[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-46-gcf076c0
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[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-46-gcf076c0
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From: Thomas M. <tho...@us...> - 2009-11-16 12:42:28
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- Log -----------------------------------------------------------------
commit cf076c099ea28c840df6b2a725d4135b3f74dbe1
Author: Thomas Moulard <tho...@gm...>
Date: Mon Nov 16 13:42:12 2009 +0100
Clean interface.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx,
* include/roboptim/trajectory/fwd.hh,
* include/roboptim/trajectory/stable-point-state-function.hh,
* include/roboptim/trajectory/state-function.hh,
* include/roboptim/trajectory/state-function.hxx,
* tests/anthropomorphic-cost-function.cc,
* tests/free-time-trajectory-stable-time-point.cc,
* tests/free-time-trajectory.cc,
* tests/spline-time-optimization.cc,
* tests/stable-point-state-function.cc,
* tests/state-function.cc: Update interface so that classes
are always parametrized by the trajectory classes types.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f181643..71d65de 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,22 @@
2009-11-16 Thomas Moulard <tho...@gm...>
+ Clean interface.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx,
+ * include/roboptim/trajectory/fwd.hh,
+ * include/roboptim/trajectory/stable-point-state-function.hh,
+ * include/roboptim/trajectory/state-function.hh,
+ * include/roboptim/trajectory/state-function.hxx,
+ * tests/anthropomorphic-cost-function.cc,
+ * tests/free-time-trajectory-stable-time-point.cc,
+ * tests/free-time-trajectory.cc,
+ * tests/spline-time-optimization.cc,
+ * tests/stable-point-state-function.cc,
+ * tests/state-function.cc: Update interface so that classes
+ are always parametrized by the trajectory classes types.
+
+2009-11-16 Thomas Moulard <tho...@gm...>
+
Normalize test output.
* tests/spline-optimization.cc: Here.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 756aae5..5f8b35b 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -18,7 +18,10 @@
#ifndef ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# include <roboptim/trajectory/sys.hh>
+
# include <boost/numeric/ublas/vector_proxy.hpp>
+# include <boost/static_assert.hpp>
+# include <boost/type_traits/is_base_of.hpp>
# include <roboptim/trajectory/trajectory.hh>
@@ -31,12 +34,21 @@ namespace roboptim
///
/// Build a trajectory from an input trajectory and a time scale
/// factor.
- template <unsigned DerivabilityOrder>
- class FreeTimeTrajectory : public Trajectory<DerivabilityOrder>
+ template <typename T>
+ class FreeTimeTrajectory : public Trajectory<T::derivabilityOrder>
{
+ /// Check that T is a trajectory type.
+ BOOST_STATIC_ASSERT((boost::is_base_of
+ <Trajectory<T::derivabilityOrder>, T>::value));
+
public:
/// \brief Parent type.
- typedef Trajectory<DerivabilityOrder> parent_t;
+ typedef Trajectory<T::derivabilityOrder> parent_t;
+ /// \brief Fixed point trajectory type.
+ typedef T fixedTimeTrajectory_t;
+ /// \brief Self type.
+ typedef FreeTimeTrajectory<T> self_t;
+
/// \brief Import value type.
typedef typename parent_t::value_type value_type;
@@ -61,10 +73,10 @@ namespace roboptim
///
/// \param traj trajectory defining this one by reparameterization
/// \param s time scale
- FreeTimeTrajectory (const Trajectory<DerivabilityOrder>& traj, value_type s)
+ FreeTimeTrajectory (const fixedTimeTrajectory_t& traj, value_type s)
throw ();
- FreeTimeTrajectory (const FreeTimeTrajectory<DerivabilityOrder>& traj) throw ();
+ FreeTimeTrajectory (const self_t& traj) throw ();
virtual ~FreeTimeTrajectory () throw ();
@@ -90,7 +102,7 @@ namespace roboptim
return 0;
}
- ROBOPTIM_IMPLEMENT_CLONE (FreeTimeTrajectory<DerivabilityOrder>)
+ ROBOPTIM_IMPLEMENT_CLONE (self_t)
/// \brief Display the function on the specified output stream.
///
@@ -104,14 +116,14 @@ namespace roboptim
/// \param index Angles index in parameter array.
virtual void normalizeAngles (size_type index) throw ();
- const Trajectory<DerivabilityOrder>&
+ const fixedTimeTrajectory_t&
getFixedTimeTrajectory () const throw ()
{
assert (trajectory_);
return *trajectory_;
}
- Trajectory<DerivabilityOrder>*
+ self_t*
resize (interval_t timeRange) const throw ()
{
assert (trajectory_);
@@ -126,13 +138,13 @@ namespace roboptim
assert (this->scaleTime (tMin) == tmin);
assert (this->scaleTime (tMax) == tmax);
- Trajectory<DerivabilityOrder>* res =
- new FreeTimeTrajectory<DerivabilityOrder> (*trajectory_, scale);
+ self_t* res =
+ new self_t (*trajectory_, scale);
assert (res->timeRange () == this->timeRange ());
return res;
}
- Trajectory<DerivabilityOrder>*
+ fixedTimeTrajectory_t*
makeFixedTimeTrajectory () const throw ()
{
assert (trajectory_);
@@ -164,7 +176,7 @@ namespace roboptim
const throw ();
private:
/// \brief Input fixed time trajectory.
- Trajectory<DerivabilityOrder>* trajectory_;
+ fixedTimeTrajectory_t* trajectory_;
};
/// Example shows FreeTimeTrajectory use.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 6aa0394..14e02d3 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -47,43 +47,43 @@ namespace roboptim
}
} // end of namespace detail
- template <unsigned dorder>
- FreeTimeTrajectory<dorder>::FreeTimeTrajectory
- (const Trajectory<dorder>& traj, value_type s) throw ()
- : Trajectory<dorder> (detail::unscaleInterval (traj, s), traj.outputSize (),
- addScaleToParameters (traj.parameters (), s)),
+ template <typename T>
+ FreeTimeTrajectory<T>::FreeTimeTrajectory
+ (const fixedTimeTrajectory_t& traj, value_type s) throw ()
+ : parent_t (detail::unscaleInterval (traj, s), traj.outputSize (),
+ addScaleToParameters (traj.parameters (), s)),
trajectory_ (traj.clone ())
{
assert (s != 0. && !std::isinf (s) && !std::isnan (s));
}
- template <unsigned dorder>
- FreeTimeTrajectory<dorder>::FreeTimeTrajectory
- (const FreeTimeTrajectory<dorder>& traj)
+ template <typename T>
+ FreeTimeTrajectory<T>::FreeTimeTrajectory
+ (const self_t& traj)
throw ()
- : Trajectory<dorder> (traj.timeRange (), traj.outputSize (),
- traj.parameters ()),
+ : parent_t (traj.timeRange (), traj.outputSize (),
+ traj.parameters ()),
trajectory_ (traj.trajectory_->clone ())
{
}
- template <unsigned dorder>
- FreeTimeTrajectory<dorder>::~FreeTimeTrajectory () throw ()
+ template <typename T>
+ FreeTimeTrajectory<T>::~FreeTimeTrajectory () throw ()
{
delete trajectory_;
}
- template <unsigned dorder>
+ template <typename T>
void
- FreeTimeTrajectory<dorder>::impl_compute (result_t& res , double t)
+ FreeTimeTrajectory<T>::impl_compute (result_t& res , double t)
const throw ()
{
(*trajectory_) (res, this->scaleTime (t));
}
- template <unsigned dorder>
+ template <typename T>
void
- FreeTimeTrajectory<dorder>::impl_derivative (gradient_t& derivative,
+ FreeTimeTrajectory<T>::impl_derivative (gradient_t& derivative,
double t,
size_type order) const throw ()
{
@@ -93,9 +93,9 @@ namespace roboptim
derivative *= std::pow (this->timeScale (), 0. + order);
}
- template <unsigned dorder>
+ template <typename T>
void
- FreeTimeTrajectory<dorder>::impl_derivative (gradient_t& derivative,
+ FreeTimeTrajectory<T>::impl_derivative (gradient_t& derivative,
StableTimePoint stp,
size_type order) const throw ()
{
@@ -104,9 +104,9 @@ namespace roboptim
derivative *= std::pow (this->timeScale (), 0. + order);
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
+ template <typename T>
+ typename FreeTimeTrajectory<T>::jacobian_t
+ FreeTimeTrajectory<T>::variationConfigWrtParam (double t) const throw ()
{
using namespace boost::numeric::ublas;
value_type scaled = this->scaleTime (t);
@@ -127,9 +127,9 @@ namespace roboptim
return result;
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationDerivWrtParam (double t, size_type order)
+ template <typename T>
+ typename FreeTimeTrajectory<T>::jacobian_t
+ FreeTimeTrajectory<T>::variationDerivWrtParam (double t, size_type order)
const throw ()
{
if (order == 0)
@@ -158,9 +158,9 @@ namespace roboptim
return result;
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationConfigWrtParam
+ template <typename T>
+ typename FreeTimeTrajectory<T>::jacobian_t
+ FreeTimeTrajectory<T>::variationConfigWrtParam
(StableTimePoint stp) const throw ()
{
using namespace boost::numeric::ublas;
@@ -180,9 +180,9 @@ namespace roboptim
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationDerivWrtParam
+ template <typename T>
+ typename FreeTimeTrajectory<T>::jacobian_t
+ FreeTimeTrajectory<T>::variationDerivWrtParam
(StableTimePoint stp, size_type order) const throw ()
{
if (order == 0)
@@ -205,35 +205,35 @@ namespace roboptim
return result;
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::value_type
- FreeTimeTrajectory<dorder>::singularPointAtRank (size_type rank) const
+ template <typename T>
+ typename FreeTimeTrajectory<T>::value_type
+ FreeTimeTrajectory<T>::singularPointAtRank (size_type rank) const
{
double tMin = this->getLowerBound (this->timeRange ());
return tMin + (trajectory_->singularPointAtRank (rank) - tMin)
* this->timeScale ();
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::vector_t
- FreeTimeTrajectory<dorder>::derivBeforeSingularPoint (size_type rank,
+ template <typename T>
+ typename FreeTimeTrajectory<T>::vector_t
+ FreeTimeTrajectory<T>::derivBeforeSingularPoint (size_type rank,
size_type order)
const
{
return trajectory_->derivBeforeSingularPoint (rank, order);
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::vector_t
- FreeTimeTrajectory<dorder>::derivAfterSingularPoint (size_type rank, size_type order)
+ template <typename T>
+ typename FreeTimeTrajectory<T>::vector_t
+ FreeTimeTrajectory<T>::derivAfterSingularPoint (size_type rank, size_type order)
const
{
return trajectory_->derivAfterSingularPoint (rank, order);
}
- template <unsigned dorder>
+ template <typename T>
void
- FreeTimeTrajectory<dorder>::setParameters (const vector_t& p) throw ()
+ FreeTimeTrajectory<T>::setParameters (const vector_t& p) throw ()
{
//FIXME: is this ok?
vector_t p_ = p;
@@ -246,16 +246,16 @@ namespace roboptim
this->trajectory_->setParameters (removeScaleFromParameters (p_));
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::value_type
- FreeTimeTrajectory<dorder>::timeScale () const throw ()
+ template <typename T>
+ typename FreeTimeTrajectory<T>::value_type
+ FreeTimeTrajectory<T>::timeScale () const throw ()
{
return this->parameters_[0];
}
- template <unsigned dorder>
+ template <typename T>
double
- FreeTimeTrajectory<dorder>::scaleTime (double unscaled) const throw ()
+ FreeTimeTrajectory<T>::scaleTime (double unscaled) const throw ()
{
value_type tMin = getLowerBound (this->timeRange ());
value_type tmin = getLowerBound (this->trajectory_->timeRange ());
@@ -273,9 +273,9 @@ namespace roboptim
return res;
}
- template <unsigned dorder>
+ template <typename T>
double
- FreeTimeTrajectory<dorder>::unscaleTime (double scaled) const throw ()
+ FreeTimeTrajectory<T>::unscaleTime (double scaled) const throw ()
{
value_type tMin = getLowerBound (this->timeRange ());
value_type tMax = getUpperBound (this->timeRange ());
@@ -293,17 +293,17 @@ namespace roboptim
return res;
}
- template <unsigned dorder>
+ template <typename T>
std::ostream&
- FreeTimeTrajectory<dorder>::print (std::ostream& o) const throw ()
+ FreeTimeTrajectory<T>::print (std::ostream& o) const throw ()
{
o << "Free time trajectory." << std::endl;
return o;
}
- template <unsigned dorder>
+ template <typename T>
void
- FreeTimeTrajectory<dorder>::normalizeAngles (size_type index) throw ()
+ FreeTimeTrajectory<T>::normalizeAngles (size_type index) throw ()
{
this->normalizeAngles (index, 1.);
}
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/fwd.hh
index f51ae03..16d0280 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/fwd.hh
@@ -21,10 +21,13 @@
namespace roboptim
{
+ template <typename T>
+ class FreeTimeTrajectory;
+
template <unsigned dorder>
class Trajectory;
- template <unsigned dorder>
+ template <typename T>
class StateFunction;
template <typename T>
diff --git a/include/roboptim/trajectory/stable-point-state-function.hh b/include/roboptim/trajectory/stable-point-state-function.hh
index 760627f..b79ea7f 100644
--- a/include/roboptim/trajectory/stable-point-state-function.hh
+++ b/include/roboptim/trajectory/stable-point-state-function.hh
@@ -20,6 +20,8 @@
# include <roboptim/trajectory/sys.hh>
# include <boost/shared_ptr.hpp>
+# include <boost/static_assert.hpp>
+# include <boost/type_traits/is_base_of.hpp>
# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/derivable-function.hh>
@@ -53,9 +55,12 @@ namespace roboptim
template <typename T>
class StablePointStateFunction : public DerivableFunction
{
+ /// Check that T is a trajectory type.
+ BOOST_STATIC_ASSERT((boost::is_base_of
+ <Trajectory<T::derivabilityOrder>, T>::value));
public:
/// \brief Trajectory type.
- typedef FreeTimeTrajectory<T::derivabilityOrder> trajectory_t;
+ typedef T trajectory_t;
/// \brief Constructor.
///
diff --git a/include/roboptim/trajectory/state-function.hh b/include/roboptim/trajectory/state-function.hh
index 72211e1..bd1c436 100644
--- a/include/roboptim/trajectory/state-function.hh
+++ b/include/roboptim/trajectory/state-function.hh
@@ -20,6 +20,8 @@
# include <roboptim/trajectory/sys.hh>
# include <boost/shared_ptr.hpp>
+# include <boost/static_assert.hpp>
+# include <boost/type_traits/is_base_of.hpp>
# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/derivable-function.hh>
@@ -49,12 +51,15 @@ namespace roboptim
///
/// \tparam T trajectory type
- template <unsigned DerivabilityOrder>
+ template <typename T>
class StateFunction : public DerivableFunction
{
+ /// Check that T is a trajectory type.
+ BOOST_STATIC_ASSERT((boost::is_base_of
+ <Trajectory<T::derivabilityOrder>, T>::value));
public:
/// \brief Trajectory type.
- typedef Trajectory<DerivabilityOrder> trajectory_t;
+ typedef T trajectory_t;
/// \brief Constructor.
///
diff --git a/include/roboptim/trajectory/state-function.hxx b/include/roboptim/trajectory/state-function.hxx
index 732e45c..e6f2a0c 100644
--- a/include/roboptim/trajectory/state-function.hxx
+++ b/include/roboptim/trajectory/state-function.hxx
@@ -21,8 +21,8 @@
namespace roboptim
{
- template <unsigned N>
- StateFunction<N>::StateFunction (const trajectory_t& trajectory,
+ template <typename T>
+ StateFunction<T>::StateFunction (const trajectory_t& trajectory,
boost::shared_ptr<DerivableFunction> function,
const StableTimePoint tpt,
size_type order) throw ()
@@ -38,21 +38,21 @@ namespace roboptim
assert (function_->inputSize () == trajectory_.outputSize () * (order + 1));
}
- template <unsigned N>
- StateFunction<N>::~StateFunction() throw ()
+ template <typename T>
+ StateFunction<T>::~StateFunction() throw ()
{
}
- template <unsigned N>
- typename StateFunction<N>::size_type
- StateFunction<N>::order () const throw ()
+ template <typename T>
+ typename StateFunction<T>::size_type
+ StateFunction<T>::order () const throw ()
{
return order_;
}
- template <unsigned N>
+ template <typename T>
void
- StateFunction<N>::impl_compute (result_t& res,
+ StateFunction<T>::impl_compute (result_t& res,
const argument_t& p) const throw ()
{
static boost::shared_ptr<trajectory_t> updatedTrajectory =
@@ -61,9 +61,9 @@ namespace roboptim
(*function_) (res, updatedTrajectory->state (tpt_, this->order_));
}
- template <unsigned N>
+ template <typename T>
void
- StateFunction<N>::impl_gradient (gradient_t& grad,
+ StateFunction<T>::impl_gradient (gradient_t& grad,
const argument_t& p,
size_type i) const throw ()
{
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
index 9cfcc5d..4974dd9 100644
--- a/tests/anthropomorphic-cost-function.cc
+++ b/tests/anthropomorphic-cost-function.cc
@@ -51,7 +51,7 @@ using namespace roboptim::visualization::gnuplot;
typedef CFSQPSolver::problem_t::constraints_t constraint_t;
typedef CFSQPSolver solver_t;
-typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+typedef FreeTimeTrajectory<Spline> freeTime_t;
// Problem parameters.
const unsigned configurationSpaceSize = 3;
@@ -133,12 +133,12 @@ int optimize (double initialX,
(freeTimeTraj, frontalSpeed, 1, problem, vRangeFrontal,
nControlPoints * nConstraintsPerCtrlPts);
- // Orthogonal
- boost::shared_ptr<DerivableFunction> orthogonalSpeed (new OrthogonalSpeed ());
- Function::interval_t vRangeOrthogonal = Function::makeInterval (-vMax, vMax);
- StablePointStateFunction<freeTime_t>::addToProblem
- (freeTimeTraj, orthogonalSpeed, 1, problem, vRangeOrthogonal,
- nControlPoints * nConstraintsPerCtrlPts);
+ // // Orthogonal
+ // boost::shared_ptr<DerivableFunction> orthogonalSpeed (new OrthogonalSpeed ());
+ // Function::interval_t vRangeOrthogonal = Function::makeInterval (-vMax, vMax);
+ // StablePointStateFunction<freeTime_t>::addToProblem
+ // (freeTimeTraj, orthogonalSpeed, 1, problem, vRangeOrthogonal,
+ // nControlPoints * nConstraintsPerCtrlPts);
// Omega (theta dot)
Function::interval_t vRangeOmega = Function::makeInterval (-.5, .5);
@@ -164,8 +164,7 @@ int optimize (double initialX,
solver_t::result_t res = solver.minimum ();
std::cerr << res << std::endl;
- FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
- freeTimeTraj;
+ FreeTimeTrajectory<Spline> optimizedTrajectory = freeTimeTraj;
switch (solver.minimumType ())
{
diff --git a/tests/free-time-trajectory-stable-time-point.cc b/tests/free-time-trajectory-stable-time-point.cc
index 8166be5..040d7ad 100644
--- a/tests/free-time-trajectory-stable-time-point.cc
+++ b/tests/free-time-trajectory-stable-time-point.cc
@@ -39,7 +39,7 @@ using namespace roboptim;
using namespace roboptim::visualization;
-typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+typedef FreeTimeTrajectory<Spline> freeTime_t;
template <typename T>
bool isAlmostEqual (const T& x, const T& y, const T& epsilon = 1e10-8)
@@ -287,7 +287,7 @@ int run_test ()
// Make trajectories.
Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
Spline spline (timeRange, 1, removeScaleFromParameters (params), "before");
- FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+ FreeTimeTrajectory<Spline> freeTimeTraj (spline, 1.);
assert (freeTimeTraj.inputSize () == 1);
assert (freeTimeTraj.outputSize () == 1);
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index bfb555d..d634baa 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -39,7 +39,7 @@ using namespace roboptim;
using namespace roboptim::visualization;
-typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+typedef FreeTimeTrajectory<Spline> freeTime_t;
template <typename T>
bool isAlmostEqual (const T& x, const T& y, const T& epsilon = 1e10-8)
@@ -292,7 +292,7 @@ int run_test ()
// Make trajectories.
Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
Spline spline (timeRange, 1, removeScaleFromParameters (params), "before");
- FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+ FreeTimeTrajectory<Spline> freeTimeTraj (spline, 1.);
assert (freeTimeTraj.inputSize () == 1);
assert (freeTimeTraj.outputSize () == 1);
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 2e86d25..6fb0e4c 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -52,7 +52,7 @@ using namespace roboptim::visualization::gnuplot;
typedef CFSQPSolver::problem_t::constraints_t constraint_t;
typedef CFSQPSolver solver_t;
-typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+typedef FreeTimeTrajectory<Spline> freeTime_t;
// Problem parameters.
@@ -99,7 +99,7 @@ int run_test ()
makeFreeze (problem) (indices, freeTimeParams);
Function::interval_t vRange = Function::makeUpperInterval (.5 * vMax * vMax);
- LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
+ LimitSpeed<FreeTimeTrajectory<Spline> >::addToProblem
(freeTimeTraj, problem, vRange, nControlPoints * nConstraintsPerCtrlPts);
std::ofstream limitSpeedStream ("limit-speed.gp");
@@ -120,7 +120,7 @@ int run_test ()
solver_t::result_t res = solver.minimum ();
std::cerr << res << std::endl;
- FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
+ FreeTimeTrajectory<Spline> optimizedTrajectory =
freeTimeTraj;
switch (solver.minimumType ())
diff --git a/tests/stable-point-state-function.cc b/tests/stable-point-state-function.cc
index d30a219..2770354 100644
--- a/tests/stable-point-state-function.cc
+++ b/tests/stable-point-state-function.cc
@@ -49,7 +49,7 @@ int run_test ()
Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
Spline spline (timeRange, 3, params, "before");
- typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj_t;
+ typedef FreeTimeTrajectory<Spline> freeTimeTraj_t;
freeTimeTraj_t ftt (spline, 2.);
for (unsigned i = 0; i < 10; ++i)
@@ -58,12 +58,12 @@ int run_test ()
const double t = timePoint.getTime (ftt.timeRange ());
boost::shared_ptr<DerivableFunction> frontalSpeed (new FrontalSpeed ());
- StablePointStateFunction<Spline> stateFunction
+ StablePointStateFunction<FreeTimeTrajectory<Spline> > stateFunction
(ftt, frontalSpeed, timePoint, orderMax);
boost::shared_ptr<DerivableFunction> orthogonalSpeed
(new OrthogonalSpeed ());
- StablePointStateFunction<Spline> orthoStateFunction
+ StablePointStateFunction<FreeTimeTrajectory<Spline> > orthoStateFunction
(ftt, orthogonalSpeed, timePoint, orderMax);
std::cout << "State cost evaluation:" << std::endl
diff --git a/tests/state-function.cc b/tests/state-function.cc
index 8a6b61f..4d6a299 100644
--- a/tests/state-function.cc
+++ b/tests/state-function.cc
@@ -52,12 +52,12 @@ int run_test ()
const double t = timePoint.getTime (spline.timeRange ());
boost::shared_ptr<DerivableFunction> frontalSpeed (new FrontalSpeed ());
- StateFunction<Spline::derivabilityOrder> stateFunction
+ StateFunction<Spline> stateFunction
(spline, frontalSpeed, timePoint, orderMax);
boost::shared_ptr<DerivableFunction> orthogonalSpeed
(new OrthogonalSpeed ());
- StateFunction<Spline::derivabilityOrder> orthoStateFunction
+ StateFunction<Spline> orthoStateFunction
(spline, orthogonalSpeed, timePoint, orderMax);
std::cout << "State cost evaluation:" << std::endl
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 17 +++
.../roboptim/trajectory/free-time-trajectory.hh | 36 +++++---
.../roboptim/trajectory/free-time-trajectory.hxx | 104 ++++++++++----------
include/roboptim/trajectory/fwd.hh | 5 +-
.../trajectory/stable-point-state-function.hh | 7 +-
include/roboptim/trajectory/state-function.hh | 9 ++-
include/roboptim/trajectory/state-function.hxx | 22 ++--
tests/anthropomorphic-cost-function.cc | 17 ++--
tests/free-time-trajectory-stable-time-point.cc | 4 +-
tests/free-time-trajectory.cc | 4 +-
tests/spline-time-optimization.cc | 6 +-
tests/stable-point-state-function.cc | 6 +-
tests/state-function.cc | 4 +-
13 files changed, 141 insertions(+), 100 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
