Add a test for non-uniform cubic B splines.

tests/CMakeLists.txt

@@ -113,6 +113,9 @@ ROBOPTIM_TRAJECTORY_TEST(state-function)
 ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline)
 CONFIGURE_FILE ("cubic-b-spline-gradient.stdout"
   "cubic-b-spline-gradient.stdout")
+ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline-2)
+CONFIGURE_FILE ("cubic-b-spline-2.stdout"
+  "cubic-b-spline-2.stdout")
 ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline-gradient)
 ROBOPTIM_TRAJECTORY_TEST(b-spline)
 ROBOPTIM_TRAJECTORY_TEST(constrained-b-spline)

tests/cubic-b-spline-2.cc

@@ -0,0 +1,127 @@
+// 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/>.
+
+#undef NDEBUG
+
+#include <iostream>
+#include <fstream>
+#include <boost/format.hpp>
+#include "shared-tests/fixture.hh"
+
+#include <roboptim/core/finite-difference-gradient.hh>
+
+#include <roboptim/core/visualization/gnuplot.hh>
+#include <roboptim/core/visualization/gnuplot-commands.hh>
+#include <roboptim/core/visualization/gnuplot-function.hh>
+
+#include <roboptim/trajectory/visualization/trajectory.hh>
+
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/cubic-b-spline.hh>
+
+using namespace roboptim;
+using namespace roboptim::trajectory;
+using namespace roboptim::visualization;
+using namespace roboptim::visualization::gnuplot;
+
+typedef CubicBSpline::size_type size_type;
+typedef CubicBSpline::value_type value_type;
+
+typedef std::vector < std::vector < value_type > > matrix_t;
+
+matrix_t getReference (const std::string& file)
+{
+  matrix_t result;
+  size_type nbRows = 0;
+
+  std::ifstream f; f.open (file.c_str ());
+  std::string line;
+
+  while (f.good ()) {
+    std::vector <value_type> data;
+    std::getline (f, line);
+    std::stringstream ss (line);
+    std::copy (std::istream_iterator< value_type > (ss),
+	       std::istream_iterator< value_type > (),
+	       std::back_inserter (data));
+    ++nbRows;
+    result.push_back (data);
+  }
+  return result;
+}
+
+BOOST_FIXTURE_TEST_SUITE (trajectory, TestSuiteConfiguration)
+
+BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline)
+{
+  using namespace roboptim::visualization::gnuplot;
+  size_type nbRows = 0;
+  matrix_t reference = getReference ("cubic-b-spline-2.stdout");
+  if (reference.size () == 0) {
+    throw std::runtime_error
+      ("failed to open file \"cubic-b-spline-2.stdout\"");
+  }
+  double tol = 1e-6;
+
+  size_type nbKnots = 12;
+  double knotArray [] =
+    { -3, -2, -1, 0, .2, 1., 1.2, 1.8, 1.9, 2.2, 3.2, 4.2};
+  CubicBSpline::knots_t knots (nbKnots);
+  for (std::size_t i=0; i<(std::size_t)nbKnots ; ++i) knots [i] = knotArray [i];
+  std::vector <CubicBSpline::vector_t> params;
+
+  for (std::size_t i=0; i < (std::size_t)(nbKnots-4); ++i) {
+    params.push_back (CubicBSpline::vector_t (nbKnots - 4));
+    params [i].setZero ();
+    params [i][i] = 1;
+  }
+
+  std::ofstream f; f.open ("output");
+  for (std::size_t i=0; i<(std::size_t)nbKnots-4; ++i) {
+    CubicBSpline spline (1, knots, params [i], "Cubic B-spline");
+
+    discreteInterval_t interval (spline.timeRange ().first,
+				 spline.timeRange ().second, 0.002);
+
+    std::cout
+      <<
+      (boost::format
+       ("set term wxt persist title 'Spline: base functions' %1% font ',5'")
+       % i) << std::endl
+      << "set grid xtics noytics linewidth 0.5" << std::endl
+      << "set xlabel 't'" << std::endl
+      << "set ylabel 'value'" << std::endl;
+    std::string title ("spline");
+    std::cout << "plot '-' title '"<< title <<"' with line\n";
+
+    spline (0.95);
+    // Loop over the interval of definition
+    for (double t = boost::get<0> (interval); t < boost::get<1> (interval);
+	 t += boost::get<2> (interval)) {
+      CubicBSpline::vector_t value = spline (t);
+      std::cout << (boost::format ("%1.3f %2.8f\n")
+		    % normalize (t)
+		    % normalize (value (0))).str ();
+      BOOST_CHECK_SMALL (t - reference [nbRows][0], tol);
+      BOOST_CHECK_SMALL (value (0) - reference [nbRows][1], tol);
+      ++nbRows;
+    }
+    std::cout << "e" << std::endl;
+  }
+  std::cout << "unset multiplot" << std::endl;
+}
+BOOST_AUTO_TEST_SUITE_END ()