[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-24-g4f7ec26
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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-24-g4f7ec26
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From: Thomas M. <tho...@us...> - 2009-11-06 13:54:09
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- Log -----------------------------------------------------------------
commit 4f7ec26ee057cde9229773258a6e66d87ceba050
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 6 14:53:53 2009 +0100
Check interval unscaling.
* tests/free-time-trajectory.cc: Add checks.
* tests/free-time-trajectory.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 5e0455b..d901c57 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-11-06 Thomas Moulard <tho...@gm...>
+ Check interval unscaling.
+ * tests/free-time-trajectory.cc: Add checks.
+ * tests/free-time-trajectory.stdout: Regenerate.
+
+2009-11-06 Thomas Moulard <tho...@gm...>
+
Fix function naming.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index bee5619..b76c4f7 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -22,6 +22,7 @@
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/io.hh>
+#include <roboptim/core/util.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/fwd.hh>
@@ -281,10 +282,27 @@ int run_test ()
assert (freeTimeTraj.inputSize () == 1);
assert (freeTimeTraj.outputSize () == 1);
+ // Check interval scaling.
+ {
+ std::cout << "Initial interval" << std::endl;
+ std::cout << freeTimeTraj.timeRange () << std::endl;
+
+ std::cout << "Params = 2" << std::endl;
+ params[0] = 2.;
+ freeTimeTraj.setParameters (params);
+ std::cout << freeTimeTraj.timeRange () << std::endl;
+
+ std::cout << "Params = .5" << std::endl;
+ params[0] = .5;
+ freeTimeTraj.setParameters (params);
+ std::cout << freeTimeTraj.timeRange () << std::endl;
+ }
+
// Check scaling and unscaling.
{
params[0] = 3.14;
freeTimeTraj.setParameters (params);
+
value_type t = 0.32;
StableTimePoint stp (t / freeTimeTraj.length ());
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index 0c7ed72..9342ff0 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -1,3 +1,9 @@
+Initial interval
+(0, 4)
+Params = 2
+(0, 2)
+Params = .5
+(0, 8)
Checking StableTimePoint scaling.
Checking scale/unscale methods.
Checking scale using tmin/tmax.
commit 97621b6290570b9f1d650fc7d324af74b88d534e
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 6 14:45:45 2009 +0100
Fix function naming.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Rename scaleTime/scaleInterval internal free functions to
unscaleTime and unscaleInterval to maintain consistency.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 22bc76c..5e0455b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,13 @@
2009-11-06 Thomas Moulard <tho...@gm...>
+ Fix function naming.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Rename scaleTime/scaleInterval internal free functions to
+ unscaleTime and unscaleInterval to maintain consistency.
+
+2009-11-06 Thomas Moulard <tho...@gm...>
+
Check scaling functions in FreeTimeTrajectory test.
* include/roboptim/trajectory/free-time-trajectory.hh:
Make scaleTime and unscaleTime public.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 28ee40e..8aaf688 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -126,8 +126,10 @@ namespace roboptim
assert (this->scaleTime (tMin) == tmin);
assert (this->scaleTime (tMax) == tmax);
- return new FreeTimeTrajectory<DerivabilityOrder>
- (*trajectory_, scale);
+ Trajectory<DerivabilityOrder>* res =
+ new FreeTimeTrajectory<DerivabilityOrder> (*trajectory_, scale);
+ assert (res->timeRange () == this->timeRange ());
+ return res;
}
Trajectory<DerivabilityOrder>*
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 763952b..727f24f 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -27,7 +27,7 @@ namespace roboptim
namespace detail
{
inline Function::value_type
- scaleTime (Function::value_type unscaled,
+ unscaleTime (Function::value_type unscaled,
Function::value_type min,
Function::value_type scale)
{
@@ -36,13 +36,13 @@ namespace roboptim
template <unsigned dorder>
Function::interval_t
- scaleInterval (const Trajectory<dorder>& traj,
- typename Function::value_type scale)
+ unscaleInterval (const Trajectory<dorder>& traj,
+ typename Function::value_type scale)
{
Function::value_type min =
Function::getLowerBound (traj.timeRange ());
Function::value_type max =
- scaleTime (Function::getUpperBound (traj.timeRange ()), min, scale);
+ unscaleTime (Function::getUpperBound (traj.timeRange ()), min, scale);
return Function::makeInterval (min, max);
}
} // end of namespace detail
@@ -50,7 +50,7 @@ namespace roboptim
template <unsigned dorder>
FreeTimeTrajectory<dorder>::FreeTimeTrajectory
(const Trajectory<dorder>& traj, value_type s) throw ()
- : Trajectory<dorder> (detail::scaleInterval (traj, s), traj.outputSize (),
+ : Trajectory<dorder> (detail::unscaleInterval (traj, s), traj.outputSize (),
addScaleToParameters (traj.parameters (), s)),
trajectory_ (traj.clone ())
{
@@ -182,7 +182,8 @@ namespace roboptim
p_[0] = 1e-8;
this->parameters_ = p_;
- this->timeRange_ = detail::scaleInterval (*trajectory_, this->timeScale ());
+ this->timeRange_ =
+ detail::unscaleInterval (*trajectory_, this->timeScale ());
this->trajectory_->setParameters (removeScaleFromParameters (p_));
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 14 ++++++++++++++
.../roboptim/trajectory/free-time-trajectory.hh | 6 ++++--
.../roboptim/trajectory/free-time-trajectory.hxx | 13 +++++++------
tests/free-time-trajectory.cc | 18 ++++++++++++++++++
tests/free-time-trajectory.stdout | 6 ++++++
5 files changed, 49 insertions(+), 8 deletions(-)
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