def __init__(self, waypoints=None, time=1.):
if waypoints is None:
mat, vec = createWaypointList(waypoints)
self.bezier = bezierVar(mat, vec, time)
from numpy import array
import eigenpy
from curves import bezierVar
__EPS = 1e-6
eigenpy.switchToNumpyArray()
waypointsA = array([[1., 2., 3.], [4., 5., 6.], [7., 8., 9.], [1., 2., 3.],
[4., 5., 6.], [7., 8., 9.]]).transpose()
waypointsb = array([[1., 2., 3.], [1., 2., 3.]]).transpose()
# testing bezier curve
a = bezierVar(waypointsA, waypointsb, 3.)
subBeziers = a.split(array([[0.2, 0.4]]).transpose())
assert (subBeziers.size == 3)
assert (subBeziers.at(0).max() - 0.2 <= __EPS)
assert (subBeziers.at(1).max() - 0.2 <= __EPS)
assert (subBeziers.at(2).max() - 2.6 <= __EPS)