[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-43-g986b993
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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-43-g986b993
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From: Thomas M. <tho...@us...> - 2009-11-15 22:53:10
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- Log -----------------------------------------------------------------
commit 986b993344881b3e2406344c110bdf0ae76f5bc1
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 23:50:21 2009 +0100
Normalize Gnuplot output and tests output.
* include/roboptim/trajectory/visualization/limit-speed.hh,
* include/roboptim/trajectory/visualization/speed.hh,
* include/roboptim/trajectory/visualization/trajectory.hh:
Normalize output.
* tests/free-time-trajectory-stable-time-point.cc,
* tests/free-time-trajectory.cc,
* tests/spline-gradient.cc: Normalize test output.
* tests/free-time-trajectory.stdout,
* tests/spline-gradient.stdout,
* tests/stable-point-state-function.stdout,
* tests/state-function.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 311e5fc..8305c18 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,20 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Normalize Gnuplot output and tests output.
+ * include/roboptim/trajectory/visualization/limit-speed.hh,
+ * include/roboptim/trajectory/visualization/speed.hh,
+ * include/roboptim/trajectory/visualization/trajectory.hh:
+ Normalize output.
+ * tests/free-time-trajectory-stable-time-point.cc,
+ * tests/free-time-trajectory.cc,
+ * tests/spline-gradient.cc: Normalize test output.
+ * tests/free-time-trajectory.stdout,
+ * tests/spline-gradient.stdout,
+ * tests/stable-point-state-function.stdout,
+ * tests/state-function.stdout: Regenerate.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Normalize test output.
* tests/stable-point-state-function.cc,
* tests/state-function.cc: Here.
diff --git a/include/roboptim/trajectory/visualization/limit-speed.hh b/include/roboptim/trajectory/visualization/limit-speed.hh
index e123a17..23b4cdc 100644
--- a/include/roboptim/trajectory/visualization/limit-speed.hh
+++ b/include/roboptim/trajectory/visualization/limit-speed.hh
@@ -22,6 +22,7 @@
# include <boost/format.hpp>
# include <boost/optional.hpp>
+# include <roboptim/core/visualization/gnuplot.hh>
# include <roboptim/core/visualization/gnuplot-commands.hh>
# include <roboptim/trajectory/limit-speed.hh>
@@ -59,7 +60,9 @@ namespace roboptim
LimitSpeed<T> speedLimit (t / tmax * tMax, trajectory_);
Function::vector_t res = speedLimit (trajectory_.parameters ());
- str_ += (format ("%1% %2%\n") % t % res[0]).str ();
+ str_ += (format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (res[0])).str ();
}
private:
diff --git a/include/roboptim/trajectory/visualization/speed.hh b/include/roboptim/trajectory/visualization/speed.hh
index 9ef3a29..b80728b 100644
--- a/include/roboptim/trajectory/visualization/speed.hh
+++ b/include/roboptim/trajectory/visualization/speed.hh
@@ -21,6 +21,7 @@
# include <boost/format.hpp>
+# include <roboptim/core/visualization/gnuplot.hh>
# include <roboptim/core/visualization/gnuplot-commands.hh>
# include <roboptim/trajectory/trajectory.hh>
# include <roboptim/trajectory/stable-time-point.hh>
@@ -64,9 +65,9 @@ namespace roboptim
StableTimePoint timePoint = i * tMax;
double t = timePoint.getTime (traj.timeRange ());
- str += (format ("%1f %2f\n")
- % t
- % frontalSpeed (traj.state (t, 1))[0]).str ();
+ str += (format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (frontalSpeed (traj.state (t, 1))[0])).str ();
}
str += "e\n";
}
@@ -78,9 +79,10 @@ namespace roboptim
StableTimePoint timePoint = i * tMax;
double t = timePoint.getTime (traj.timeRange ());
- str += (format ("%1f %2f\n")
- % t
- % orthogonalSpeed (traj.state(t, 1))[0]).str ();
+ str += (format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize
+ (orthogonalSpeed (traj.state (t, 1))[0])).str ();
}
str += "e\n";
}
@@ -91,9 +93,9 @@ namespace roboptim
StableTimePoint timePoint = i * tMax;
double t = timePoint.getTime (traj.timeRange ());
- str += (format ("%1f %2f\n")
- % t
- % traj.derivative (timePoint, 1)[2]).str ();
+ str += (format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (traj.derivative (timePoint, 1)[2])).str ();
}
str += "e\n";
}
diff --git a/include/roboptim/trajectory/visualization/trajectory.hh b/include/roboptim/trajectory/visualization/trajectory.hh
index 14525be..5510ebe 100644
--- a/include/roboptim/trajectory/visualization/trajectory.hh
+++ b/include/roboptim/trajectory/visualization/trajectory.hh
@@ -21,6 +21,7 @@
# include <boost/format.hpp>
+# include <roboptim/core/visualization/gnuplot.hh>
# include <roboptim/core/visualization/gnuplot-commands.hh>
# include <roboptim/trajectory/trajectory.hh>
# include <roboptim/trajectory/stable-time-point.hh>
@@ -85,7 +86,9 @@ namespace roboptim
for (double i = step; i < 1. - step; i += step)
{
Function::vector_t res = traj (i * tMax);
- str += (format ("%1f %2f\n") % res[0] % res [1]).str ();
+ str += (format ("%1f %2f\n")
+ % normalize (res[0])
+ % normalize (res [1])).str ();
}
str += "e\n";
@@ -131,9 +134,9 @@ namespace roboptim
{
StableTimePoint timePoint = i * tMax;
Function::vector_t res = traj (timePoint);
- str += (format ("%1f %2f\n")
- % timePoint.getTime (traj.timeRange ())
- % res [component]).str ();
+ str += (format ("%1.2f %2.2f\n")
+ % normalize (timePoint.getTime (traj.timeRange ()))
+ % normalize (res [component])).str ();
}
str += "e\n";
}
diff --git a/tests/free-time-trajectory-stable-time-point.cc b/tests/free-time-trajectory-stable-time-point.cc
index 113caf8..8166be5 100644
--- a/tests/free-time-trajectory-stable-time-point.cc
+++ b/tests/free-time-trajectory-stable-time-point.cc
@@ -23,6 +23,7 @@
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
+#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/fwd.hh>
@@ -35,6 +36,7 @@ using boost::format;
using boost::io::group;
using namespace roboptim;
+using namespace roboptim::visualization;
typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
@@ -161,10 +163,10 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
alpha = 1.;
fmter % alpha;
- fmter % spline (alpha * tMax)[0];
- fmter % freeTimeTraj (alpha * tMax)[0];
- fmter % spline.derivative (alpha * tMax, 1)[0];
- fmter % freeTimeTraj.derivative (alpha * tMax, 1)[0];
+ fmter % normalize (spline (alpha * tMax)[0]);
+ fmter % normalize (freeTimeTraj (alpha * tMax)[0]);
+ fmter % normalize (spline.derivative (alpha * tMax, 1)[0]);
+ fmter % normalize (freeTimeTraj.derivative (alpha * tMax, 1)[0]);
std:: cout << fmter << std::endl;
}
std::cout << "\\---------------------------------------"
@@ -205,11 +207,11 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
Spline::jacobian_t splineVarConfig =
spline.variationConfigWrtParam (alpha * tMax);
- fmterConfig % splineVarConfig;
+ fmterConfig % normalize (splineVarConfig);
freeTime_t::jacobian_t fttVarConfig =
freeTimeTraj.variationConfigWrtParam (alpha * tMax);
- fmterConfig % fttVarConfig;
+ fmterConfig % normalize (fttVarConfig);
try
{
@@ -237,11 +239,11 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
Spline::jacobian_t splineVarDeriv =
spline.variationDerivWrtParam (alpha * tMax, 1);
- fmterDeriv % splineVarDeriv;
+ fmterDeriv % normalize (splineVarDeriv);
freeTime_t::jacobian_t fttVarDeriv =
freeTimeTraj.variationDerivWrtParam (alpha * tMax, 1);
- fmterDeriv % fttVarDeriv;
+ fmterDeriv % normalize (fttVarDeriv);
for (unsigned gradientId = 0;
gradientId < freeTimeTraj.parameters ().size (); ++gradientId)
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index d5c65df..bfb555d 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -23,6 +23,7 @@
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
+#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/fwd.hh>
@@ -35,6 +36,7 @@ using boost::format;
using boost::io::group;
using namespace roboptim;
+using namespace roboptim::visualization;
typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
@@ -154,15 +156,15 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
fmter % t;
if (tmin <= t && t <= tmax)
- fmter % spline (t)[0];
+ fmter % normalize (spline (t)[0]);
else
fmter % "N/A";
fmter % freeTimeTraj (t)[0];
if (tmin <= t && t <= tmax)
- fmter % spline.derivative (t, 1)[0];
+ fmter % normalize (spline.derivative (t, 1)[0]);
else
fmter % "N/A";
- fmter % freeTimeTraj.derivative (t, 1)[0];
+ fmter % normalize (freeTimeTraj.derivative (t, 1)[0]);
std:: cout << fmter << std::endl;
}
@@ -207,14 +209,14 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
{
Spline::jacobian_t splineVarConfig =
spline.variationConfigWrtParam (t);
- fmterConfig % splineVarConfig;
+ fmterConfig % normalize (splineVarConfig);
}
else
fmterConfig % "N/A";
freeTime_t::jacobian_t fttVarConfig =
freeTimeTraj.variationConfigWrtParam (t);
- fmterConfig % fttVarConfig;
+ fmterConfig % normalize (fttVarConfig);
try
{
@@ -242,14 +244,14 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
{
Spline::jacobian_t splineVarDeriv =
spline.variationDerivWrtParam (t, 1);
- fmterDeriv % splineVarDeriv;
+ fmterDeriv % normalize (splineVarDeriv);
}
else
fmterDeriv % "N/A";
freeTime_t::jacobian_t fttVarDeriv =
freeTimeTraj.variationDerivWrtParam (t, 1);
- fmterDeriv % fttVarDeriv;
+ fmterDeriv % normalize (fttVarDeriv);
for (unsigned gradientId = 0;
gradientId < freeTimeTraj.parameters ().size (); ++gradientId)
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index b90abcc..e631f25 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -202,7 +202,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((-0.92,0.67,0.24,0.00)) [1,5]((85.94,-0.92,0.67,0.24,0.00))
[1,4]((-0.86,0.51,0.35,0.00)) [1,5]((93.75,-0.86,0.51,0.35,0.00))
[1,4]((-0.76,0.28,0.48,0.00)) [1,5]((101.56,-0.76,0.28,0.48,0.00))
-[1,4]((-0.62,-0.00,0.63,-0.00)) [1,5]((109.37,-0.62,-0.00,0.63,-0.00))
+[1,4]((-0.62,0.00,0.63,0.00)) [1,5]((109.37,-0.62,0.00,0.63,0.00))
[1,4]((-0.48,-0.28,0.75,0.01)) [1,5]((100.10,-0.48,-0.28,0.75,0.01))
[1,4]((-0.35,-0.51,0.82,0.04)) [1,5]((87.89,-0.35,-0.51,0.82,0.04))
[1,4]((-0.24,-0.67,0.83,0.09)) [1,5]((72.75,-0.24,-0.67,0.83,0.09))
@@ -210,7 +210,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((-0.09,-0.83,0.67,0.24)) [1,5]((33.69,-0.09,-0.83,0.67,0.24))
[1,4]((-0.04,-0.82,0.51,0.35)) [1,5]((9.77,-0.04,-0.82,0.51,0.35))
[1,4]((-0.01,-0.75,0.28,0.48)) [1,5]((-17.09,-0.01,-0.75,0.28,0.48))
-[1,4]((0.00,-0.62,-0.00,0.63)) [1,5]((-46.87,0.00,-0.62,-0.00,0.63))
+[1,4]((0.00,-0.62,0.00,0.63)) [1,5]((-46.87,0.00,-0.62,0.00,0.63))
[1,4]((0.00,-0.48,-0.28,0.76)) [1,5]((-54.69,0.00,-0.48,-0.28,0.76))
[1,4]((0.00,-0.35,-0.51,0.86)) [1,5]((-62.50,0.00,-0.35,-0.51,0.86))
[1,4]((0.00,-0.24,-0.67,0.92)) [1,5]((-70.31,0.00,-0.24,-0.67,0.92))
@@ -226,7 +226,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((0.00,0.00,-0.09,0.09)) [1,5]((-52.00,0.00,0.00,-0.09,0.09))
[1,4]((0.00,0.00,-0.04,0.04)) [1,5]((-36.13,0.00,0.00,-0.04,0.04))
[1,4]((0.00,0.00,-0.01,0.01)) [1,5]((-18.80,0.00,0.00,-0.01,0.01))
-[1,4]((0.00,0.00,0.00,0.00)) [1,5]((-0.00,0.00,0.00,0.00,0.00))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
Spline range: [0, 4]
FTT range: [0, 8]
@@ -582,7 +582,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((-0.92,0.67,0.24,0.00)) [1,5]((30.94,-0.21,0.21,0.00,0.00))
[1,4]((-0.86,0.51,0.35,0.00)) [1,5]((35.89,-0.24,0.24,0.00,0.00))
[1,4]((-0.76,0.28,0.48,0.00)) [1,5]((41.20,-0.27,0.27,0.00,0.00))
-[1,4]((-0.62,-0.00,0.63,-0.00)) [1,5]((46.88,-0.31,0.31,0.00,0.00))
+[1,4]((-0.62,0.00,0.63,0.00)) [1,5]((46.88,-0.31,0.31,0.00,0.00))
[1,4]((-0.48,-0.28,0.75,0.01)) [1,5]((50.78,-0.35,0.35,0.00,0.00))
[1,4]((-0.35,-0.51,0.82,0.04)) [1,5]((54.69,-0.38,0.38,0.00,0.00))
[1,4]((-0.24,-0.67,0.83,0.09)) [1,5]((58.59,-0.41,0.40,0.01,0.00))
@@ -590,7 +590,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((-0.09,-0.83,0.67,0.24)) [1,5]((66.41,-0.45,0.42,0.03,0.00))
[1,4]((-0.04,-0.82,0.51,0.35)) [1,5]((70.31,-0.46,0.42,0.04,0.00))
[1,4]((-0.01,-0.75,0.28,0.48)) [1,5]((74.22,-0.47,0.41,0.06,0.00))
-[1,4]((0.00,-0.62,-0.00,0.63)) [1,5]((78.13,-0.47,0.39,0.08,0.00))
+[1,4]((0.00,-0.62,0.00,0.63)) [1,5]((78.13,-0.47,0.39,0.08,0.00))
[1,4]((0.00,-0.48,-0.28,0.76)) [1,5]((82.03,-0.47,0.37,0.10,0.00))
[1,4]((0.00,-0.35,-0.51,0.86)) [1,5]((85.94,-0.46,0.34,0.12,0.00))
[1,4]((0.00,-0.24,-0.67,0.92)) [1,5]((89.84,-0.45,0.30,0.15,0.00))
@@ -598,7 +598,7 @@ Variation of the derivative w.r.t to parameters:
[1,4]((0.00,-0.09,-0.83,0.92)) [1,5]((97.66,-0.41,0.20,0.21,0.00))
[1,4]((0.00,-0.04,-0.82,0.86)) [1,5]((101.56,-0.38,0.14,0.24,0.00))
[1,4]((0.00,-0.01,-0.75,0.76)) [1,5]((105.47,-0.35,0.07,0.27,0.00))
-[1,4]((0.00,0.00,-0.62,0.62)) [1,5]((109.37,-0.31,-0.00,0.31,-0.00))
+[1,4]((0.00,0.00,-0.62,0.62)) [1,5]((109.37,-0.31,0.00,0.31,0.00))
[1,4]((0.00,0.00,-0.48,0.48)) [1,5]((105.10,-0.27,-0.07,0.35,0.00))
[1,4]((0.00,0.00,-0.35,0.35)) [1,5]((100.10,-0.24,-0.14,0.38,0.00))
[1,4]((0.00,0.00,-0.24,0.24)) [1,5]((94.36,-0.21,-0.20,0.40,0.01))
@@ -660,7 +660,7 @@ bad gradient
Max. delta in component: 0.00
Max. allowed delta: 0.00
N/A [1,5]((-9.58,0.00,0.00,-0.00,0.00))
-N/A [1,5]((-0.00,0.00,0.00,0.00,0.00))
+N/A [1,5]((0.00,0.00,0.00,0.00,0.00))
Spline range: [0, 4]
FTT range: [0, 2]
@@ -776,9 +776,9 @@ Variation of the derivative w.r.t to parameters:
[1,4]((-0.92,0.67,0.24,0.00)) [1,5]((-62.50,0.00,-0.70,-1.02,1.72))
[1,4]((-0.86,0.51,0.35,0.00)) [1,5]((-78.12,0.00,-0.31,-1.56,1.88))
[1,4]((-0.76,0.28,0.48,0.00)) [1,5]((-93.75,0.00,-0.08,-1.64,1.72))
-[1,4]((-0.62,-0.00,0.63,-0.00)) [1,5]((-109.37,0.00,0.00,-1.25,1.25))
+[1,4]((-0.62,0.00,0.63,0.00)) [1,5]((-109.37,0.00,0.00,-1.25,1.25))
[1,4]((-0.48,-0.28,0.75,0.01)) [1,5]((-90.82,0.00,0.00,-0.70,0.70))
[1,4]((-0.35,-0.51,0.82,0.04)) [1,5]((-66.41,0.00,0.00,-0.31,0.31))
[1,4]((-0.24,-0.67,0.83,0.09)) [1,5]((-36.13,0.00,0.00,-0.08,0.08))
-[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((-0.00,0.00,0.00,0.00,0.00))
+[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((0.00,0.00,0.00,0.00,0.00))
diff --git a/tests/spline-gradient.cc b/tests/spline-gradient.cc
index e32882e..f0f0d31 100644
--- a/tests/spline-gradient.cc
+++ b/tests/spline-gradient.cc
@@ -84,7 +84,9 @@ int run_test ()
t += boost::get<2> (window))
{
Spline::vector_t grad = spline.derivative (t, i);
- std::cout << (boost::format ("%1.2f %2.2f\n") % t % grad (0)).str ();
+ std::cout << (boost::format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (grad (0))).str ();
try
{
@@ -126,7 +128,9 @@ int run_test ()
t += boost::get<2> (window))
{
Spline::matrix_t jac = spline.variationDerivWrtParam (t, i);
- std::cout << (boost::format ("%1.2f %2.2f\n") % t % jac (0, j)).str ();
+ std::cout << (boost::format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (jac (0, j))).str ();
}
std::cout << "e" << std::endl;
}
diff --git a/tests/spline-gradient.stdout b/tests/spline-gradient.stdout
index 80feebc..23abfd8 100644
--- a/tests/spline-gradient.stdout
+++ b/tests/spline-gradient.stdout
@@ -2993,7 +2993,7 @@ plot '-' title 'derivative (1)' with line
1.57 0.09
1.58 0.06
1.59 0.03
-1.60 -0.00
+1.60 0.00
1.61 -0.03
1.62 -0.06
1.63 -0.09
@@ -5417,7 +5417,7 @@ plot '-' title 'derivative (3)' with line
1.57 0.00
1.58 0.00
1.59 0.00
-1.60 -0.00
+1.60 0.00
1.61 0.00
1.62 0.00
1.63 0.00
@@ -6061,7 +6061,7 @@ plot '-' title '2nd derivative (3)' with line
3.97 -0.06
3.98 -0.04
3.99 -0.02
-4.00 -0.00
+4.00 0.00
e
unset multiplot
set term wxt persist title 'Spline: base functions' 1 font ',5'
@@ -6635,7 +6635,7 @@ plot '-' title 'spline derivative' with line
1.57 0.09
1.58 0.06
1.59 0.03
-1.60 -0.00
+1.60 0.00
1.61 -0.03
1.62 -0.06
1.63 -0.09
@@ -9059,7 +9059,7 @@ plot '-' title 'derivative (1)' with line
1.57 0.09
1.58 0.06
1.59 0.03
-1.60 -0.00
+1.60 0.00
1.61 -0.03
1.62 -0.06
1.63 -0.09
@@ -11483,7 +11483,7 @@ plot '-' title 'derivative (3)' with line
1.57 0.00
1.58 0.00
1.59 0.00
-1.60 -0.00
+1.60 0.00
1.61 0.00
1.62 0.00
1.63 0.00
@@ -12127,7 +12127,7 @@ plot '-' title '2nd derivative (3)' with line
3.97 -0.06
3.98 -0.04
3.99 -0.02
-4.00 -0.00
+4.00 0.00
e
unset multiplot
set term wxt persist title 'Spline: base functions' 2 font ',5'
@@ -15125,7 +15125,7 @@ plot '-' title 'derivative (1)' with line
1.57 0.09
1.58 0.06
1.59 0.03
-1.60 -0.00
+1.60 0.00
1.61 -0.03
1.62 -0.06
1.63 -0.09
@@ -17549,7 +17549,7 @@ plot '-' title 'derivative (3)' with line
1.57 0.00
1.58 0.00
1.59 0.00
-1.60 -0.00
+1.60 0.00
1.61 0.00
1.62 0.00
1.63 0.00
@@ -18193,7 +18193,7 @@ plot '-' title '2nd derivative (3)' with line
3.97 -0.06
3.98 -0.04
3.99 -0.02
-4.00 -0.00
+4.00 0.00
e
unset multiplot
set term wxt persist title 'Spline: base functions' 3 font ',5'
@@ -19411,7 +19411,7 @@ plot '-' title 'spline 2nd derivative' with line
3.97 -0.06
3.98 -0.04
3.99 -0.02
-4.00 -0.00
+4.00 0.00
e
plot '-' title 'configuration (0)' with line
@@ -21191,7 +21191,7 @@ plot '-' title 'derivative (1)' with line
1.57 0.09
1.58 0.06
1.59 0.03
-1.60 -0.00
+1.60 0.00
1.61 -0.03
1.62 -0.06
1.63 -0.09
@@ -23615,7 +23615,7 @@ plot '-' title 'derivative (3)' with line
1.57 0.00
1.58 0.00
1.59 0.00
-1.60 -0.00
+1.60 0.00
1.61 0.00
1.62 0.00
1.63 0.00
@@ -24259,6 +24259,6 @@ plot '-' title '2nd derivative (3)' with line
3.97 -0.06
3.98 -0.04
3.99 -0.02
-4.00 -0.00
+4.00 0.00
e
unset multiplot
diff --git a/tests/stable-point-state-function.stdout b/tests/stable-point-state-function.stdout
index a2d312a..97f5e93 100644
--- a/tests/stable-point-state-function.stdout
+++ b/tests/stable-point-state-function.stdout
@@ -121,17 +121,17 @@ Check state cost gradient.
State cost evaluation:
[1](70.31)
State cost gradient:
-[13](46.88,0.00,0.00,-0.00,-0.94,0.00,-0.00,0.00,0.00,-0.00,0.94,0.00,-0.00)
+[13](46.88,0.00,0.00,0.00,-0.94,0.00,0.00,0.00,0.00,0.00,0.94,0.00,0.00)
Trajectory state (splitted):
[3](70.83,33.33,0.00)
-[3](93.75,-0.00,0.00)
+[3](93.75,0.00,0.00)
Trajectory state (one call):
-[6](70.83,33.33,0.00,93.75,-0.00,0.00)
+[6](70.83,33.33,0.00,93.75,0.00,0.00)
Trajectory state variation (splitted):
-[3,13]((56.25,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00),(-0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17))
+[3,13]((56.25,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00),(0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17))
[3,13]((-46.87,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00),(750.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25))
Trajectory state (one call):
-[6,13]((56.25,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00),(-0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17),(-46.87,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00),(750.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25))
+[6,13]((56.25,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00),(0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17),(-46.87,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00),(750.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,0.00,0.00,0.00,1.25))
Check frontal speed gradient.
Check orthogonal speed gradient.
Check state cost gradient.
diff --git a/tests/state-function.stdout b/tests/state-function.stdout
index 3159a21..939427c 100644
--- a/tests/state-function.stdout
+++ b/tests/state-function.stdout
@@ -121,12 +121,12 @@ Check state cost gradient.
State cost evaluation:
[1](46.88)
State cost gradient:
-[12](0.00,0.00,-0.00,-0.63,0.00,-0.00,0.00,0.00,-0.00,0.62,0.00,-0.00)
+[12](0.00,0.00,0.00,-0.63,0.00,0.00,0.00,0.00,0.00,0.62,0.00,0.00)
Trajectory state (splitted):
[3](70.83,33.33,0.00)
-[3](46.88,-0.00,0.00)
+[3](46.88,0.00,0.00)
Trajectory state (one call):
-[6](70.83,33.33,0.00,46.88,-0.00,0.00)
+[6](70.83,33.33,0.00,46.88,0.00,0.00)
Trajectory state variation (splitted):
[3,12]((0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00),(0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00),(0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17))
[3,12]((0.00,0.00,0.00,-0.63,0.00,0.00,0.00,0.00,0.00,0.62,0.00,0.00),(0.00,0.00,0.00,0.00,-0.63,0.00,0.00,0.00,0.00,0.00,0.62,0.00),(0.00,0.00,0.00,0.00,0.00,-0.63,0.00,0.00,0.00,0.00,0.00,0.62))
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 ++++++++++
.../trajectory/visualization/limit-speed.hh | 5 +++-
include/roboptim/trajectory/visualization/speed.hh | 20 ++++++++------
.../trajectory/visualization/trajectory.hh | 11 +++++---
tests/free-time-trajectory-stable-time-point.cc | 18 +++++++-----
tests/free-time-trajectory.cc | 16 ++++++-----
tests/free-time-trajectory.stdout | 18 ++++++------
tests/spline-gradient.cc | 8 ++++-
tests/spline-gradient.stdout | 28 ++++++++++----------
tests/stable-point-state-function.stdout | 10 +++---
tests/state-function.stdout | 6 ++--
11 files changed, 93 insertions(+), 62 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
