def createExpBSpline(geometry, splineOrder, time_min, time_max, numberOfSegments):
if isinstance(geometry, UnitQuaternionManifold):
ebs = UnitQuaternionBSpline(splineOrder)
ebs.initConstantSpline(time_min, time_max, numberOfSegments, numpy.array((0, 0, 0, 1)));
else:
ebs = diffManifoldBSplines.createExpBSpline(geometry, splineOrder, time_min, time_max, numberOfSegments)
#ebs.setControlVertices = lambda points, old=ebs.setControlVertices : old(points.transpose())
return ebs
def createExpBSpline(geometry, splineOrder, time_min, time_max, numberOfSegments):
if isinstance(geometry, UnitQuaternionManifold):
ebs = UnitQuaternionBSpline(splineOrder)
ebs.initConstantSpline(time_min, time_max, numberOfSegments, numpy.array((0, 0, 0, 1)));
else:
ebs = diffManifoldBSplines.createExpBSpline(geometry, splineOrder, time_min, time_max, numberOfSegments)
#ebs.setControlVertices = lambda points, old=ebs.setControlVertices : old(points.transpose())
return ebs
from diffManifolds import UnitQuaternionManifold, EuclideanSpace
from visual import color
from bsplines import BSpline
import diffManifoldBSplines
geometry = EuclideanDiffManifold()
pointLength = geometry.getIdentity().shape[0]
splineOrder = 4
order = splineOrder - 1
time_max = 20
time_min = 0
numberOfSegments = 80
ebs = diffManifoldBSplines.createExpBSpline(geometry, splineOrder, time_min, time_max, numberOfSegments)
numPoints = ebs.numVvCoefficients()
p = numpy.array((0, ))
points = [p]
for i in range(0, numPoints - 1):
v = numpy.random.random(1)- 0.5
v = (0.1, )
if(v[0]< 0) :
v = v * -1
p = geometry.exp(p, v * 1)
points.append(p)
points = numpy.array(points)
ebs.setControlVertices(points)
import math
from diffManifolds import UnitQuaternionManifold, EuclideanSpace
from visual import color
from bsplines import BSpline
import diffManifoldBSplines
geometry = EuclideanDiffManifold()
pointLength = geometry.getIdentity().shape[0]
splineOrder = 4
order = splineOrder - 1
time_max = 20
time_min = 0
numberOfSegments = 80
ebs = diffManifoldBSplines.createExpBSpline(geometry, splineOrder, time_min,
time_max, numberOfSegments)
numPoints = ebs.numVvCoefficients()
p = numpy.array((0, ))
points = [p]
for i in range(0, numPoints - 1):
v = numpy.random.random(1) - 0.5
v = (0.1, )
if (v[0] < 0):
v = v * -1
p = geometry.exp(p, v * 1)
points.append(p)
points = numpy.array(points)
ebs.setControlVertices(points)
