Merge pull request #12 from bchretien/polynomial-3

polynomial-3: use a typedef of Polynomial<3>.

include/roboptim/trajectory/polynomial-3.hh

@@ -1,4 +1,5 @@
 // Copyright (C) 2012 by Florent Lamiraux, CNRS.
+// Copyright (C) 2014 by Benjamin Chrétien, CNRS-LIRMM.
 //
 // This file is part of the roboptim.
 //
@@ -18,73 +19,21 @@
 #ifndef ROBOPTIM_TRAJECTORY_POLYNOMIAL_3_HH
 # define ROBOPTIM_TRAJECTORY_POLYNOMIAL_3_HH
 
-# include <roboptim/core/function.hh>
-
-# include <ostream>
+# include <roboptim/trajectory/polynomial.hh>
 
 namespace roboptim {
 
   /// \brief Polynomial of degree at most 3.
   /// \f[
-  /// P (t) = \sum_{i=0}{3} a_i (t-t_0)^i
+  /// P (t) = \sum_{i=0}^{3} a_i (t-t_0)^i
   /// \f]
-  class Polynomial3
-  {
-  public:
-    typedef Function::size_type size_type;
-
-    /// \brief Default constructor: create a null polynomial.
-    Polynomial3 ();
-    Polynomial3 (double t0, double a0, double a1, double a2, double a3);
-    Polynomial3 operator* (const Polynomial3& poly) const;
-    Polynomial3 operator+ (const Polynomial3& poly) const;
-    Polynomial3 operator- (const Polynomial3& poly) const;
-
-    /// \brief Return a new polynomial translated from (t-t0) to (t-t1).
-    Polynomial3 translate (const double &t1) const;
-
-    /// \brief Translate the polynomial (in place) from (t-t0) to (t-t1).
-    void translateInPlace (const double &t1);
-
-    /// \brief Evaluate the polynomial.
-    double operator () (const double& t) const;
-
-    /// \brief Evaluate the derivative of a given order.
-    double derivative (const double& t, size_type order = 1) const;
-
-    /// \brief Print Polynomial3.
-    std::ostream& print (std::ostream& o) const throw ();
-
-    /// \brief Get the i-th polynomial coefficient.
-    /// \param i number of the coefficient to get.
-    /// \return i-th polynomial coefficient αi, with: α_i (t-t₀)^i
-    double operator [] (int i) const;
-
-    /// \brief Return the real roots of the translated polynomial.
-    /// \warning This function relies on Eigen's experimental polynomial solver.
-    /// \return vector of the real roots of the translated polynomial.
-    std::vector<double> realRoots () const;
-
-    /// \brief Polynomial coefficients (ordered from lowest to highest degree).
-    double coefs_ [4];
-
-    /// \brief Point on which the polynomial is centered.
-    double t0_;
-  }; // class Polynomial3
-
-  /// \brief Scalar multiplication of a 3rd degree polynomial.
-  Polynomial3 operator* (const double& lambda, const Polynomial3& poly);
+  typedef Polynomial<3> Polynomial3;
 
   /// \brief Monomial3
   /// \f[
   /// M (t) = t-t_0
   /// \f]
-  struct Monomial3 : public Polynomial3
-  {
-    Monomial3 (double t0) : Polynomial3 (t0, 0., 1., 0., 0.) {}
-  }; // class Monomial
-
-  std::ostream& operator << (std::ostream& o, const Polynomial3& p);
+  typedef Monomial<3> Monomial3;
 
 } // namespace roboptim
 #endif // ROBOPTIM_TRAJECTORY_POLYNOMIAL_3_HH

include/roboptim/trajectory/polynomial.hh

@@ -47,6 +47,12 @@ namespace roboptim
     /// \param coefs polynomial coefficients.
     Polynomial (value_type t0, const vector_t& coefs);
 
+    /// \brief Variadic constructor.
+    /// Note: this is a legacy constructor used to keep Polynomial3's API.
+    /// \param t0 polynomial of (t-t₀).
+    /// \param ... variadic arguments containing [a₀,a₁,...,a_N]
+    Polynomial (value_type t0, ...);
+
     /// \brief Copy constructor of polynomials of different orders.
     ///
     /// \warning If N < M, coefficients of higher degrees will be discarded.

include/roboptim/trajectory/polynomial.hxx

@@ -22,6 +22,7 @@
 
 # include <algorithm> // transform
 # include <limits> // numeric_limits
+# include <cstdarg> // va_list, va_start, va_arg, va_end
 
 // Polynomial solver
 # include <unsupported/Eigen/Polynomials>
@@ -43,6 +44,24 @@ namespace roboptim
     coefs_ = coefs;
   }
 
+  template <int N>
+  Polynomial<N>::Polynomial (value_type t0, ...)
+    :  t0_ (t0)
+  {
+    va_list vl;
+    // Note: void va_start (va_list ap, paramN);
+    // ---> "paramN: Name of the last named parameter in the function
+    // definition. The arguments extracted by subsequent calls to
+    // va_arg are those after paramN."
+    // See: http://www.cplusplus.com/reference/cstdarg/va_start/
+    va_start (vl, t0);
+
+    for (size_type i = 0; i < N + 1; ++i)
+      // We expect coefs to be of size N+1.
+      coefs_[i] = va_arg (vl, value_type);
+    va_end (vl);
+  }
+
   template <int N>
   template <int M>
   Polynomial<N>::Polynomial (const Polynomial<M>& p)

src/CMakeLists.txt

@@ -26,7 +26,6 @@ ADD_LIBRARY(roboptim-trajectory SHARED
   spline-length.cc
   debug.hh
   cubic-b-spline.cc
-  polynomial-3.cc
   )
 PKG_CONFIG_USE_DEPENDENCY(roboptim-trajectory roboptim-core)
 SET_TARGET_PROPERTIES(roboptim-trajectory PROPERTIES SOVERSION 1.1.0)

tests/polynomial.cc

@@ -206,17 +206,6 @@ void poly_props<3>::check_translate (const Polynomial<3>& poly,
     }
 }
 
-//FIXME: import code from Polynomial3 once it is replaced by Polynomial
-template <>
-void poly_props<3>::check_evaluate (double t0,
-                                    Polynomial<3>::coefs_t& params,
-                                    double t)
-{
-  Polynomial<3> new_poly (t0, params);
-  Polynomial3 old_poly (t0, params (0), params (1), params (2), params (3));
-  BOOST_CHECK_CLOSE (new_poly (t), old_poly (t), tol);
-}
-
 
 template <>
 void poly_props<5>::check_translate (const Polynomial<5>& poly,