Merge branch 'master' of github.com:proyan/parametric-curves into devel

stack-of-tasks · Dec 13, 2019 · 8712870 · 8712870
2 parents 84505dc + 3f811bb
commit 8712870
Showing 1 changed file with 23 additions and 10 deletions.
diff --git a/include/parametric-curves/text-file.hpp b/include/parametric-curves/text-file.hpp
@@ -55,20 +55,33 @@ struct TextFile : public AbstractCurve<Numeric, Point> {
  public:
   virtual bool loadTextFile(const std::string& fileName) {
     Eigen::MatrixXd data = parametriccurves::utils::readMatrixFromFile(fileName);
-    if (data.cols() != 3 * size) {
-      std::cout << "Unexpected number of columns (expected " << 3 * size << ", found " << data.cols() << ")\n";
+    if(data.cols()==size)
+    {
+      std::cout<<"Setting derivatives to zero"<<std::endl;
+      posValues = data;
+      velValues.setZero(size);
+      accValues.setZero(size);
+    }
+    else if (data.cols()==2*size)
+    {
+      posValues = data.leftCols(size);
+      velValues = data.rightCols(size);
+      accValues = accValues.setZero(size);
+    }
+    else if (data.cols()==3*size)
+    {
+      posValues = data.leftCols(size);
+      velValues = data.middleCols(size,size);
+      accValues = data.rightCols(size);
+    }
+    else
+    {
+      std::cout<<"Unexpected number of columns (expected "<<3*size<<", found "<<data.cols()<<")\n";
       return false;
     }
-
-    this->t_max = timeStep * (double)data.rows();
+    this->t_max = timeStep*(double)data.rows();
     this->t_min = 0.0;
-
-    posValues = data.leftCols(size);
-    velValues = data.middleCols(size, size);
-    accValues = data.rightCols(size);
-
     x_init = posValues.row(0);
-
     return true;
   }