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Restructure Spline class to be compatible with different type of Eigen Vectors #773

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merged 7 commits into from
Dec 5, 2023

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GiulioRomualdi
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@GiulioRomualdi GiulioRomualdi commented Dec 4, 2023

This pull request brings about a restructuring of the spline class, ensuring compatibility with various types of eigen vectors. The specific changes include:

  1. The relocation of the spline class to the math component.
  2. To maintain backward compatibility in both C++ and Python, the previous class has not been removed but instead deprecated.
  3. Elimination of code redundancy in both CubicSpline and QuinticSpline implementations.
  4. Implement the possibility to efficiently query the points of a spline given an ordered time vector

@GiulioRomualdi GiulioRomualdi marked this pull request as ready for review December 4, 2023 22:41
@GiulioRomualdi GiulioRomualdi enabled auto-merge (squash) December 4, 2023 22:42
@GiulioRomualdi GiulioRomualdi enabled auto-merge (squash) December 4, 2023 22:42
bindings/python/Math/src/Spline.cpp Outdated Show resolved Hide resolved
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src/Math/include/BipedalLocomotion/Math/Spline.h Outdated Show resolved Hide resolved
src/Math/include/BipedalLocomotion/Math/Spline.h Outdated Show resolved Hide resolved
src/Math/include/BipedalLocomotion/Math/Spline.h Outdated Show resolved Hide resolved
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@GiulioRomualdi
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Hi @S-Dafarra I applied the modification you suggested

@GiulioRomualdi GiulioRomualdi merged commit 3400d03 into master Dec 5, 2023
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@GiulioRomualdi GiulioRomualdi deleted the spline branch December 5, 2023 21:09
GiulioRomualdi added a commit that referenced this pull request Dec 13, 2023
…n Vectors (#773)

* relocation of the spline class to the math component.
* maintain backward compatibility in both C++ and Python, the previous class has not been removed but instead deprecated.
* Implement the possibility to efficiently query the points of a spline given an ordered time vector
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