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From: <no-...@ro...> - 2009-11-16 05:42:37
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/12 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-16 05:37:10
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via ba9c15a73fa4e3f5e5824ad9702f028f2e0ae196 (commit)
from 1679d7d24166dde04a82fb67abd08afd2482fadc (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ba9c15a73fa4e3f5e5824ad9702f028f2e0ae196
Author: Thomas Moulard <tho...@gm...>
Date: Mon Nov 16 06:36:59 2009 +0100
Normalize test output.
* tests/spline-optimization.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 7d527a4..f181643 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-11-16 Thomas Moulard <tho...@gm...>
+ Normalize test output.
+ * tests/spline-optimization.cc: Here.
+
+2009-11-16 Thomas Moulard <tho...@gm...>
+
Regenerate tests.
* tests/free-time-trajectory-stable-time-point.stdout,
* tests/free-time-trajectory.stdout,
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index 69ca679..044b769 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -69,24 +69,24 @@ int run_test ()
std::cout
<< "# Values:" << std::endl
- << "# " << spline (0.) << std::endl
- << "# " << spline (2.5) << std::endl
- << "# " << spline (4.) << std::endl
+ << "# " << normalize (spline (0.)) << std::endl
+ << "# " << normalize (spline (2.5)) << std::endl
+ << "# " << normalize (spline (4.)) << std::endl
<< "# 1st derivative:" << std::endl
- << "# " << spline.derivative (0., 1) << std::endl
- << "# " << spline.derivative (2.5, 1) << std::endl
- << "# " << spline.derivative (4., 1) << std::endl
+ << "# " << normalize (spline.derivative (0., 1)) << std::endl
+ << "# " << normalize (spline.derivative (2.5, 1)) << std::endl
+ << "# " << normalize (spline.derivative (4., 1)) << std::endl
<< "# 2nd derivative:" << std::endl
- << "# " << spline.derivative (0., 2) << std::endl
- << "# " << spline.derivative (2.5, 2) << std::endl
- << "# " << spline.derivative (4., 2) << std::endl
+ << "# " << normalize (spline.derivative (0., 2)) << std::endl
+ << "# " << normalize (spline.derivative (2.5, 2)) << std::endl
+ << "# " << normalize (spline.derivative (4., 2)) << std::endl
<< "# variationConfigWrtParam:" << std::endl
- << "# " << spline.variationConfigWrtParam (0.) << std::endl
- << "# " << spline.variationConfigWrtParam (2.5) << std::endl
- << "# " << spline.variationConfigWrtParam (4.) << std::endl;
+ << "# " << normalize (spline.variationConfigWrtParam (0.)) << std::endl
+ << "# " << normalize (spline.variationConfigWrtParam (2.5)) << std::endl
+ << "# " << normalize (spline.variationConfigWrtParam (4.)) << std::endl;
Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
gnuplot
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
tests/spline-optimization.cc | 24 ++++++++++++------------
2 files changed, 17 insertions(+), 12 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: <no-...@ro...> - 2009-11-16 05:36:29
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/11 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas': Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed test test_1 sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-16 02:08:01
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/24 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-16 02:05:17
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/10 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: BUILD FAILED: failed test test_1 sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-16 02:03:28
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/8 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-15 23:05:02
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 1679d7d24166dde04a82fb67abd08afd2482fadc (commit)
from 986b993344881b3e2406344c110bdf0ae76f5bc1 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1679d7d24166dde04a82fb67abd08afd2482fadc
Author: Thomas Moulard <tho...@gm...>
Date: Mon Nov 16 00:04:52 2009 +0100
Regenerate tests.
* tests/free-time-trajectory-stable-time-point.stdout,
* tests/free-time-trajectory.stdout,
* tests/spline-bicycle-optim.stdout,
* tests/spline-gradient.stdout,
* tests/spline-optimization.stdout,
* tests/spline.stdout,
* tests/stable-point-state-function.stdout:
Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8305c18..7d527a4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,15 @@
+2009-11-16 Thomas Moulard <tho...@gm...>
+
+ Regenerate tests.
+ * tests/free-time-trajectory-stable-time-point.stdout,
+ * tests/free-time-trajectory.stdout,
+ * tests/spline-bicycle-optim.stdout,
+ * tests/spline-gradient.stdout,
+ * tests/spline-optimization.stdout,
+ * tests/spline.stdout,
+ * tests/stable-point-state-function.stdout:
+ Regenerate.
+
2009-11-15 Thomas Moulard <tho...@gm...>
Normalize Gnuplot output and tests output.
diff --git a/tests/free-time-trajectory-stable-time-point.stdout b/tests/free-time-trajectory-stable-time-point.stdout
index ea897ef..cd13b5b 100644
--- a/tests/free-time-trajectory-stable-time-point.stdout
+++ b/tests/free-time-trajectory-stable-time-point.stdout
@@ -12,7 +12,7 @@ FTT scale: 1
| 0.50 || 50.00 | 50.00 || 54.69 | 54.69 |
| 0.60 || 70.83 | 70.83 || 46.88 | 46.88 |
| 0.70 || 86.46 | 86.46 || 31.25 | 31.25 |
-| 0.80 || 95.83 | 95.83 || 15.62 | 15.62 |
+| 0.80 || 95.83 | 95.83 || 15.63 | 15.63 |
| 0.90 || 99.48 | 99.48 || 3.91 | 3.91 |
| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
@@ -83,7 +83,7 @@ FTT scale: 0.5
| 0.50 || 50.00 | 50.00 || 54.69 | 27.34 |
| 0.60 || 70.83 | 70.83 || 46.88 | 23.44 |
| 0.70 || 86.46 | 86.46 || 31.25 | 15.63 |
-| 0.80 || 95.83 | 95.83 || 15.62 | 7.81 |
+| 0.80 || 95.83 | 95.83 || 15.63 | 7.81 |
| 0.90 || 99.48 | 99.48 || 3.91 | 1.95 |
| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
@@ -154,7 +154,7 @@ FTT scale: 2
| 0.50 || 50.00 | 50.00 || 54.69 | 109.38 |
| 0.60 || 70.83 | 70.83 || 46.88 | 93.75 |
| 0.70 || 86.46 | 86.46 || 31.25 | 62.50 |
-| 0.80 || 95.83 | 95.83 || 15.62 | 31.25 |
+| 0.80 || 95.83 | 95.83 || 15.63 | 31.25 |
| 0.90 || 99.48 | 99.48 || 3.91 | 7.81 |
| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index e631f25..183d69a 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -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]((-46.88,0.00,-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))
@@ -631,13 +631,6 @@ N/A [1,5]((-97.66,0.00,-0.01,-0.40
N/A [1,5]((-101.56,0.00,-0.00,-0.38,0.38))
N/A [1,5]((-105.47,0.00,-0.00,-0.35,0.35))
N/A [1,5]((-109.37,0.00,0.00,-0.31,0.31))
-bad gradient
- X: [1](6.50)
- Analytical gradient: [1](-105.29)
- Finite difference gradient: [1](-105.29)
- Max. delta: 0.00
- Max. delta in component: 0.00
- Max. allowed delta: 0.00
N/A [1,5]((-105.29,0.00,0.00,-0.27,0.27))
N/A [1,5]((-100.83,0.00,0.00,-0.24,0.24))
N/A [1,5]((-96.01,0.00,0.00,-0.21,0.21))
@@ -652,13 +645,6 @@ N/A [1,5]((-44.25,0.00,0.00,-0.03,
N/A [1,5]((-36.13,0.00,0.00,-0.02,0.02))
N/A [1,5]((-27.65,0.00,0.00,-0.01,0.01))
N/A [1,5]((-18.80,0.00,0.00,-0.00,0.00))
-bad gradient
- X: [1](7.90)
- Analytical gradient: [1](-9.58)
- Finite difference gradient: [1](-9.58)
- Max. delta: 0.00
- 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))
diff --git a/tests/spline-bicycle-optim.stdout b/tests/spline-bicycle-optim.stdout
index 2b54a28..89fc9c7 100644
--- a/tests/spline-bicycle-optim.stdout
+++ b/tests/spline-bicycle-optim.stdout
@@ -1,5 +1,5 @@
#!/usr/bin/gnuplot
-# Generated by RobOptim core library 0.3.22-8508
+# Generated by RobOptim core library 0.3.33.5823.dirty
set terminal wxt persist
set multiplot layout 1,2
set grid
diff --git a/tests/spline-gradient.stdout b/tests/spline-gradient.stdout
index 23abfd8..fb61b98 100644
--- a/tests/spline-gradient.stdout
+++ b/tests/spline-gradient.stdout
@@ -1637,7 +1637,7 @@ plot '-' title 'derivative (0)' with line
0.13 -0.02
0.14 -0.02
0.15 -0.02
-0.16 -0.02
+0.16 -0.03
0.17 -0.03
0.18 -0.03
0.19 -0.04
@@ -7703,7 +7703,7 @@ plot '-' title 'derivative (0)' with line
0.13 -0.02
0.14 -0.02
0.15 -0.02
-0.16 -0.02
+0.16 -0.03
0.17 -0.03
0.18 -0.03
0.19 -0.04
@@ -13769,7 +13769,7 @@ plot '-' title 'derivative (0)' with line
0.13 -0.02
0.14 -0.02
0.15 -0.02
-0.16 -0.02
+0.16 -0.03
0.17 -0.03
0.18 -0.03
0.19 -0.04
@@ -19835,7 +19835,7 @@ plot '-' title 'derivative (0)' with line
0.13 -0.02
0.14 -0.02
0.15 -0.02
-0.16 -0.02
+0.16 -0.03
0.17 -0.03
0.18 -0.03
0.19 -0.04
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index e0930a1..3d3b316 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -9,13 +9,13 @@
# 2nd derivative:
# [2](0.00,0.00)
# [2](-39.06,253.91)
-# [2](-0.00,-0.00)
+# [2](0.00,0.00)
# variationConfigWrtParam:
# [2,8]((1.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00),(0.00,1.00,0.00,0.00,0.00,0.00,0.00,0.00))
# [2,8]((0.00,0.00,0.11,0.00,0.65,0.00,0.24,0.00),(0.00,0.00,0.00,0.11,0.00,0.65,0.00,0.24))
# [2,8]((0.00,0.00,0.00,0.00,0.00,0.00,1.00,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,1.00))
#!/usr/bin/gnuplot
-# Generated by RobOptim core library 0.3.22-8508
+# Generated by RobOptim core library 0.3.33.5823.dirty
set terminal wxt persist
set multiplot layout 1,2
set grid
@@ -104,7 +104,7 @@ plot '-' title 'before' with line
96.962500 87.850000
97.441146 89.764583
97.866667 91.466667
-98.242187 92.968750
+98.242188 92.968750
98.570833 94.283333
98.855729 95.422917
99.100000 96.400000
diff --git a/tests/spline.stdout b/tests/spline.stdout
index d540b81..54cbf8a 100644
--- a/tests/spline.stdout
+++ b/tests/spline.stdout
@@ -11,7 +11,7 @@
# [2](12.50,12.50)
# [2](0.00,0.00)
#!/usr/bin/gnuplot
-# Generated by RobOptim core library 0.3.22-8508
+# Generated by RobOptim core library 0.3.33.5823.dirty
set terminal wxt persist
plot '-' title 'spline' with line
0.00 0.00
diff --git a/tests/stable-point-state-function.stdout b/tests/stable-point-state-function.stdout
index 97f5e93..95d4733 100644
--- a/tests/stable-point-state-function.stdout
+++ b/tests/stable-point-state-function.stdout
@@ -89,9 +89,9 @@ Trajectory state (one call):
[6](29.17,66.67,0.00,93.75,0.00,0.00)
Trajectory state variation (splitted):
[3,13]((37.50,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00,0.00,0.00),(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),(0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00))
-[3,13]((109.37,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00,0.00,0.00),(-500.00,0.00,-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,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00))
+[3,13]((109.38,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00,0.00,0.00),(-500.00,0.00,-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,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00))
Trajectory state (one call):
-[6,13]((37.50,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00,0.00,0.00),(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),(0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00),(109.37,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00,0.00,0.00),(-500.00,0.00,-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,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00))
+[6,13]((37.50,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00,0.00,0.00),(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),(0.00,0.00,0.00,0.17,0.00,0.00,0.67,0.00,0.00,0.17,0.00,0.00,0.00),(109.38,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00,0.00,0.00),(-500.00,0.00,-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,-1.25,0.00,0.00,0.00,0.00,0.00,1.25,0.00,0.00,0.00))
Check frontal speed gradient.
Check orthogonal speed gradient.
Check state cost gradient.
@@ -169,9 +169,9 @@ Trajectory state (one call):
[6](95.83,83.33,0.00,31.25,125.00,0.00)
Trajectory state variation (splitted):
[3,13]((25.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00,0.00),(100.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83))
-[3,13]((-109.38,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00,0.00),(-437.50,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25))
+[3,13]((-109.37,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00,0.00),(-437.50,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25))
Trajectory state (one call):
-[6,13]((25.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00,0.00),(100.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83),(-109.38,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00,0.00),(-437.50,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25))
+[6,13]((25.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00,0.00),(100.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.17,0.00,0.00,0.83),(-109.37,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00,0.00),(-437.50,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25,0.00),(0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,-1.25,0.00,0.00,1.25))
Check frontal speed gradient.
Check orthogonal speed gradient.
Check state cost gradient.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 12 ++++++++++++
.../free-time-trajectory-stable-time-point.stdout | 6 +++---
tests/free-time-trajectory.stdout | 16 +---------------
tests/spline-bicycle-optim.stdout | 2 +-
tests/spline-gradient.stdout | 8 ++++----
tests/spline-optimization.stdout | 6 +++---
tests/spline.stdout | 2 +-
tests/stable-point-state-function.stdout | 8 ++++----
8 files changed, 29 insertions(+), 31 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-11-15 22:53:10
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 986b993344881b3e2406344c110bdf0ae76f5bc1 (commit)
from 44a25844ed32193956cd2417101e5e22a7eb4c0d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- 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
|
|
From: Thomas M. <tho...@us...> - 2009-11-15 22:47:58
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 5da2999e8dff926ae91b45c828290e383346be9d (commit)
from d145f885c172e34b690268198c2507ed7b85e2c2 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 5da2999e8dff926ae91b45c828290e383346be9d
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 23:45:11 2009 +0100
Fix normalize implementation.
* include/roboptim/core/visualization/gnuplot.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 6338ac4..5e15648 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Fix normalize implementation.
+ * include/roboptim/core/visualization/gnuplot.hh: Here.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Add more implementation of normalize.
* include/roboptim/core/visualization/gnuplot.hh: Here.
diff --git a/include/roboptim/core/visualization/gnuplot.hh b/include/roboptim/core/visualization/gnuplot.hh
index 0504738..bf3ceb7 100644
--- a/include/roboptim/core/visualization/gnuplot.hh
+++ b/include/roboptim/core/visualization/gnuplot.hh
@@ -51,7 +51,7 @@ namespace roboptim
inline double
normalize (const double& x)
{
- if (x == -0.)
+ if (std::fabs (x) < 1e-8)
return 0.;
return x;
}
@@ -62,7 +62,7 @@ namespace roboptim
boost::numeric::ublas::matrix<double> res (x.size1 (), x.size2 ());
for (unsigned i = 0; i < x.size1 (); ++i)
for (unsigned j = 0; j < x.size2 (); ++j)
- res (i, j) = x (i, j);
+ res (i, j) = normalize (x (i, j));
return res;
}
@@ -72,7 +72,7 @@ namespace roboptim
{
T res (x.size ());
for (unsigned i = 0; i < x.size (); ++i)
- res[i] = x[i];
+ res[i] = normalize (x[i]);
return res;
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
include/roboptim/core/visualization/gnuplot.hh | 6 +++---
2 files changed, 8 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-11-15 21:44:11
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 44a25844ed32193956cd2417101e5e22a7eb4c0d (commit)
from 30b19f3a450d8f1e4ce8f9ff5d0ba45592be2468 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 44a25844ed32193956cd2417101e5e22a7eb4c0d
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 22:41:23 2009 +0100
Normalize test output.
* tests/stable-point-state-function.cc,
* tests/state-function.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index fe2f064..311e5fc 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Normalize test output.
+ * tests/stable-point-state-function.cc,
+ * tests/state-function.cc: Here.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Aesthetic change.
* tests/free-time-trajectory-stable-time-point.cc:
Remove trailing whitespace.
diff --git a/tests/stable-point-state-function.cc b/tests/stable-point-state-function.cc
index 3c099ce..d30a219 100644
--- a/tests/stable-point-state-function.cc
+++ b/tests/stable-point-state-function.cc
@@ -19,6 +19,7 @@
#include <roboptim/core/io.hh>
#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/frontal-speed.hh>
@@ -27,6 +28,7 @@
#include <roboptim/trajectory/stable-point-state-function.hh>
using namespace roboptim;
+using namespace roboptim::visualization;
int run_test ()
{
@@ -65,19 +67,21 @@ int run_test ()
(ftt, orthogonalSpeed, timePoint, orderMax);
std::cout << "State cost evaluation:" << std::endl
- << stateFunction (fttParams) << std::endl
+ << normalize (stateFunction (fttParams)) << std::endl
<< "State cost gradient:" << std::endl
- << stateFunction.gradient (fttParams) << std::endl
+ << normalize (stateFunction.gradient (fttParams)) << std::endl
<< "Trajectory state (splitted):" << std::endl;
for (unsigned o = 0; o <= orderMax; ++o)
- std::cout << ftt.derivative (t, o) << std::endl;
+ std::cout << normalize (ftt.derivative (t, o)) << std::endl;
std::cout << "Trajectory state (one call):" << std::endl
- << ftt.state (t, orderMax) << std::endl
+ << normalize (ftt.state (t, orderMax)) << std::endl
<< "Trajectory state variation (splitted):" << std::endl;
for (unsigned o = 0; o <= orderMax; ++o)
- std::cout << ftt.variationDerivWrtParam (t, o) << std::endl;
+ std::cout << normalize (ftt.variationDerivWrtParam (t, o))
+ << std::endl;
std::cout << "Trajectory state (one call):" << std::endl
- << ftt.variationStateWrtParam (t, orderMax) << std::endl;
+ << normalize (ftt.variationStateWrtParam (t, orderMax))
+ << std::endl;
try
{
diff --git a/tests/state-function.cc b/tests/state-function.cc
index 426d204..8a6b61f 100644
--- a/tests/state-function.cc
+++ b/tests/state-function.cc
@@ -19,6 +19,7 @@
#include <roboptim/core/io.hh>
#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/trajectory/frontal-speed.hh>
#include <roboptim/trajectory/orthogonal-speed.hh>
@@ -26,6 +27,7 @@
#include <roboptim/trajectory/state-function.hh>
using namespace roboptim;
+using namespace roboptim::visualization;
int run_test ()
{
@@ -59,19 +61,21 @@ int run_test ()
(spline, orthogonalSpeed, timePoint, orderMax);
std::cout << "State cost evaluation:" << std::endl
- << stateFunction (params) << std::endl
+ << normalize (stateFunction (params)) << std::endl
<< "State cost gradient:" << std::endl
- << stateFunction.gradient (params) << std::endl
+ << normalize (stateFunction.gradient (params)) << std::endl
<< "Trajectory state (splitted):" << std::endl;
for (unsigned o = 0; o <= orderMax; ++o)
- std::cout << spline.derivative (t, o) << std::endl;
+ std::cout << normalize (spline.derivative (t, o)) << std::endl;
std::cout << "Trajectory state (one call):" << std::endl
- << spline.state (t, orderMax) << std::endl
+ << normalize (spline.state (t, orderMax)) << std::endl
<< "Trajectory state variation (splitted):" << std::endl;
for (unsigned o = 0; o <= orderMax; ++o)
- std::cout << spline.variationDerivWrtParam (t, o) << std::endl;
+ std::cout << normalize (spline.variationDerivWrtParam (t, o))
+ << std::endl;
std::cout << "Trajectory state (one call):" << std::endl
- << spline.variationStateWrtParam (t, orderMax) << std::endl;
+ << normalize (spline.variationStateWrtParam (t, orderMax))
+ << std::endl;
try
{
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
tests/stable-point-state-function.cc | 16 ++++++++++------
tests/state-function.cc | 16 ++++++++++------
3 files changed, 26 insertions(+), 12 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
|
From: Thomas M. <tho...@us...> - 2009-11-15 21:33:38
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via d145f885c172e34b690268198c2507ed7b85e2c2 (commit)
from fff55e7d16aeb9cd039d84eb1377a236ae0c0a59 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit d145f885c172e34b690268198c2507ed7b85e2c2
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 22:33:28 2009 +0100
Add more implementation of normalize.
* include/roboptim/core/visualization/gnuplot.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 77837f6..6338ac4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Add more implementation of normalize.
+ * include/roboptim/core/visualization/gnuplot.hh: Here.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Implement display normalization for vectors.
* include/roboptim/core/visualization/gnuplot.hh: Here.
diff --git a/include/roboptim/core/visualization/gnuplot.hh b/include/roboptim/core/visualization/gnuplot.hh
index 890c38e..0504738 100644
--- a/include/roboptim/core/visualization/gnuplot.hh
+++ b/include/roboptim/core/visualization/gnuplot.hh
@@ -22,6 +22,8 @@
# include <vector>
+# include <boost/numeric/ublas/matrix.hpp>
+
# include <roboptim/core/visualization/fwd.hh>
# include <roboptim/core/visualization/gnuplot-commands.hh>
@@ -37,8 +39,14 @@ namespace roboptim
/// point numbers to get a consistent output.
double normalize (const double& x);
- /// \brief Apply normalize to each element of a vector.
- std::vector<double> normalize (const std::vector<double>& x);
+ /// \brief Apply normalize to each element of a matrix.
+ boost::numeric::ublas::matrix<double>
+ normalize (const boost::numeric::ublas::matrix<double>& x);
+
+
+ /// \brief Apply normalize to each element of a container.
+ template <typename T>
+ T normalize (const T& x);
inline double
normalize (const double& x)
@@ -48,10 +56,21 @@ namespace roboptim
return x;
}
- inline std::vector<double>
- normalize (const std::vector<double>& x)
+ inline boost::numeric::ublas::matrix<double>
+ normalize (const boost::numeric::ublas::matrix<double>& x)
+ {
+ boost::numeric::ublas::matrix<double> res (x.size1 (), x.size2 ());
+ for (unsigned i = 0; i < x.size1 (); ++i)
+ for (unsigned j = 0; j < x.size2 (); ++j)
+ res (i, j) = x (i, j);
+ return res;
+ }
+
+ template <typename T>
+ T
+ normalize (const T& x)
{
- std::vector<double> res (x.size ());
+ T res (x.size ());
for (unsigned i = 0; i < x.size (); ++i)
res[i] = x[i];
return res;
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 ++++
include/roboptim/core/visualization/gnuplot.hh | 29 +++++++++++++++++++----
2 files changed, 29 insertions(+), 5 deletions(-)
hooks/post-receive
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roboptim-core
|
|
From: Thomas M. <tho...@us...> - 2009-11-15 21:13:58
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via fff55e7d16aeb9cd039d84eb1377a236ae0c0a59 (commit)
from 4e6c1d585f92379c335190c05fa7364e6c0e0fbd (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit fff55e7d16aeb9cd039d84eb1377a236ae0c0a59
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 22:11:10 2009 +0100
Implement display normalization for vectors.
* include/roboptim/core/visualization/gnuplot.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f19faa2..77837f6 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Implement display normalization for vectors.
+ * include/roboptim/core/visualization/gnuplot.hh: Here.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Normalize floating points numbers before display.
* include/roboptim/core/visualization/gnuplot-function.hh,
* include/roboptim/core/visualization/gnuplot.hh: Normalize before display.
diff --git a/include/roboptim/core/visualization/gnuplot.hh b/include/roboptim/core/visualization/gnuplot.hh
index e533095..890c38e 100644
--- a/include/roboptim/core/visualization/gnuplot.hh
+++ b/include/roboptim/core/visualization/gnuplot.hh
@@ -37,13 +37,27 @@ namespace roboptim
/// point numbers to get a consistent output.
double normalize (const double& x);
- inline double normalize (const double& x)
+ /// \brief Apply normalize to each element of a vector.
+ std::vector<double> normalize (const std::vector<double>& x);
+
+ inline double
+ normalize (const double& x)
{
if (x == -0.)
return 0.;
return x;
}
+ inline std::vector<double>
+ normalize (const std::vector<double>& x)
+ {
+ std::vector<double> res (x.size ());
+ for (unsigned i = 0; i < x.size (); ++i)
+ res[i] = x[i];
+ return res;
+ }
+
+
/// \brief Gnuplot script
///
/// This class gathers Gnuplot commands
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
include/roboptim/core/visualization/gnuplot.hh | 16 +++++++++++++++-
2 files changed, 20 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim-core
|
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From: Thomas M. <tho...@us...> - 2009-11-15 19:23:57
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-core".
The branch, master has been updated
via 4e6c1d585f92379c335190c05fa7364e6c0e0fbd (commit)
from 59d0dd41e70b2d1b7fbbdf5067b93f2a98c45e5d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 4e6c1d585f92379c335190c05fa7364e6c0e0fbd
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 20:20:53 2009 +0100
Normalize floating points numbers before display.
* include/roboptim/core/visualization/gnuplot-function.hh,
* include/roboptim/core/visualization/gnuplot.hh: Normalize before display.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8a141ad..f19faa2 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-11-15 Thomas Moulard <tho...@gm...>
+
+ Normalize floating points numbers before display.
+ * include/roboptim/core/visualization/gnuplot-function.hh,
+ * include/roboptim/core/visualization/gnuplot.hh: Normalize before display.
+
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
diff --git a/include/roboptim/core/visualization/gnuplot-function.hh b/include/roboptim/core/visualization/gnuplot-function.hh
index 2c1a2a3..913a351 100644
--- a/include/roboptim/core/visualization/gnuplot-function.hh
+++ b/include/roboptim/core/visualization/gnuplot-function.hh
@@ -79,7 +79,9 @@ namespace roboptim
{
x[0] = t;
Function::vector_t res = f (x);
- str += (boost::format ("%1.2f %2.2f\n") % t % res [0]).str ();
+ str += (boost::format ("%1.2f %2.2f\n")
+ % normalize (t)
+ % normalize (res [0])).str ();
}
str += "e\n";
}
@@ -106,7 +108,9 @@ namespace roboptim
{
x[0] = t;
Function::vector_t res = f (x);
- str += (boost::format ("%1.2f %2.2f\n") % res[0] % res [1]).str ();
+ str += (boost::format ("%1.2f %2.2f\n")
+ % normalize (res[0])
+ % normalize (res [1])).str ();
}
str += "e\n";
diff --git a/include/roboptim/core/visualization/gnuplot.hh b/include/roboptim/core/visualization/gnuplot.hh
index 838b4c1..e533095 100644
--- a/include/roboptim/core/visualization/gnuplot.hh
+++ b/include/roboptim/core/visualization/gnuplot.hh
@@ -32,6 +32,18 @@ namespace roboptim
/// \addtogroup roboptim_visualization
/// @{
+ /// \brief Normalize floating point number output.
+ /// Normalization is done on all displayed floating
+ /// point numbers to get a consistent output.
+ double normalize (const double& x);
+
+ inline double normalize (const double& x)
+ {
+ if (x == -0.)
+ return 0.;
+ return x;
+ }
+
/// \brief Gnuplot script
///
/// This class gathers Gnuplot commands
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
.../core/visualization/gnuplot-function.hh | 8 ++++++--
include/roboptim/core/visualization/gnuplot.hh | 12 ++++++++++++
3 files changed, 24 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim-core
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|
From: Thomas M. <tho...@us...> - 2009-11-15 19:08:06
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 30b19f3a450d8f1e4ce8f9ff5d0ba45592be2468 (commit)
via 8126ead948f4f8718d4df1a439c0412471d02729 (commit)
from 00332e8987a83dfc3aeda19c034793531bcbac7c (commit)
Those revisions listed above that are new to this repository have
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- Log -----------------------------------------------------------------
commit 30b19f3a450d8f1e4ce8f9ff5d0ba45592be2468
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 20:01:49 2009 +0100
Aesthetic change.
* tests/free-time-trajectory-stable-time-point.cc:
Remove trailing whitespace.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 619449e..fe2f064 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-11-15 Thomas Moulard <tho...@gm...>
+ Aesthetic change.
+ * tests/free-time-trajectory-stable-time-point.cc:
+ Remove trailing whitespace.
+
+2009-11-15 Thomas Moulard <tho...@gm...>
+
Make test suite more robust.
This patch introduce the use of tests/shared-test submodule
to factorize testing efforts. It displays floating point numbers
diff --git a/tests/free-time-trajectory-stable-time-point.cc b/tests/free-time-trajectory-stable-time-point.cc
index 61393de..113caf8 100644
--- a/tests/free-time-trajectory-stable-time-point.cc
+++ b/tests/free-time-trajectory-stable-time-point.cc
@@ -136,7 +136,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
<< std::endl
<< format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax
<< std::endl
- << format ("FTT scale: %1%") % freeTimeTraj.timeScale ()
+ << format ("FTT scale: %1%") % freeTimeTraj.timeScale ()
<< std::endl;
format fmterTitle ("| %1% %|6t||| %2% %|20t|| %3% %|35t|||"
commit 8126ead948f4f8718d4df1a439c0412471d02729
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 20:01:17 2009 +0100
Make test suite more robust.
This patch introduce the use of tests/shared-test submodule
to factorize testing efforts. It displays floating point numbers
with a reduced precision and using fixed point display.
* .gitmodules: Add shared-tests submodule.
* src/Makefile.am: Distribute ``debug.hh''.
* src/debug.hh: New.
* tests/Makefile.am: Use new submodule.
* tests/common.hh: Remove.
* tests/anthropomorphic-cost-function-case-3.stdout,
* tests/anthropomorphic-cost-function-case-4.stdout,
* tests/free-time-trajectory-stable-time-point.stdout,
* tests/spline-bicycle-optim.stdout,
* tests/free-time-trajectory.stdout,
* tests/spline-gradient.stdout,
* tests/spline-optimization.stdout,
* tests/spline-time-optimization.stdout,
* tests/spline.stdout,
* tests/stable-point-state-function.stdout,
* tests/state-function.stdout: Regenerate.
* tests/free-time-trajectory-stable-time-point.cc,
* tests/free-time-trajectory.cc,
* tests/spline-gradient.cc: Fix floating point number display.
* tests/shared-tests: New.
* tests/testsuite.at: Fix long test switch condition.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/.gitmodules b/.gitmodules
index 3f3d05b..dd8c12b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
[submodule "build-aux"]
path = build-aux
- url = roboptim:build-aux
+ url = roboptim:build-aux.git
+[submodule "tests/shared-tests"]
+ path = tests/shared-tests
+ url = roboptim:shared-tests
diff --git a/ChangeLog b/ChangeLog
index 1e6ba26..619449e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,32 @@
+2009-11-15 Thomas Moulard <tho...@gm...>
+
+ Make test suite more robust.
+ This patch introduce the use of tests/shared-test submodule
+ to factorize testing efforts. It displays floating point numbers
+ with a reduced precision and using fixed point display.
+
+ * .gitmodules: Add shared-tests submodule.
+ * src/Makefile.am: Distribute ``debug.hh''.
+ * src/debug.hh: New.
+ * tests/Makefile.am: Use new submodule.
+ * tests/common.hh: Remove.
+ * tests/anthropomorphic-cost-function-case-3.stdout,
+ * tests/anthropomorphic-cost-function-case-4.stdout,
+ * tests/free-time-trajectory-stable-time-point.stdout,
+ * tests/spline-bicycle-optim.stdout,
+ * tests/free-time-trajectory.stdout,
+ * tests/spline-gradient.stdout,
+ * tests/spline-optimization.stdout,
+ * tests/spline-time-optimization.stdout,
+ * tests/spline.stdout,
+ * tests/stable-point-state-function.stdout,
+ * tests/state-function.stdout: Regenerate.
+ * tests/free-time-trajectory-stable-time-point.cc,
+ * tests/free-time-trajectory.cc,
+ * tests/spline-gradient.cc: Fix floating point number display.
+ * tests/shared-tests: New.
+ * tests/testsuite.at: Fix long test switch condition.
+
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
diff --git a/src/Makefile.am b/src/Makefile.am
index 7be8b1b..cbf64ec 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -9,6 +9,7 @@ AM_CXXFLAGS += $(WARNING_CXXFLAGS)
lib_LTLIBRARIES = libroboptim-trajectory.la
libroboptim_trajectory_la_SOURCES = \
+ debug.hh \
doc.hh \
frontal-speed.cc \
orthogonal-speed.cc \
diff --git a/src/debug.hh b/src/debug.hh
new file mode 100644
index 0000000..6ff02ef
--- /dev/null
+++ b/src/debug.hh
@@ -0,0 +1,21 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DEBUG_HH
+# define DEBUG_HH
+# include <roboptim/trajectory/sys.hh>
+#endif // !DEBUG_HH
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 8b77ba4..dadea5b 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -4,6 +4,9 @@ include $(top_srcdir)/build-aux/autotest.mk
# Add RobOptim flags.
AM_CPPFLAGS += $(ROBOPTIMCORE_CFLAGS)
+# Add shared headers to include path.
+AM_CPPFLAGS += -I$(srcdir)/shared-tests
+
# Add available warnings flags.
AM_CXXFLAGS += $(WARNING_CXXFLAGS)
@@ -14,7 +17,7 @@ EXTRA_DIST += package.m4.in
CLEANFILES += atconfig
# Source which are shared by all tests.
-COMMON_SOURCES = common.hh
+COMMON_SOURCES = shared-tests/common.hh
# simple
check_PROGRAMS = simple
diff --git a/tests/anthropomorphic-cost-function-case-3.stdout b/tests/anthropomorphic-cost-function-case-3.stdout
index e69de29..960f1e6 100644
--- a/tests/anthropomorphic-cost-function-case-3.stdout
+++ b/tests/anthropomorphic-cost-function-case-3.stdout
@@ -0,0 +1,2 @@
+Error: No feasible point is found for nonlinear inequality
+constraints and linear equality constraints
diff --git a/tests/anthropomorphic-cost-function-case-4.stdout b/tests/anthropomorphic-cost-function-case-4.stdout
index e69de29..960f1e6 100644
--- a/tests/anthropomorphic-cost-function-case-4.stdout
+++ b/tests/anthropomorphic-cost-function-case-4.stdout
@@ -0,0 +1,2 @@
+Error: No feasible point is found for nonlinear inequality
+constraints and linear equality constraints
diff --git a/tests/common.hh b/tests/common.hh
deleted file mode 100644
index e74ce2c..0000000
--- a/tests/common.hh
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
-//
-// This file is part of the roboptim.
-//
-// roboptim is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// roboptim is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-
-
-#ifndef OPTIMIZATION_TESTS_COMMON_HH
-# define OPTIMIZATION_TESTS_COMMON_HH
-# include <roboptim/trajectory/sys.hh>
-
-# include <iostream>
-# include <stdexcept>
-# include "config.h"
-
-static const int TEST_FAILED = 10;
-static const int TEST_SUCCEED = 0;
-
-int run_test ();
-
-# define GENERATE_TEST() \
- int \
- main (int argc, char** argv) \
- { \
- if (argc == 2 \
- && std::string (argv[1]) == "--version") \
- { \
- std::cout << PACKAGE_STRING << std::endl; \
- return 0; \
- } \
- \
- int status = 0; \
- try \
- { \
- status = run_test (); \
- } \
- catch (std::runtime_error& e) \
- { \
- std::cerr << e.what () << std::endl; \
- return 1; \
- } \
- catch (...) \
- { \
- std::cerr << "Unexpected error" << std::endl; \
- return 2; \
- } \
- return status; \
- }
-
-#define CHECK_FAILURE(EXCEPTION, CMD) \
- { \
- bool failed = true; \
- try \
- { \
- CMD; \
- } \
- catch (EXCEPTION&) \
- { \
- failed = false; \
- } \
- catch (...) \
- {} \
- if (failed) \
- return TEST_FAILED; \
- }
-
-#endif //! OPTIMIZATION_TESTS_COMMON_HH
diff --git a/tests/free-time-trajectory-stable-time-point.cc b/tests/free-time-trajectory-stable-time-point.cc
index 632f6f0..61393de 100644
--- a/tests/free-time-trajectory-stable-time-point.cc
+++ b/tests/free-time-trajectory-stable-time-point.cc
@@ -132,14 +132,22 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
double fttTmin = Function::getLowerBound (freeTimeTraj.timeRange ());
double fttTmax = Function::getUpperBound (freeTimeTraj.timeRange ());
- std::cout << format ("Spline range: [%1%, %2%]") % tmin % tmax << std::endl
- << format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax << std::endl
- << format ("FTT scale: %1%") % freeTimeTraj.timeScale () << std::endl;
+ std::cout << format ("Spline range: [%1%, %2%]") % tmin % tmax
+ << std::endl
+ << format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax
+ << std::endl
+ << format ("FTT scale: %1%") % freeTimeTraj.timeScale ()
+ << std::endl;
+
+ format fmterTitle ("| %1% %|6t||| %2% %|20t|| %3% %|35t|||"
+ " %4% %|55t|| %5% %|79t||");
+
+ format fmter ("| %1.2f %|6t||| %2.2f %|20t|| %3.2f %|35t|||"
+ " %4.2f %|55t|| %5.2f %|79t||");
- format fmter ("| %1% %|6t||| %2% %|20t|| %3% %|35t||| %4% %|55t|| %5% %|79t||");
std::cout << "/---------------------------------------"
<< "---------------------------------------\\" << std::endl
- << fmter
+ << fmterTitle
% "T" % "Value" % "Value (ftt)"
% "Derivative" % "Derivative (ftt)"
<< std::endl
@@ -189,7 +197,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
std::cout << "Variation of the configuration w.r.t to parameters:" << std::endl;
- format fmterConfig ("%1% %|50t|%2%");
+ format fmterConfig ("%1.2f %|50t|%2.2f");
for (double alpha = 0.; alpha <= 1.; alpha += .1)
{
if (alpha >= 1.)
@@ -219,7 +227,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
std::cout << std::endl << std::endl;
std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
- format fmterDeriv ("%1% %|50t|%2%");
+ format fmterDeriv ("%1.2f %|50t|%2.2f");
for (double alpha = 0.; alpha <= 1.; alpha += .1)
{
if (alpha >= 1.)
diff --git a/tests/free-time-trajectory-stable-time-point.stdout b/tests/free-time-trajectory-stable-time-point.stdout
index 5eaa83d..ea897ef 100644
--- a/tests/free-time-trajectory-stable-time-point.stdout
+++ b/tests/free-time-trajectory-stable-time-point.stdout
@@ -4,17 +4,17 @@ FTT scale: 1
/------------------------------------------------------------------------------\
| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
--------------------------------------------------------------------------------
-| 0 || 0 | 0 || 0 | 0 |
-| 0.1 || 0.520833 | 0.520833 || 3.90625 | 3.90625 |
-| 0.2 || 4.16667 | 4.16667 || 15.625 | 15.625 |
-| 0.3 || 13.5417 | 13.5417 || 31.25 | 31.25 |
-| 0.4 || 29.1667 | 29.1667 || 46.875 | 46.875 |
-| 0.5 || 50 | 50 || 54.6875 | 54.6875 |
-| 0.6 || 70.8333 | 70.8333 || 46.875 | 46.875 |
-| 0.7 || 86.4583 | 86.4583 || 31.25 | 31.25 |
-| 0.8 || 95.8333 | 95.8333 || 15.625 | 15.625 |
-| 0.9 || 99.4792 | 99.4792 || 3.90625 | 3.90625 |
-| 1 || 100 | 100 || -4.82947e-15 | -4.82947e-15 |
+| 0.00 || 0.00 | 0.00 || 0.00 | 0.00 |
+| 0.10 || 0.52 | 0.52 || 3.91 | 3.91 |
+| 0.20 || 4.17 | 4.17 || 15.62 | 15.62 |
+| 0.30 || 13.54 | 13.54 || 31.25 | 31.25 |
+| 0.40 || 29.17 | 29.17 || 46.88 | 46.88 |
+| 0.50 || 50.00 | 50.00 || 54.69 | 54.69 |
+| 0.60 || 70.83 | 70.83 || 46.88 | 46.88 |
+| 0.70 || 86.46 | 86.46 || 31.25 | 31.25 |
+| 0.80 || 95.83 | 95.83 || 15.62 | 15.62 |
+| 0.90 || 99.48 | 99.48 || 3.91 | 3.91 |
+| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
Gradient check.
@@ -43,31 +43,31 @@ Free time trajectory gradient.
Variation of the configuration w.r.t to parameters:
-[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
-[1,4]((0.979167,0.0208333,0,0)) [1,5]((0,0.979167,0.0208333,0,0))
-[1,4]((0.833333,0.166667,0,0)) [1,5]((0,0.833333,0.166667,0,0))
-[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((0,0.5,0.479167,0.0208333,0))
-[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((0,0.166667,0.666667,0.166667,0))
-[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((0,0.0208333,0.479167,0.479167,0.0208333))
-[1,4]((-9.26993e-18,0.166667,0.666667,0.166667)) [1,5]((0,-9.26993e-18,0.166667,0.666667,0.166667))
-[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((0,0,0.0208333,0.479167,0.5))
-[1,4]((0,-9.26993e-18,0.166667,0.833333)) [1,5]((0,0,-9.26993e-18,0.166667,0.833333))
-[1,4]((0,0,0.0208333,0.979167)) [1,5]((0,0,0,0.0208333,0.979167))
-[1,4]((0,0,-9.26993e-18,1)) [1,5]((0,0,0,-9.26993e-18,1))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.00,1.00,0.00,0.00,0.00))
+[1,4]((0.98,0.02,0.00,0.00)) [1,5]((0.00,0.98,0.02,0.00,0.00))
+[1,4]((0.83,0.17,0.00,0.00)) [1,5]((0.00,0.83,0.17,0.00,0.00))
+[1,4]((0.50,0.48,0.02,0.00)) [1,5]((0.00,0.50,0.48,0.02,0.00))
+[1,4]((0.17,0.67,0.17,0.00)) [1,5]((0.00,0.17,0.67,0.17,0.00))
+[1,4]((0.02,0.48,0.48,0.02)) [1,5]((0.00,0.02,0.48,0.48,0.02))
+[1,4]((0.00,0.17,0.67,0.17)) [1,5]((0.00,0.00,0.17,0.67,0.17))
+[1,4]((0.00,0.02,0.48,0.50)) [1,5]((0.00,0.00,0.02,0.48,0.50))
+[1,4]((0.00,0.00,0.17,0.83)) [1,5]((0.00,0.00,0.00,0.17,0.83))
+[1,4]((0.00,0.00,0.02,0.98)) [1,5]((0.00,0.00,0.00,0.02,0.98))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((0.00,0.00,0.00,0.00,1.00))
Variation of the derivative w.r.t to parameters:
-[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((0,-0.625,0.625,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((0,-2.5,2.5,0,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((0,-3.75,3.125,0.625,0))
-[1,4]((-0.625,0,0.625,0)) [1,5]((0,-2.5,0,2.5,0))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((0,-0.625,-3.125,3.125,0.625))
-[1,4]((0,-0.625,1.11022e-15,0.625)) [1,5]((0,0,-2.5,4.44089e-15,2.5))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((0,0,-0.625,-3.125,3.75))
-[1,4]((0,0,-0.625,0.625)) [1,5]((0,0,0,-2.5,2.5))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((0,0,0,-0.625,0.625))
-[1,4]((0,0,0,4.44089e-16)) [1,5]((0,0,0,0,1.77636e-15))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,4]((-0.16,0.16,0.00,0.00)) [1,5]((0.00,-0.62,0.62,0.00,0.00))
+[1,4]((-0.62,0.62,0.00,0.00)) [1,5]((0.00,-2.50,2.50,0.00,0.00))
+[1,4]((-0.94,0.78,0.16,0.00)) [1,5]((0.00,-3.75,3.12,0.63,0.00))
+[1,4]((-0.62,0.00,0.62,0.00)) [1,5]((0.00,-2.50,0.00,2.50,0.00))
+[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((0.00,-0.62,-3.12,3.12,0.62))
+[1,4]((0.00,-0.63,0.00,0.62)) [1,5]((0.00,0.00,-2.50,0.00,2.50))
+[1,4]((0.00,-0.16,-0.78,0.94)) [1,5]((0.00,0.00,-0.63,-3.12,3.75))
+[1,4]((0.00,0.00,-0.63,0.63)) [1,5]((0.00,0.00,0.00,-2.50,2.50))
+[1,4]((0.00,0.00,-0.16,0.16)) [1,5]((0.00,0.00,0.00,-0.63,0.63))
+[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]
@@ -75,17 +75,17 @@ FTT scale: 0.5
/------------------------------------------------------------------------------\
| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
--------------------------------------------------------------------------------
-| 0 || 0 | 0 || 0 | 0 |
-| 0.1 || 0.520833 | 0.520833 || 3.90625 | 1.95312 |
-| 0.2 || 4.16667 | 4.16667 || 15.625 | 7.8125 |
-| 0.3 || 13.5417 | 13.5417 || 31.25 | 15.625 |
-| 0.4 || 29.1667 | 29.1667 || 46.875 | 23.4375 |
-| 0.5 || 50 | 50 || 54.6875 | 27.3438 |
-| 0.6 || 70.8333 | 70.8333 || 46.875 | 23.4375 |
-| 0.7 || 86.4583 | 86.4583 || 31.25 | 15.625 |
-| 0.8 || 95.8333 | 95.8333 || 15.625 | 7.8125 |
-| 0.9 || 99.4792 | 99.4792 || 3.90625 | 1.95313 |
-| 1 || 100 | 100 || -4.82947e-15 | -2.41474e-15 |
+| 0.00 || 0.00 | 0.00 || 0.00 | 0.00 |
+| 0.10 || 0.52 | 0.52 || 3.91 | 1.95 |
+| 0.20 || 4.17 | 4.17 || 15.62 | 7.81 |
+| 0.30 || 13.54 | 13.54 || 31.25 | 15.63 |
+| 0.40 || 29.17 | 29.17 || 46.88 | 23.44 |
+| 0.50 || 50.00 | 50.00 || 54.69 | 27.34 |
+| 0.60 || 70.83 | 70.83 || 46.88 | 23.44 |
+| 0.70 || 86.46 | 86.46 || 31.25 | 15.63 |
+| 0.80 || 95.83 | 95.83 || 15.62 | 7.81 |
+| 0.90 || 99.48 | 99.48 || 3.91 | 1.95 |
+| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
Gradient check.
@@ -114,31 +114,31 @@ Free time trajectory gradient.
Variation of the configuration w.r.t to parameters:
-[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
-[1,4]((0.979167,0.0208333,0,0)) [1,5]((0,0.979167,0.0208333,0,0))
-[1,4]((0.833333,0.166667,0,0)) [1,5]((0,0.833333,0.166667,0,0))
-[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((0,0.5,0.479167,0.0208333,0))
-[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((0,0.166667,0.666667,0.166667,0))
-[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((0,0.0208333,0.479167,0.479167,0.0208333))
-[1,4]((-9.26993e-18,0.166667,0.666667,0.166667)) [1,5]((0,-9.26993e-18,0.166667,0.666667,0.166667))
-[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((0,0,0.0208333,0.479167,0.5))
-[1,4]((0,-9.26993e-18,0.166667,0.833333)) [1,5]((0,0,-9.26993e-18,0.166667,0.833333))
-[1,4]((0,0,0.0208333,0.979167)) [1,5]((0,0,0,0.0208333,0.979167))
-[1,4]((0,0,-9.26993e-18,1)) [1,5]((0,0,0,-9.26993e-18,1))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.00,1.00,0.00,0.00,0.00))
+[1,4]((0.98,0.02,0.00,0.00)) [1,5]((0.00,0.98,0.02,0.00,0.00))
+[1,4]((0.83,0.17,0.00,0.00)) [1,5]((0.00,0.83,0.17,0.00,0.00))
+[1,4]((0.50,0.48,0.02,0.00)) [1,5]((0.00,0.50,0.48,0.02,0.00))
+[1,4]((0.17,0.67,0.17,0.00)) [1,5]((0.00,0.17,0.67,0.17,0.00))
+[1,4]((0.02,0.48,0.48,0.02)) [1,5]((0.00,0.02,0.48,0.48,0.02))
+[1,4]((0.00,0.17,0.67,0.17)) [1,5]((0.00,0.00,0.17,0.67,0.17))
+[1,4]((0.00,0.02,0.48,0.50)) [1,5]((0.00,0.00,0.02,0.48,0.50))
+[1,4]((0.00,0.00,0.17,0.83)) [1,5]((0.00,0.00,0.00,0.17,0.83))
+[1,4]((0.00,0.00,0.02,0.98)) [1,5]((0.00,0.00,0.00,0.02,0.98))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((0.00,0.00,0.00,0.00,1.00))
Variation of the derivative w.r.t to parameters:
-[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((0,-0.625,0.625,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((0,-2.5,2.5,0,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((0,-3.75,3.125,0.625,0))
-[1,4]((-0.625,0,0.625,0)) [1,5]((0,-2.5,0,2.5,0))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((0,-0.625,-3.125,3.125,0.625))
-[1,4]((0,-0.625,1.11022e-15,0.625)) [1,5]((0,0,-2.5,4.44089e-15,2.5))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((0,0,-0.625,-3.125,3.75))
-[1,4]((0,0,-0.625,0.625)) [1,5]((0,0,0,-2.5,2.5))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((0,0,0,-0.625,0.625))
-[1,4]((0,0,0,4.44089e-16)) [1,5]((0,0,0,0,1.77636e-15))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,4]((-0.16,0.16,0.00,0.00)) [1,5]((0.00,-0.62,0.62,0.00,0.00))
+[1,4]((-0.62,0.62,0.00,0.00)) [1,5]((0.00,-2.50,2.50,0.00,0.00))
+[1,4]((-0.94,0.78,0.16,0.00)) [1,5]((0.00,-3.75,3.12,0.63,0.00))
+[1,4]((-0.62,0.00,0.62,0.00)) [1,5]((0.00,-2.50,0.00,2.50,0.00))
+[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((0.00,-0.62,-3.12,3.12,0.62))
+[1,4]((0.00,-0.63,0.00,0.62)) [1,5]((0.00,0.00,-2.50,0.00,2.50))
+[1,4]((0.00,-0.16,-0.78,0.94)) [1,5]((0.00,0.00,-0.63,-3.12,3.75))
+[1,4]((0.00,0.00,-0.63,0.63)) [1,5]((0.00,0.00,0.00,-2.50,2.50))
+[1,4]((0.00,0.00,-0.16,0.16)) [1,5]((0.00,0.00,0.00,-0.63,0.63))
+[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, 2]
@@ -146,17 +146,17 @@ FTT scale: 2
/------------------------------------------------------------------------------\
| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
--------------------------------------------------------------------------------
-| 0 || 0 | 0 || 0 | 0 |
-| 0.1 || 0.520833 | 0.520833 || 3.90625 | 7.8125 |
-| 0.2 || 4.16667 | 4.16667 || 15.625 | 31.25 |
-| 0.3 || 13.5417 | 13.5417 || 31.25 | 62.5 |
-| 0.4 || 29.1667 | 29.1667 || 46.875 | 93.75 |
-| 0.5 || 50 | 50 || 54.6875 | 109.375 |
-| 0.6 || 70.8333 | 70.8333 || 46.875 | 93.75 |
-| 0.7 || 86.4583 | 86.4583 || 31.25 | 62.5 |
-| 0.8 || 95.8333 | 95.8333 || 15.625 | 31.25 |
-| 0.9 || 99.4792 | 99.4792 || 3.90625 | 7.8125 |
-| 1 || 100 | 100 || -4.82947e-15 | -9.65894e-15 |
+| 0.00 || 0.00 | 0.00 || 0.00 | 0.00 |
+| 0.10 || 0.52 | 0.52 || 3.91 | 7.81 |
+| 0.20 || 4.17 | 4.17 || 15.62 | 31.25 |
+| 0.30 || 13.54 | 13.54 || 31.25 | 62.50 |
+| 0.40 || 29.17 | 29.17 || 46.88 | 93.75 |
+| 0.50 || 50.00 | 50.00 || 54.69 | 109.38 |
+| 0.60 || 70.83 | 70.83 || 46.88 | 93.75 |
+| 0.70 || 86.46 | 86.46 || 31.25 | 62.50 |
+| 0.80 || 95.83 | 95.83 || 15.62 | 31.25 |
+| 0.90 || 99.48 | 99.48 || 3.91 | 7.81 |
+| 1.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
Gradient check.
@@ -185,29 +185,29 @@ Free time trajectory gradient.
Variation of the configuration w.r.t to parameters:
-[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
-[1,4]((0.979167,0.0208333,0,0)) [1,5]((0,0.979167,0.0208333,0,0))
-[1,4]((0.833333,0.166667,0,0)) [1,5]((0,0.833333,0.166667,0,0))
-[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((0,0.5,0.479167,0.0208333,0))
-[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((0,0.166667,0.666667,0.166667,0))
-[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((0,0.0208333,0.479167,0.479167,0.0208333))
-[1,4]((-9.26993e-18,0.166667,0.666667,0.166667)) [1,5]((0,-9.26993e-18,0.166667,0.666667,0.166667))
-[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((0,0,0.0208333,0.479167,0.5))
-[1,4]((0,-9.26993e-18,0.166667,0.833333)) [1,5]((0,0,-9.26993e-18,0.166667,0.833333))
-[1,4]((0,0,0.0208333,0.979167)) [1,5]((0,0,0,0.0208333,0.979167))
-[1,4]((0,0,-9.26993e-18,1)) [1,5]((0,0,0,-9.26993e-18,1))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.00,1.00,0.00,0.00,0.00))
+[1,4]((0.98,0.02,0.00,0.00)) [1,5]((0.00,0.98,0.02,0.00,0.00))
+[1,4]((0.83,0.17,0.00,0.00)) [1,5]((0.00,0.83,0.17,0.00,0.00))
+[1,4]((0.50,0.48,0.02,0.00)) [1,5]((0.00,0.50,0.48,0.02,0.00))
+[1,4]((0.17,0.67,0.17,0.00)) [1,5]((0.00,0.17,0.67,0.17,0.00))
+[1,4]((0.02,0.48,0.48,0.02)) [1,5]((0.00,0.02,0.48,0.48,0.02))
+[1,4]((0.00,0.17,0.67,0.17)) [1,5]((0.00,0.00,0.17,0.67,0.17))
+[1,4]((0.00,0.02,0.48,0.50)) [1,5]((0.00,0.00,0.02,0.48,0.50))
+[1,4]((0.00,0.00,0.17,0.83)) [1,5]((0.00,0.00,0.00,0.17,0.83))
+[1,4]((0.00,0.00,0.02,0.98)) [1,5]((0.00,0.00,0.00,0.02,0.98))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((0.00,0.00,0.00,0.00,1.00))
Variation of the derivative w.r.t to parameters:
-[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((0,-0.625,0.625,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((0,-2.5,2.5,0,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((0,-3.75,3.125,0.625,0))
-[1,4]((-0.625,0,0.625,0)) [1,5]((0,-2.5,0,2.5,0))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((0,-0.625,-3.125,3.125,0.625))
-[1,4]((0,-0.625,1.11022e-15,0.625)) [1,5]((0,0,-2.5,4.44089e-15,2.5))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((0,0,-0.625,-3.125,3.75))
-[1,4]((0,0,-0.625,0.625)) [1,5]((0,0,0,-2.5,2.5))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((0,0,0,-0.625,0.625))
-[1,4]((0,0,0,4.44089e-16)) [1,5]((0,0,0,0,1.77636e-15))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,4]((-0.16,0.16,0.00,0.00)) [1,5]((0.00,-0.62,0.62,0.00,0.00))
+[1,4]((-0.62,0.62,0.00,0.00)) [1,5]((0.00,-2.50,2.50,0.00,0.00))
+[1,4]((-0.94,0.78,0.16,0.00)) [1,5]((0.00,-3.75,3.12,0.63,0.00))
+[1,4]((-0.62,0.00,0.62,0.00)) [1,5]((0.00,-2.50,0.00,2.50,0.00))
+[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((0.00,-0.62,-3.12,3.12,0.62))
+[1,4]((0.00,-0.63,0.00,0.62)) [1,5]((0.00,0.00,-2.50,0.00,2.50))
+[1,4]((0.00,-0.16,-0.78,0.94)) [1,5]((0.00,0.00,-0.63,-3.12,3.75))
+[1,4]((0.00,0.00,-0.63,0.63)) [1,5]((0.00,0.00,0.00,-2.50,2.50))
+[1,4]((0.00,0.00,-0.16,0.16)) [1,5]((0.00,0.00,0.00,-0.63,0.63))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index 500f6af..d5c65df 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -123,12 +123,22 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
double fttTmax = Function::getUpperBound (freeTimeTraj.timeRange ());
std::cout << format ("Spline range: [%1%, %2%]") % tmin % tmax << std::endl
- << format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax << std::endl;
+ << format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax
+ << std::endl;
+
+ format fmterTitle
+ ("| %1% %|6t||| %2% %|20t|| %3% %|35t|||"
+ " %4% %|55t|| %5% %|79t||");
+
+ format fmter
+ ("| %1.2f %|6t||| %2.2f %|20t|| %3.2f %|35t|||"
+ " %4.2f %|55t|| %5.2f %|79t||");
+
+
- format fmter ("| %1% %|6t||| %2% %|20t|| %3% %|35t||| %4% %|55t|| %5% %|79t||");
std::cout << "/---------------------------------------"
<< "---------------------------------------\\" << std::endl
- << fmter
+ << fmterTitle
% "T" % "Value" % "Value (ftt)"
% "Derivative" % "Derivative (ftt)"
<< std::endl
@@ -136,6 +146,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
<< "----------------------------------------"
<< std::endl;
+
for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
{
if (t > fttTmax)
@@ -186,7 +197,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
std::cout << "Variation of the configuration w.r.t to parameters:" << std::endl;
- format fmterConfig ("%1% %|50t|%2%");
+ format fmterConfig ("%1.2f %|50t|%2.2f");
for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
{
if (t > fttTmax)
@@ -221,7 +232,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
std::cout << std::endl << std::endl;
std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
- format fmterDeriv ("%1% %|50t|%2%");
+ format fmterDeriv ("%1.2f %|50t|%2.2f");
for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
{
if (t > fttTmax)
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index e0ce508..b90abcc 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -1,9 +1,9 @@
Initial interval
-(0, 4)
+(0.00, 4.00)
Params = 2
-(0, 2)
+(0.00, 2.00)
Params = .5
-(0, 8)
+(0.00, 8.00)
Checking StableTimePoint scaling.
Checking scale/unscale methods.
Checking scale using tmin/tmax.
@@ -13,47 +13,47 @@ FTT range: [0, 4]
/------------------------------------------------------------------------------\
| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
--------------------------------------------------------------------------------
-| 0 || 0 | 0 || 0 | 0 |
-| 0.1 || 0.00813802 | 0.00813802 || 0.244141 | 0.244141 |
-| 0.2 || 0.0651042 | 0.0651042 || 0.976562 | 0.976562 |
-| 0.3 || 0.219727 | 0.219727 || 2.19727 | 2.19727 |
-| 0.4 || 0.520833 | 0.520833 || 3.90625 | 3.90625 |
-| 0.5 || 1.01725 | 1.01725 || 6.10352 | 6.10352 |
-| 0.6 || 1.75781 | 1.75781 || 8.78906 | 8.78906 |
-| 0.7 || 2.79134 | 2.79134 || 11.9629 | 11.9629 |
-| 0.8 || 4.16667 | 4.16667 || 15.625 | 15.625 |
-| 0.9 || 5.92448 | 5.92448 || 19.5312 | 19.5312 |
-| 1 || 8.07292 | 8.07292 || 23.4375 | 23.4375 |
-| 1.1 || 10.612 | 10.612 || 27.3437 | 27.3437 |
-| 1.2 || 13.5417 | 13.5417 || 31.25 | 31.25 |
-| 1.3 || 16.862 | 16.862 || 35.1562 | 35.1562 |
-| 1.4 || 20.5729 | 20.5729 || 39.0625 | 39.0625 |
-| 1.5 || 24.6745 | 24.6745 || 42.9688 | 42.9688 |
-| 1.6 || 29.1667 | 29.1667 || 46.875 | 46.875 |
-| 1.7 || 34.0332 | 34.0332 || 50.293 | 50.293 |
-| 1.8 || 39.1927 | 39.1927 || 52.7344 | 52.7344 |
-| 1.9 || 44.5475 | 44.5475 || 54.1992 | 54.1992 |
-| 2 || 50 | 50 || 54.6875 | 54.6875 |
-| 2.1 || 55.4525 | 55.4525 || 54.1992 | 54.1992 |
-| 2.2 || 60.8073 | 60.8073 || 52.7344 | 52.7344 |
-| 2.3 || 65.9668 | 65.9668 || 50.293 | 50.293 |
-| 2.4 || 70.8333 | 70.8333 || 46.875 | 46.875 |
-| 2.5 || 75.3255 | 75.3255 || 42.9687 | 42.9687 |
-| 2.6 || 79.4271 | 79.4271 || 39.0625 | 39.0625 |
-| 2.7 || 83.138 | 83.138 || 35.1562 | 35.1562 |
-| 2.8 || 86.4583 | 86.4583 || 31.25 | 31.25 |
-| 2.9 || 89.388 | 89.388 || 27.3437 | 27.3437 |
-| 3 || 91.9271 | 91.9271 || 23.4375 | 23.4375 |
-| 3.1 || 94.0755 | 94.0755 || 19.5312 | 19.5312 |
-| 3.2 || 95.8333 | 95.8333 || 15.625 | 15.625 |
-| 3.3 || 97.2087 | 97.2087 || 11.9629 | 11.9629 |
-| 3.4 || 98.2422 | 98.2422 || 8.78906 | 8.78906 |
-| 3.5 || 98.9827 | 98.9827 || 6.10352 | 6.10352 |
-| 3.6 || 99.4792 | 99.4792 || 3.90625 | 3.90625 |
-| 3.7 || 99.7803 | 99.7803 || 2.19727 | 2.19727 |
-| 3.8 || 99.9349 | 99.9349 || 0.976562 | 0.976562 |
-| 3.9 || 99.9919 | 99.9919 || 0.244141 | 0.244141 |
-| 4 || 100 | 100 || -2.08167e-14 | -2.08167e-14 |
+| 0.00 || 0.00 | 0.00 || 0.00 | 0.00 |
+| 0.10 || 0.01 | 0.01 || 0.24 | 0.24 |
+| 0.20 || 0.07 | 0.07 || 0.98 | 0.98 |
+| 0.30 || 0.22 | 0.22 || 2.20 | 2.20 |
+| 0.40 || 0.52 | 0.52 || 3.91 | 3.91 |
+| 0.50 || 1.02 | 1.02 || 6.10 | 6.10 |
+| 0.60 || 1.76 | 1.76 || 8.79 | 8.79 |
+| 0.70 || 2.79 | 2.79 || 11.96 | 11.96 |
+| 0.80 || 4.17 | 4.17 || 15.62 | 15.62 |
+| 0.90 || 5.92 | 5.92 || 19.53 | 19.53 |
+| 1.00 || 8.07 | 8.07 || 23.44 | 23.44 |
+| 1.10 || 10.61 | 10.61 || 27.34 | 27.34 |
+| 1.20 || 13.54 | 13.54 || 31.25 | 31.25 |
+| 1.30 || 16.86 | 16.86 || 35.16 | 35.16 |
+| 1.40 || 20.57 | 20.57 || 39.06 | 39.06 |
+| 1.50 || 24.67 | 24.67 || 42.97 | 42.97 |
+| 1.60 || 29.17 | 29.17 || 46.88 | 46.88 |
+| 1.70 || 34.03 | 34.03 || 50.29 | 50.29 |
+| 1.80 || 39.19 | 39.19 || 52.73 | 52.73 |
+| 1.90 || 44.55 | 44.55 || 54.20 | 54.20 |
+| 2.00 || 50.00 | 50.00 || 54.69 | 54.69 |
+| 2.10 || 55.45 | 55.45 || 54.20 | 54.20 |
+| 2.20 || 60.81 | 60.81 || 52.73 | 52.73 |
+| 2.30 || 65.97 | 65.97 || 50.29 | 50.29 |
+| 2.40 || 70.83 | 70.83 || 46.87 | 46.87 |
+| 2.50 || 75.33 | 75.33 || 42.97 | 42.97 |
+| 2.60 || 79.43 | 79.43 || 39.06 | 39.06 |
+| 2.70 || 83.14 | 83.14 || 35.16 | 35.16 |
+| 2.80 || 86.46 | 86.46 || 31.25 | 31.25 |
+| 2.90 || 89.39 | 89.39 || 27.34 | 27.34 |
+| 3.00 || 91.93 | 91.93 || 23.44 | 23.44 |
+| 3.10 || 94.08 | 94.08 || 19.53 | 19.53 |
+| 3.20 || 95.83 | 95.83 || 15.62 | 15.62 |
+| 3.30 || 97.21 | 97.21 || 11.96 | 11.96 |
+| 3.40 || 98.24 | 98.24 || 8.79 | 8.79 |
+| 3.50 || 98.98 | 98.98 || 6.10 | 6.10 |
+| 3.60 || 99.48 | 99.48 || 3.91 | 3.91 |
+| 3.70 || 99.78 | 99.78 || 2.20 | 2.20 |
+| 3.80 || 99.93 | 99.93 || 0.98 | 0.98 |
+| 3.90 || 99.99 | 99.99 || 0.24 | 0.24 |
+| 4.00 || 100.00 | 100.00 || 0.00 | 0.00 |
\------------------------------------------------------------------------------/
Gradient check.
@@ -142,178 +142,178 @@ Free time trajectory gradient.
Variation of the configuration w.r.t to parameters:
-[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
-[1,4]((0.999674,0.000325521,0,0)) [1,5]((0.0244141,0.999674,0.000325521,0,0))
-[1,4]((0.997396,0.00260417,0,0)) [1,5]((0.195312,0.997396,0.00260417,0,0))
-[1,4]((0.991211,0.00878906,0,0)) [1,5]((0.65918,0.991211,0.00878906,0,0))
-[1,4]((0.979167,0.0208333,0,0)) [1,5]((1.5625,0.979167,0.0208333,0,0))
-[1,4]((0.95931,0.0406901,0,0)) [1,5]((3.05176,0.95931,0.0406901,0,0))
-[1,4]((0.929688,0.0703125,0,0)) [1,5]((5.27344,0.929688,0.0703125,0,0))
-[1,4]((0.888346,0.111654,0,0)) [1,5]((8.37402,0.888346,0.111654,0,0))
-[1,4]((0.833333,0.166667,0,0)) [1,5]((12.5,0.833333,0.166667,0,0))
-[1,4]((0.763672,0.236003,0.000325521,0)) [1,5]((17.5781,0.763672,0.236003,0.000325521,0))
-[1,4]((0.682292,0.315104,0.00260417,0)) [1,5]((23.4375,0.682292,0.315104,0.00260417,0))
-[1,4]((0.593099,0.398112,0.00878906,0)) [1,5]((30.0781,0.593099,0.398112,0.00878906,0))
-[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((37.5,0.5,0.479167,0.0208333,0))
-[1,4]((0.406901,0.552409,0.0406901,0)) [1,5]((45.7031,0.406901,0.552409,0.0406901,0))
-[1,4]((0.317708,0.611979,0.0703125,0)) [1,5]((54.6875,0.317708,0.611979,0.0703125,0))
-[1,4]((0.236328,0.652018,0.111654,0)) [1,5]((64.4531,0.236328,0.652018,0.111654,0))
-[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((75,0.166667,0.666667,0.166667,0))
-[1,4]((0.111654,0.652018,0.236003,0.000325521)) [1,5]((85.498,0.111654,0.652018,0.236003,0.000325521))
-[1,4]((0.0703125,0.611979,0.315104,0.00260417)) [1,5]((94.9219,0.0703125,0.611979,0.315104,0.00260417))
-[1,4]((0.0406901,0.552409,0.398112,0.00878906)) [1,5]((102.979,0.0406901,0.552409,0.398112,0.00878906))
-[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((109.375,0.0208333,0.479167,0.479167,0.0208333))
-[1,4]((0.00878906,0.398112,0.552409,0.0406901)) [1,5]((113.818,0.00878906,0.398112,0.552409,0.0406901))
-[1,4]((0.00260417,0.315104,0.611979,0.0703125)) [1,5]((116.016,0.00260417,0.315104,0.611979,0.0703125))
-[1,4]((0.000325521,0.236003,0.652018,0.111654)) [1,5]((115.674,0.000325521,0.236003,0.652018,0.111654))
-[1,4]((0,0.166667,0.666667,0.166667)) [1,5]((112.5,0,0.166667,0.666667,0.166667))
-[1,4]((0,0.111654,0.652018,0.236328)) [1,5]((107.422,0,0.111654,0.652018,0.236328))
-[1,4]((0,0.0703125,0.611979,0.317708)) [1,5]((101.562,0,0.0703125,0.611979,0.317708))
-[1,4]((0,0.0406901,0.552409,0.406901)) [1,5]((94.9219,0,0.0406901,0.552409,0.406901))
-[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((87.5,0,0.0208333,0.479167,0.5))
-[1,4]((0,0.00878906,0.398112,0.593099)) [1,5]((79.2969,0,0.00878906,0.398112,0.593099))
-[1,4]((0,0.00260417,0.315104,0.682292)) [1,5]((70.3125,0,0.00260417,0.315104,0.682292))
-[1,4]((0,0.000325521,0.236003,0.763672)) [1,5]((60.5469,0,0.000325521,0.236003,0.763672))
-[1,4]((0,0,0.166667,0.833333)) [1,5]((50,0,0,0.166667,0.833333))
-[1,4]((0,0,0.111654,0.888346)) [1,5]((39.4775,0,0,0.111654,0.888346))
-[1,4]((0,0,0.0703125,0.929688)) [1,5]((29.8828,0,0,0.0703125,0.929688))
-[1,4]((0,0,0.0406901,0.95931)) [1,5]((21.3623,0,0,0.0406901,0.95931))
-[1,4]((0,0,0.0208333,0.979167)) [1,5]((14.0625,0,0,0.0208333,0.979167))
-[1,4]((0,0,0.00878906,0.991211)) [1,5]((8.12988,0,0,0.00878906,0.991211))
-[1,4]((0,0,0.00260417,0.997396)) [1,5]((3.71094,0,0,0.00260417,0.997396))
-[1,4]((0,0,0.000325521,0.999674)) [1,5]((0.952148,0,0,0.000325521,0.999674))
-[1,4]((0,0,-9.26993e-18,1)) [1,5]((-8.32667e-14,0,0,-9.26993e-18,1))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.00,1.00,0.00,0.00,0.00))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.02,1.00,0.00,0.00,0.00))
+[1,4]((1.00,0.00,0.00,0.00)) [1,5]((0.20,1.00,0.00,0.00,0.00))
+[1,4]((0.99,0.01,0.00,0.00)) [1,5]((0.66,0.99,0.01,0.00,0.00))
+[1,4]((0.98,0.02,0.00,0.00)) [1,5]((1.56,0.98,0.02,0.00,0.00))
+[1,4]((0.96,0.04,0.00,0.00)) [1,5]((3.05,0.96,0.04,0.00,0.00))
+[1,4]((0.93,0.07,0.00,0.00)) [1,5]((5.27,0.93,0.07,0.00,0.00))
+[1,4]((0.89,0.11,0.00,0.00)) [1,5]((8.37,0.89,0.11,0.00,0.00))
+[1,4]((0.83,0.17,0.00,0.00)) [1,5]((12.50,0.83,0.17,0.00,0.00))
+[1,4]((0.76,0.24,0.00,0.00)) [1,5]((17.58,0.76,0.24,0.00,0.00))
+[1,4]((0.68,0.32,0.00,0.00)) [1,5]((23.44,0.68,0.32,0.00,0.00))
+[1,4]((0.59,0.40,0.01,0.00)) [1,5]((30.08,0.59,0.40,0.01,0.00))
+[1,4]((0.50,0.48,0.02,0.00)) [1,5]((37.50,0.50,0.48,0.02,0.00))
+[1,4]((0.41,0.55,0.04,0.00)) [1,5]((45.70,0.41,0.55,0.04,0.00))
+[1,4]((0.32,0.61,0.07,0.00)) [1,5]((54.69,0.32,0.61,0.07,0.00))
+[1,4]((0.24,0.65,0.11,0.00)) [1,5]((64.45,0.24,0.65,0.11,0.00))
+[1,4]((0.17,0.67,0.17,0.00)) [1,5]((75.00,0.17,0.67,0.17,0.00))
+[1,4]((0.11,0.65,0.24,0.00)) [1,5]((85.50,0.11,0.65,0.24,0.00))
+[1,4]((0.07,0.61,0.32,0.00)) [1,5]((94.92,0.07,0.61,0.32,0.00))
+[1,4]((0.04,0.55,0.40,0.01)) [1,5]((102.98,0.04,0.55,0.40,0.01))
+[1,4]((0.02,0.48,0.48,0.02)) [1,5]((109.38,0.02,0.48,0.48,0.02))
+[1,4]((0.01,0.40,0.55,0.04)) [1,5]((113.82,0.01,0.40,0.55,0.04))
+[1,4]((0.00,0.32,0.61,0.07)) [1,5]((116.02,0.00,0.32,0.61,0.07))
+[1,4]((0.00,0.24,0.65,0.11)) [1,5]((115.67,0.00,0.24,0.65,0.11))
+[1,4]((0.00,0.17,0.67,0.17)) [1,5]((112.50,0.00,0.17,0.67,0.17))
+[1,4]((0.00,0.11,0.65,0.24)) [1,5]((107.42,0.00,0.11,0.65,0.24))
+[1,4]((0.00,0.07,0.61,0.32)) [1,5]((101.56,0.00,0.07,0.61,0.32))
+[1,4]((0.00,0.04,0.55,0.41)) [1,5]((94.92,0.00,0.04,0.55,0.41))
+[1,4]((0.00,0.02,0.48,0.50)) [1,5]((87.50,0.00,0.02,0.48,0.50))
+[1,4]((0.00,0.01,0.40,0.59)) [1,5]((79.30,0.00,0.01,0.40,0.59))
+[1,4]((0.00,0.00,0.32,0.68)) [1,5]((70.31,0.00,0.00,0.32,0.68))
+[1,4]((0.00,0.00,0.24,0.76)) [1,5]((60.55,0.00,0.00,0.24,0.76))
+[1,4]((0.00,0.00,0.17,0.83)) [1,5]((50.00,0.00,0.00,0.17,0.83))
+[1,4]((0.00,0.00,0.11,0.89)) [1,5]((39.48,0.00,0.00,0.11,0.89))
+[1,4]((0.00,0.00,0.07,0.93)) [1,5]((29.88,0.00,0.00,0.07,0.93))
+[1,4]((0.00,0.00,0.04,0.96)) [1,5]((21.36,0.00,0.00,0.04,0.96))
+[1,4]((0.00,0.00,0.02,0.98)) [1,5]((14.06,0.00,0.00,0.02,0.98))
+[1,4]((0.00,0.00,0.01,0.99)) [1,5]((8.13,0.00,0.00,0.01,0.99))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((3.71,0.00,0.00,0.00,1.00))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((0.95,0.00,0.00,0.00,1.00))
+[1,4]((0.00,0.00,0.00,1.00)) [1,5]((0.00,0.00,0.00,0.00,1.00))
Variation of the derivative w.r.t to parameters:
-[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.732422,-0.00976562,0.00976562,0,0))
-[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((2.92969,-0.0390625,0.0390625,0,0))
-[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((6.5918,-0.0878906,0.0878906,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((11.7188,-0.15625,0.15625,0,0))
-[1,4]((-0.244141,0.244141,0,0)) [1,5]((18.3105,-0.244141,0.244141,0,0))
-[1,4]((-0.351562,0.351562,0,0)) [1,5]((26.3672,-0.351562,0.351562,0,0))
-[1,4]((-0.478516,0.478516,0,0)) [1,5]((35.8887,-0.478516,0.478516,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((46.875,-0.625,0.625,0,0))
-[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((54.6875,-0.761719,0.751953,0.00976562,0))
-[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((62.5,-0.859375,0.820312,0.0390625,0))
-[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((70.3125,-0.917969,0.830078,0.0878906,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((78.125,-0.9375,0.78125,0.15625,0))
-[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((85.9375,-0.917969,0.673828,0.244141,0))
-[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((93.75,-0.859375,0.507812,0.351562,0))
-[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((101.562,-0.761719,0.283203,0.478516,0))
-[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((109.375,-0.625,-1.11022e-15,0.625,-0))
-[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((100.098,-0.478516,-0.283203,0.751953,0.00976563))
-[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((87.8906,-0.351562,-0.507813,0.820313,0.0390625))
-[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((72.7539,-0.244141,-0.673828,0.830078,0.0878906))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((54.6875,-0.15625,-0.78125,0.78125,0.15625))
-[1,4]((-0.0878906,-0.830078,0.673828,0.244141)) [1,5]((33.6914,-0.0878906,-0.830078,0.673828,0.244141))
-[1,4]((-0.0390625,-0.820312,0.507812,0.351563)) [1,5]((9.76562,-0.0390625,-0.820312,0.507812,0.351563))
-[1,4]((-0.00976562,-0.751953,0.283203,0.478516)) [1,5]((-17.0898,-0.00976562,-0.751953,0.283203,0.478516))
-[1,4]((0,-0.625,-2.22045e-15,0.625)) [1,5]((-46.875,0,-0.625,-2.22045e-15,0.625))
-[1,4]((0,-0.478516,-0.283203,0.761719)) [1,5]((-54.6875,0,-0.478516,-0.283203,0.761719))
-[1,4]((0,-0.351562,-0.507813,0.859375)) [1,5]((-62.5,0,-0.351562,-0.507813,0.859375))
-[1,4]((0,-0.244141,-0.673828,0.917969)) [1,5]((-70.3125,0,-0.244141,-0.673828,0.917969))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((-78.125,0,-0.15625,-0.78125,0.9375))
-[1,4]((0,-0.0878906,-0.830078,0.917969)) [1,5]((-85.9375,0,-0.0878906,-0.830078,0.917969))
-[1,4]((0,-0.0390625,-0.820312,0.859375)) [1,5]((-93.75,0,-0.0390625,-0.820312,0.859375))
-[1,4]((0,-0.00976562,-0.751953,0.761719)) [1,5]((-101.563,0,-0.00976562,-0.751953,0.761719))
-[1,4]((0,0,-0.625,0.625)) [1,5]((-109.375,0,0,-0.625,0.625))
-[1,4]((0,0,-0.478516,0.478516)) [1,5]((-100.83,0,0,-0.478516,0.478516))
-[1,4]((0,0,-0.351562,0.351562)) [1,5]((-90.8203,0,0,-0.351562,0.351562))
-[1,4]((0,0,-0.244141,0.244141)) [1,5]((-79.3457,0,0,-0.244141,0.244141))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((-66.4062,0,0,-0.15625,0.15625))
-[1,4]((0,0,-0.0878906,0.0878906)) [1,5]((-52.002,0,0,-0.0878906,0.0878906))
-[1,4]((0,0,-0.0390625,0.0390625)) [1,5]((-36.1328,0,0,-0.0390625,0.0390625))
-[1,4]((0,0,-0.00976562,0.00976562)) [1,5]((-18.7988,0,0,-0.00976562,0.00976562))
-[1,4]((0,0,0,0)) [1,5]((-2.94598e-13,0,0,0,0))
+[1,4]((0.00,0.00,0.00,0.00)) [1,5]((0.00,0.00,0.00,0.00,0.00))
+[1,4]((-0.01,0.01,0.00,0.00)) [1,5]((0.73,-0.01,0.01,0.00,0.00))
+[1,4]((-0.04,0.04,0.00,0.00)) [1,5]((2.93,-0.04,0.04,0.00,0.00))
+[1,4]((-0.09,0.09,0.00,0.00)) [1,5]((6.59,-0.09,0.09,0.00,0.00))
+[1,4]((-0.16,0.16,0.00,0.00)) [1,5]((11.72,-0.16,0.16,0.00,0.00))
+[1,4]((-0.24,0.24,0.00,0.00)) [1,5]((18.31,-0.24,0.24,0.00,0.00))
+[1,4]((-0.35,0.35,0.00,0.00)) [1,5]((26.37,-0.35,0.35,0.00,0.00))
+[1,4]((-0.48,0.48,0.00,0.00)) [1,5]((35.89,-0.48,0.48,0.00,0.00))
+[1,4]((-0.62,0.62,0.00,0.00)) [1,5]((46.87,-0.62,0.62,0.00,0.00))
+[1,4]((-0.76,0.75,0.01,0.00)) [1,5]((54.69,-0.76,0.75,0.01,0.00))
+[1,4]((-0.86,0.82,0.04,0.00)) [1,5]((62.50,-0.86,0.82,0.04,0.00))
+[1,4]((-0.92,0.83,0.09,0.00)) [1,5]((70.31,-0.92,0.83,0.09,0.00))
+[1,4]((-0.94,0.78,0.16,0.00)) [1,5]((78.12,-0.94,0.78,0.16,0.00))
+[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]((-0.48,-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))
+[1,4]((-0.16,-0.78,0.78,0.16)) [1,5]((54.69,-0.16,-0.78,0.78,0.16))
+[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,-0.48,-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))
+[1,4]((0.00,-0.16,-0.78,0.94)) [1,5]((-78.13,0.00,-0.16,-0.78,0.94))
+[1,4]((0.00,-0.09,-0.83,0.92)) [1,5]((-85.94,0.00,-0.09,-0.83,0.92))
+[1,4]((0.00,-0.04,-0.82,0.86)) [1,5]((-93.75,0.00,-0.04,-0.82,0.86))
+[1,4]((0.00,-0.01,-0.75,0.76)) [1,5]((-101.56,0.00,-0.01,-0.75,0.76))
+[1,4]((0.00,0.00,-0.62,0.62)) [1,5]((-109.37,0.00,0.00,-0.62,0.62))
+[1,4]((0.00,0.00,-0.48,0.48)) [1,5]((-100.83,0.00,0.00,-0.48,0.48))
+[1,4]((0.00,0.00,-0.35,0.35)) [1,5]((-90.82,0.00,0.00,-0.35,0.35))
+[1,4]((0.00,0.00,-0.24,0.24)) [1,5]((-79.35,0.00,0.00,-0.24,0.24))
+[1,4]((0.00,0.00,-0.16,0.16)) [1,5]((-66.41,0.00,0.00,-0.16,0.16))
+[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))
Spline range: [0, 4]
FTT range: [0, 8]
/------------------------------------------------------------------------------\
| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
--------------------------------------------------------------------------------
-| 0 || 0 | 0 || 0 | 0 |
-| 0.1 || 0.00813802 | 0.00101725 || 0.244141 | 0.0305176 |
-| 0.2 || 0.0651042 | 0.00813802 || 0.976562 | 0.12207 |
-| 0.3 || 0.219727 | 0.0274658 || 2.19727 | 0.274658 |
-| 0.4 || 0.520833 | 0.0651042 || 3.90625 | 0.488281 |
-| 0.5 || 1.01725 | 0.127157 || 6.10352 | 0.762939 |
-| 0.6 || 1.75781 | 0.219727 || 8.78906 | 1.09863 |
-| 0.7 || 2.79134 | 0.348918 || 11.9629 | 1.49536 |
-| 0.8 || 4.16667 | 0.520833 || 15.625 | 1.95312 |
-| 0.9 || 5.92448 | 0.741577 || 19.5312 | 2.47192 |
-| 1 || 8.07292 | 1.01725 || 23.4375 | 3.05176 |
-| 1.1 || 10.612 | 1.35396 || 27.3437 | 3.69263 |
-| 1.2 || 13.5417 | 1.75781 || 31.25 | 4.39453 |
-| 1.3 || 16.862 | 2.2349 || 35.1562 | 5.15747 |
-| 1.4 || 20.5729 | 2.79134 || 39.0625 | 5.98145 |
-| 1.5 || 24.6745 | 3.43323 || 42.9688 | 6.86646 |
-| 1.6 || 29.1667 | 4.16667 || 46.875 | 7.8125 |
-| 1.7 || 34.0332 | 4.99674 || 50.293 | 8.78906 |
-| 1.8 || 39.1927 | 5.92448 || 52.7344 | 9.76563 |
-| 1.9 || 44.5475 | 6.94987 || 54.1992 | 10.7422 |
-| 2 || 50 | 8.07292 || 54.6875 | 11.7188 |
-| 2.1 || 55.4525 | 9.29362 || 54.1992 | 12.6953 |
-| 2.2 || 60.8073 | 10.612 || 52.7344 | 13.6719 |
-| 2.3 || 65.9668 | 12.028 || 50.293 | 14.6484 |
-| 2.4 || 70.8333 | 13.5417 || 46.875 | 15.625 |
-| 2.5 || 75.3255 | 15.153 || 42.9687 | 16.6016 |
-| 2.6 || 79.4271 | 16.862 || 39.0625 | 17.5781 |
-| 2.7 || 83.138 | 18.6686 || 35.1562 | 18.5547 |
-| 2.8 || 86.4583 | 20.5729 || 31.25 | 19.5313 |
-| 2.9 || 89.388 | 22.5749 || 27.3437 | 20.5078 |
-| 3 || 91.9271 | 24.6745 || 23.4375 | 21.4844 |
-| 3.1 || 94.0755 | 26.8717 || 19.5312 | 22.4609 |
-| 3.2 || 95.8333 | 29.1667 || 15.625 | 23.4375 |
-| 3.3 || 97.2087 | 31.5572 || 11.9629 | 24.353 |
-| 3.4 || 98.2422 | 34.0332 || 8.78906 | 25.1465 |
-| 3.5 || 98.9827 | 36.5824 || 6.10352 | 25.8179 |
-| 3.6 || 99.4792 | 39.1927 || 3.90625 | 26.3672 |
-| 3.7 || 99.7803 | 41.8518 || 2.19727 | 26.7944 |
-| 3.8 || 99.9349 | 44.5475 || 0.976562 | 27.0996 |
-| 3.9 || 99.9919 | 47.2677 || 0.244141 | 27.2827 |
-| 4 || N/A ...
[truncated message content] |
|
From: Thomas M. <tho...@us...> - 2009-11-15 18:50:33
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "shared-tests".
The branch, master has been updated
via 11ce21a4622efc710a404fd658aa85b674d8881d (commit)
from 75d8641a91cb6b43a13897eacb29276a2300be5a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 11ce21a4622efc710a404fd658aa85b674d8881d
Author: Thomas Moulard <tho...@gm...>
Date: Sun Nov 15 19:47:46 2009 +0100
Force std::cout floating point numbers output.
* common.hh: Set precision and display format to fixed.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d2d0d2d..faa8c75 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-11-15 Thomas Moulard <tho...@gm...>
+
+ Force std::cout floating point numbers output.
+ * common.hh: Set precision and display format to fixed.
+
2009-11-09 Thomas Moulard <tho...@gm...>
Include ``debug.hh'' to get libcwd initialized properly.
diff --git a/common.hh b/common.hh
index 188c7f9..178ec70 100644
--- a/common.hh
+++ b/common.hh
@@ -22,6 +22,8 @@
# include <roboptim/core/debug.hh>
# include <fstream>
+# include <iomanip>
+# include <iostream>
# include <iostream>
# include <stdexcept>
@@ -48,6 +50,8 @@ void init ()
roboptim::debug::init();
#endif //! CWDEBUG
+ std::cout << std::setprecision (2) << std::fixed;
+
#if defined _WIN32 && ROBOPTIM_INTERACTIVE_TESTSUITE
atexit (pauseAtExit);
#endif //! _WIN32 && ROBOPTIM_INTERACTIVE_TESTSUITE
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
common.hh | 4 ++++
2 files changed, 9 insertions(+), 0 deletions(-)
hooks/post-receive
--
shared-tests
|
|
From: <no-...@ro...> - 2009-11-15 02:06:20
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/23 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-15 02:04:25
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/9 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-15 02:03:07
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/7 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-14 02:06:18
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/22 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-14 02:04:28
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/8 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-14 02:03:00
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/6 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The Nightly scheduler named 'nightly' triggered this build Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 18:33:06
|
The Buildbot has finished a build of roboptim-trajectory on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-trajectory/builds/7 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 17:28:23
|
The Buildbot has finished a build of roboptim-core-cfsqp-plugin on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core-cfsqp-plugin/builds/5 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: <no-...@ro...> - 2009-11-13 17:24:30
|
The Buildbot has finished a build of roboptim-core on RobOptim. Full details are available at: http://cleo.laas.fr:8010/builders/roboptim-core/builds/21 Buildbot URL: http://cleo.laas.fr:8010/ Buildslave for this Build: cleo Build Reason: The web-page 'force build' button was pressed by 'Thomas Moulard': Build Source Stamp: HEAD Blamelist: Build succeeded! sincerely, -The Buildbot |
|
From: Thomas M. <tho...@us...> - 2009-11-13 17:19:42
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim-trajectory".
The branch, master has been updated
via 00332e8987a83dfc3aeda19c034793531bcbac7c (commit)
from 018274d9ba63669474ab8c2ccc8988bd10034bfa (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 00332e8987a83dfc3aeda19c034793531bcbac7c
Author: Thomas Moulard <tho...@gm...>
Date: Fri Nov 13 18:19:29 2009 +0100
Fix spec file.
* roboptim-trajectory.spec.in: Fix typo and split
shared libraries between user and developpers packages properly.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 3b5f8f7..1e6ba26 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,6 +1,12 @@
2009-11-13 Thomas Moulard <tho...@gm...>
Fix spec file.
+ * roboptim-trajectory.spec.in: Fix typo and split
+ shared libraries between user and developpers packages properly.
+
+2009-11-13 Thomas Moulard <tho...@gm...>
+
+ Fix spec file.
* roboptim-trajectory.spec.in: Distribute development
libraries in development package.
diff --git a/roboptim-trajectory.spec.in b/roboptim-trajectory.spec.in
index 7b807e6..42453f1 100644
--- a/roboptim-trajectory.spec.in
+++ b/roboptim-trajectory.spec.in
@@ -62,12 +62,12 @@ rm -rf $RPM_BUILD_ROOT
%files
%defattr(-,root,root,-)
-%{_libdir}/*.so
+%{_libdir}/*.so.*
%files devel
%defattr(-,root,root,-)
%{_includedir}/*
-\%{_libdir}/*.so.*
+%{_libdir}/*.so
%{_libdir}/pkgconfig/*
%files doc
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
roboptim-trajectory.spec.in | 4 ++--
2 files changed, 8 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim-trajectory
|
1 message has been excluded from this view by a project administrator.
