9 #ifndef _DEFINITION_PYTHON_BINDINGS 10 #define _DEFINITION_PYTHON_BINDINGS 18 typedef Eigen::Matrix<double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1>
ret_pointX_t;
26 typedef Eigen::Matrix<real, Eigen::Dynamic, Eigen::Dynamic>
point_listX_t;
33 template <
typename Po
intList,
typename T_Po
int>
36 for (
int i = 0; i < array.cols(); ++i) {
37 res.push_back(array.col(i));
41 template <
typename Po
intList,
typename T_Po
int>
44 for (
int i = 0; i < vector.rows(); ++i) {
45 res.push_back(vector[i]);
50 template <
typename T_po
int,
typename Po
intList>
52 const size_t nCols = vect.size();
53 const size_t nRows = vect[0].rows();
54 PointList res(nRows, nCols);
55 for (
size_t i = 0; i < vect.size(); ++i) {
56 res.block(0, i, nRows, 1) = vect[i];
61 #endif //_DEFINITION_PYTHON_BINDINGS Definition: bernstein.h:20
double real
Definition: python_definitions.h:14
T_Point vectorFromEigenArray(const PointList &array)
Definition: python_definitions.h:34
ndcurves::curve_constraints< point3_t > curve_constraints3_t
Definition: python_definitions.h:23
Eigen::MatrixXd pointX_list_t
Definition: python_definitions.h:20
std::pair< pointX_t, pointX_t > pair_pointX_tangent_t
Definition: python_definitions.h:19
Eigen::Matrix< double, Eigen::Dynamic, 1, 0, Eigen::Dynamic, 1 > ret_pointX_t
Definition: python_definitions.h:18
Definition of a cubic spline.
forward declaration of all curves class
polynomial_t::coeff_t coeff_t
Definition: python_definitions.h:29
Eigen::Matrix< real, 3, Eigen::Dynamic > point_list3_t
Definition: python_definitions.h:27
class allowing to create a Bezier curve of dimension 1 <= n <= 3.
std::pair< real, pointX_t > waypoint_t
Definition: python_definitions.h:24
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29
std::vector< pair_pointX_tangent_t, Eigen::aligned_allocator< pair_pointX_tangent_t > > t_pair_pointX_tangent_t
Definition: python_definitions.h:21
Eigen::Matrix< real, Eigen::Dynamic, Eigen::Dynamic > point_listX_t
Definition: python_definitions.h:26
ndcurves::curve_constraints< pointX_t > curve_constraints_t
Definition: python_definitions.h:22
std::vector< waypoint_t > t_waypoint_t
Definition: python_definitions.h:25
storage for variable points of the form p_i = x' A_i x + B_i x + c_i
Eigen::Matrix< real, 6, Eigen::Dynamic > point_list6_t
Definition: python_definitions.h:28
PointList vectorToEigenArray(const T_point &vect)
Definition: python_definitions.h:51
Definition: curve_constraint.h:22
ndcurves::Bern< double > bernstein_t
Definition: python_definitions.h:31
storage for variable points of the form p_i = B_i x + c_i
T_Point vectorFromEigenVector(const PointList &vector)
Definition: python_definitions.h:42
Eigen::MatrixXd coeff_t
Definition: polynomial.h:41
Eigen::VectorXd time_waypoints_t
Definition: python_definitions.h:16
std::vector< real > t_time_t
Definition: python_definitions.h:15