# Path: src/python/Utilities.py
# def vect2str(v):
#     return " ".join(map(str, v))
# 
# def BezierToTrajectoryString(Tv, p0v, p1v, p2v, p3v):
#     nchunks = len(Tv)
#     dimension = len(p0v[0])
#     trajectorystring = ""
#     for i in range(nchunks):
#         if i > 0:
#             trajectorystring += "\n"
#         trajectorystring += str(Tv[i]) + "\n" + str(dimension)
#         for j in range(dimension):
#             a, b, c, d = BezierToPolynomial(Tv[i], p0v[i][j], p1v[i][j],
#                                             p2v[i][j], p3v[i][j])
#             trajectorystring += "\n%f %f %f %f" % (d, c, b, a)
#     return trajectorystring


from .Utilities import vect2str, BezierToTrajectoryString
from pylab import double, array, random
from .TOPPbindings import TOPPInstance
    from pylab import figure, clf, hold, plot, gca, axis, title, xlabel, ylabel, cycler
    from pylab import axis, linspace, sqrt, plot
    from pylab import figure, clf, hold, gca, title, xlabel, ylabel, plot, axis, cycler

    p0a = vector2string(random(ndof) * 2 * bound - bound)
    p0b = vector2string(random(ndof) * 2 * bound - bound)
    p1a = vector2string(random(ndof) * 2 * bound - bound)
    p1b = vector2string(random(ndof) * 2 * bound - bound)
    s = '%d' % ncurve
    s += '\n1.0 ' + p0a + ' ' + p0b
    for k in range(ncurve - 1):
        a = random(ndof) * 2 * bound - bound
        b = random(ndof) * 2 * bound - bound
        c = 2 * b - a
        pa = vector2string(a)
        pb = vector2string(b)
        pc = vector2string(c)
        s += ' ' + pa + ' ' + pb + '\n1.0 ' + pb + ' ' + pc
    s += ' ' + p1a + ' ' + p1b
    Tv, p0v, p1v, p2v, p3v = string2p(s)
    return BezierToTrajectoryString(Tv, p0v, p1v, p2v, p3v)


################# Compute Kinematic Constraints #####################

def ComputeKinematicConstraints(traj, amax, discrtimestep):
    # Sample the dynamics constraints
    ndiscrsteps = int((traj.duration + 1e-10) / discrtimestep) + 1
    constraintstring = ""
    for i in range(ndiscrsteps):
        t = i * discrtimestep
        qd = traj.Evald(t)
        qdd = traj.Evaldd(t)

# Path: src/python/Utilities.py
# def vect2str(v):
#     return " ".join(map(str, v))
# 
# def BezierToTrajectoryString(Tv, p0v, p1v, p2v, p3v):
#     nchunks = len(Tv)
#     dimension = len(p0v[0])
#     trajectorystring = ""
#     for i in range(nchunks):
#         if i > 0:
#             trajectorystring += "\n"
#         trajectorystring += str(Tv[i]) + "\n" + str(dimension)
#         for j in range(dimension):
#             a, b, c, d = BezierToPolynomial(Tv[i], p0v[i][j], p1v[i][j],
#                                             p2v[i][j], p3v[i][j])
#             trajectorystring += "\n%f %f %f %f" % (d, c, b, a)
#     return trajectorystring


# Path: src/python/TOPPpy.py
from .Utilities import vect2str, BezierToTrajectoryString
from pylab import double, array, random
from .TOPPbindings import TOPPInstance
    from pylab import figure, clf, hold, plot, gca, axis, title, xlabel, ylabel, cycler
    from pylab import axis, linspace, sqrt, plot
    from pylab import figure, clf, hold, gca, title, xlabel, ylabel, plot, axis, cycler


    p0a = vector2string(random(ndof) * 2 * bound - bound)
    p0b = vector2string(random(ndof) * 2 * bound - bound)
    p1a = vector2string(random(ndof) * 2 * bound - bound)
    p1b = vector2string(random(ndof) * 2 * bound - bound)
    s = '%d' % ncurve
    s += '\n1.0 ' + p0a + ' ' + p0b
    for k in range(ncurve - 1):
        a = random(ndof) * 2 * bound - bound
        b = random(ndof) * 2 * bound - bound
        c = 2 * b - a
        pa = vector2string(a)
        pb = vector2string(b)
        pc = vector2string(c)
        s += ' ' + pa + ' ' + pb + '\n1.0 ' + pb + ' ' + pc
    s += ' ' + p1a + ' ' + p1b
    Tv, p0v, p1v, p2v, p3v = string2p(s)
    return BezierToTrajectoryString(Tv, p0v, p1v, p2v, p3v)


################# Compute Kinematic Constraints #####################

def ComputeKinematicConstraints(traj, amax, discrtimestep):
    # Sample the dynamics constraints
    ndiscrsteps = int((traj.duration + 1e-10) / discrtimestep) + 1
    constraintstring = ""
    for i in range(ndiscrsteps):
        t = i * discrtimestep
        qd = traj.Evald(t)
        qdd = traj.Evaldd(t)

        constraintstring += "\n" + vect2str(+qd) + " " + vect2str(-qd)