From b932e6d50cc46f36d8f018391d57f801e5271a9a Mon Sep 17 00:00:00 2001
From: Philipp Schmidt <ufedv@student.kit.edu>
Date: Thu, 24 Nov 2016 12:57:57 +0100
Subject: [PATCH] fixed names in trajectory class and getpart returns ptr
---
source/RobotAPI/libraries/core/Trajectory.cpp | 23 ++++++++++---------
source/RobotAPI/libraries/core/Trajectory.h | 6 ++---
2 files changed, 15 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/libraries/core/Trajectory.cpp b/source/RobotAPI/libraries/core/Trajectory.cpp
index b0dbfb34e..ee7495af9 100644
--- a/source/RobotAPI/libraries/core/Trajectory.cpp
+++ b/source/RobotAPI/libraries/core/Trajectory.cpp
@@ -44,7 +44,7 @@ namespace armarx
std::vector< DoubleSeqPtr >& data = it->data;
DoubleSeqSeq new2DVec;
new2DVec.reserve(data.size());
- for (DoubleSeqPtr & subVec : data)
+ for (DoubleSeqPtr& subVec : data)
{
if (subVec)
{
@@ -63,12 +63,12 @@ namespace armarx
void Trajectory::ice_postUnmarshal()
{
int i = 0;
- for (DoubleSeqSeq & _2DVec : dataVec)
+ for (DoubleSeqSeq& _2DVec : dataVec)
{
double t = timestamps.at(i);
int d = 0;
- for (auto & vec : _2DVec)
+ for (auto& vec : _2DVec)
{
setEntries(t, d++, vec);
}
@@ -425,9 +425,9 @@ namespace armarx
return toEigen(derivation, begin()->getTimestamp(), rbegin()->getTimestamp());
}
- Trajectory Trajectory::getPart(double startTime, double endTime, size_t numberOfDerivations) const
+ TrajectoryPtr Trajectory::getPart(double startTime, double endTime, size_t numberOfDerivations) const
{
- Trajectory result;
+ TrajectoryPtr result(new Trajectory());
const ordered_view& ordv = dataMap.get<TagOrdered>();
ordered_view::iterator itO = ordv.lower_bound(startTime);
@@ -446,11 +446,11 @@ namespace armarx
derivs.push_back(itO->getDeriv(d, i));
}
- result.addDerivationsToDimension(d, itO->getTimestamp(), derivs);
+ result->addDerivationsToDimension(d, itO->getTimestamp(), derivs);
}
// result.addPositionsToDimension(d, itO->getTimestamp(), itO->getDeriv(d, 0));
}
-
+ result->setDimensionNames(getDimensionNames());
return result;
}
@@ -1508,9 +1508,9 @@ namespace armarx
for (size_t dim = 0; dim < source.dim(); dim++)
{
- destination.addDimension(source.getDimensionData(dim), timestamps, source.getDimensionName(dim));
+ destination.addDimension(source.getDimensionData(dim), timestamps);
}
-
+ destination.setDimensionNames(source.getDimensionNames());
}
void Trajectory::clear()
@@ -1584,7 +1584,7 @@ namespace armarx
Ice::DoubleSeq dimensionData = traj.getDimensionData(dim);
normExampleTraj.addDimension(dimensionData, normTimestamps);
}
-
+ normExampleTraj.setDimensionNames(traj.getDimensionNames());
return normExampleTraj;
@@ -1593,7 +1593,8 @@ namespace armarx
TrajectoryPtr Trajectory::normalize(const double startTime, const double endTime)
{
Trajectory normTraj = NormalizeTimestamps(*this, startTime, endTime);
- return new Trajectory(normTraj);
+ TrajectoryPtr newTraj = new Trajectory(normTraj);
+ return newTraj;
}
diff --git a/source/RobotAPI/libraries/core/Trajectory.h b/source/RobotAPI/libraries/core/Trajectory.h
index 2eee73d30..e6805755c 100644
--- a/source/RobotAPI/libraries/core/Trajectory.h
+++ b/source/RobotAPI/libraries/core/Trajectory.h
@@ -100,7 +100,7 @@ namespace armarx
timestamp = s.timestamp;
data.resize(s.data.size());
int i = 0;
- for (auto & elem : s.data)
+ for (auto& elem : s.data)
{
data[i++] = elem;
}
@@ -227,7 +227,7 @@ namespace armarx
}
const auto& tempTimestamps = timestamps.size() > 0 ? timestamps : GenerateTimestamps(data.at(0));
size_t i = 0;
- for (const auto & subvec : data)
+ for (const auto& subvec : data)
{
Ice::DoubleSeq dvec(subvec.begin(), subvec.end());
addDimension(dvec, tempTimestamps, i < dimensionNames.size() ? dimensionNames.at(i++) : "");
@@ -311,7 +311,7 @@ namespace armarx
Eigen::VectorXd getDimensionDataAsEigen(size_t dimension, size_t derivation, double startTime, double endTime) const;
Eigen::MatrixXd toEigen(size_t derivation, double startTime, double endTime) const;
Eigen::MatrixXd toEigen(size_t derivation = 0) const;
- Trajectory getPart(double startTime, double endTime, size_t numberOfDerivations = 0) const;
+ TrajectoryPtr getPart(double startTime, double endTime, size_t numberOfDerivations = 0) const;
/**
* @brief dim returns the trajectory dimension count for this trajectory (e.g. taskspace w/o orientation would be 3)
* @return
--
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