[loops] added compute_loops() (C++)

codac-team · Feb 22, 2021 · 89b596a · 89b596a
1 parent b178137
commit 89b596a
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diff --git a/src/robotics/loops/codac_TPlane.cpp b/src/robotics/loops/codac_TPlane.cpp
@@ -21,6 +21,12 @@ namespace codac
 
   }
 
+  void TPlane::compute_loops(float precision, const TubeVector& p, const TubeVector& v)
+  {
+    compute_detections(precision, p, v, true, true);
+    compute_proofs(p, v);
+  }
+
   void TPlane::compute_detections(float precision, const TubeVector& p)
   {
     compute_detections(precision, p, p, false, true);

diff --git a/src/robotics/loops/codac_TPlane.h b/src/robotics/loops/codac_TPlane.h
@@ -51,6 +51,16 @@ namespace codac
        */
       TPlane(const Interval& tdomain);
 
+      /**
+       * \brief Computes the loops (detections and proofs) as a subpaving, from the tube of
+       *        positions \f$[\mathbf{p}](\cdot)\f$ and the tube of velocities \f$[\mathbf{v}](\cdot)\f$.
+       *
+       * \param precision precision \f$\epsilon\f$ of the SIVIA approximation
+       * \param p 2d TubeVector \f$[\mathbf{p}](\cdot)\f$ for positions
+       * \param v 2d TubeVector \f$[\mathbf{v}](\cdot)\f$ for velocities
+       */
+      void compute_loops(float precision, const TubeVector& p, const TubeVector& v);
+
       /**
        * \brief Computes this tplane as a subpaving, from the tube of positions \f$[\mathbf{p}](\cdot)\f$ only.
        *