {
{ std::cout << "Setting derivatives to zero" << std::endl;
std::cout<<"Setting derivatives to zero"<<std::endl;
posValues = data; posValues = data;
velValues.setZero(size); velValues.setZero(size);
accValues.setZero(size); accValues.setZero(size);
} } else if (data.cols() == 2 * size) {
else if (data.cols()==2*size)
{
posValues = data.leftCols(size); posValues = data.leftCols(size);
velValues = data.rightCols(size); velValues = data.rightCols(size);
accValues = accValues.setZero(size); accValues = accValues.setZero(size);
} } else if (data.cols() == 3 * size) {
else if (data.cols()==3*size)
{
posValues = data.leftCols(size); posValues = data.leftCols(size);
velValues = data.middleCols(size,size); velValues = data.middleCols(size, size);
accValues = data.rightCols(size); accValues = data.rightCols(size);
} } else {
else std::cout << "Unexpected number of columns (expected " << 3 * size << ", found " << data.cols() << ")\n";
{
std::cout<<"Unexpected number of columns (expected "<<3*size<<", found "<<data.cols()<<")\n";
return false; return false;
} }
this->t_max = timeStep*(double)data.rows(); this->t_max = timeStep * (double)data.rows();
this->t_min = 0.0; this->t_min = 0.0;
x_init = posValues.row(0); x_init = posValues.row(0);
return true; return true;
......
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