cleaned up polyxd code (restricted access, etc.)

ethz-adrl · Apr 6, 2017 · 14c8c06 · 14c8c06
1 parent 16cc975
commit 14c8c06
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Showing 4 changed files with 32 additions and 24 deletions.
diff --git a/include/xpp/opt/impl/polynomial_xd-impl.h b/include/xpp/opt/impl/polynomial_xd-impl.h
@@ -11,33 +11,23 @@ namespace xpp {
 namespace opt {
 
 template<typename PolynomialType, typename PointType>
-PolynomialXd<PolynomialType, PointType>::PolynomialXd (int id,
-                                                              double duration)
+PolynomialXd<PolynomialType, PointType>::PolynomialXd (int id, double duration)
 {
-  SetDuration(duration);
   SetId(id);
+  SetBoundary(duration, Point(), Point());
 }
 
 template<typename PolynomialType, typename PointType>
 PolynomialXd<PolynomialType, PointType>::~PolynomialXd ()
 {
-  // TODO Auto-generated destructor stub
-}
-
-template<typename PolynomialType, typename PointType>
-void
-PolynomialXd<PolynomialType, PointType>::SetDuration (double _duration)
-{
-  for (int dim=X; dim<kNumDim; ++dim)
-    polynomials_.at(dim).duration = _duration;
 }
 
 template<typename PolynomialType, typename PointType>
 double
 PolynomialXd<PolynomialType, PointType>::GetDuration () const
 {
   // all polynomials have same duration, so just return duration of X
-  return polynomials_.at(X).duration;
+  return polynomials_.at(X).GetDuration();
 }
 
 template<typename PolynomialType, typename PointType>
@@ -54,22 +44,21 @@ template<typename PolynomialType, typename PointType>
 double
 PolynomialXd<PolynomialType, PointType>::GetCoefficient (int dim, PolyCoeff coeff) const
 {
-  return polynomials_.at(dim).c[coeff];
+  return polynomials_.at(dim).GetCoefficient(coeff);
 }
 
 template<typename PolynomialType, typename PointType>
 void
-PolynomialXd<PolynomialType, PointType>::SetCoefficients (int dim,
-                                                                 PolyCoeff coeff,
-                                                                 double value)
+PolynomialXd<PolynomialType, PointType>::SetCoefficients (int dim, PolyCoeff coeff,
+                                                          double value)
 {
-  polynomials_.at(dim).c[coeff] = value;
+  polynomials_.at(dim).SetCoefficient(coeff,value);
 }
 
 template<typename PolynomialType, typename PointType>
 void PolynomialXd<PolynomialType, PointType>::SetBoundary(double T,
-                                                                 const Point& start,
-                                                                 const Point& end)
+                                                          const Point& start,
+                                                          const Point& end)
 {
   for (int dim=X; dim<kNumDim; ++dim)
     polynomials_.at(dim).SetBoundary(T, start.Get1d(dim), end.Get1d(dim));

diff --git a/include/xpp/opt/polynomial.h b/include/xpp/opt/polynomial.h
@@ -55,18 +55,23 @@ class Polynomial {
    */
   bool GetPoint(const double dt, StateLin1d& point) const;
 
+  double GetCoefficient(PolynomialCoeff coeff) const;
+  void SetCoefficient(PolynomialCoeff coeff, double value);
+
+  double GetDuration() const;
+
+protected:
   std::array< double, AllSplineCoeff.size() > c; //!< coefficients of spline
-  double duration;
+
 private:
+  double duration;
   /**
    * @brief Calculates all spline coeff of current spline.
    *
    * params are the same as @ref getPoint.
    * This is the only function that must be implemented by the child classes.
    */
   virtual void SetPolynomialCoefficients(double T, const StateLin1d& start_p, const StateLin1d& end_p) = 0;
-
-protected:
 };
 
 inline Polynomial::Polynomial()

diff --git a/include/xpp/opt/polynomial_xd.h b/include/xpp/opt/polynomial_xd.h
@@ -38,7 +38,6 @@ class PolynomialXd {
 
   static int GetNumCoeff() { return PolynomialType::GetNumCoeff(); };
 
-  void SetDuration(double duration);
   double GetDuration() const;
 
   uint GetId()            const { return id_; };

diff --git a/src/polynomial.cc b/src/polynomial.cc
@@ -43,6 +43,21 @@ bool Polynomial::GetPoint(const double dt, StateLin1d& out) const
   return true;
 }
 
+double Polynomial::GetCoefficient(PolynomialCoeff coeff) const
+{
+  return c[coeff];
+}
+
+void Polynomial::SetCoefficient(PolynomialCoeff coeff, double value)
+{
+  c[coeff] = value;
+}
+
+double Polynomial::GetDuration() const
+{
+  return duration;
+}
+
 void LinearPolynomial::SetPolynomialCoefficients(double T, const StateLin1d& start, const StateLin1d& end)
 {
   c[F] = start.p;