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Jan 30, 2020
Merged

Switch to np.array type by default #150

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9476f88
core: switch to np.array type by default
jcarpent Jan 30, 2020
9d8dd7a
test: fix when using Array by default
jcarpent Jan 30, 2020
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15 changes: 2 additions & 13 deletions include/eigenpy/details.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,7 +155,6 @@ namespace eigenpy

enum NP_TYPE
{
DEFAULT_TYPE,
MATRIX_TYPE,
ARRAY_TYPE
};
Expand All @@ -176,16 +175,6 @@ namespace eigenpy

bp::object make(PyObject* pyObj, bool copy = false)
{
if (getType() == DEFAULT_TYPE) {
std::cerr <<
"eigenpy warning: you use the deprecated class numpy.matrix without explicily asking for it. "
"The default behaviour will change to numpy.array at next major release.\n"
"- Either call eigenpy.switchToNumpyMatrix() before using eigenpy to suppress this warning\n"
"- or call eigenpy.switchToNumpyArray() and adapt your code accordingly.\n"
"See https://github.com/stack-of-tasks/eigenpy/issues/87 for further details."
<< std::endl;
switchToNumpyMatrix();
}
bp::object m;
if(PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(CurrentNumpyType.ptr()),NumpyMatrixType))
m = NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
Expand Down Expand Up @@ -268,8 +257,8 @@ namespace eigenpy
//NumpyAsMatrixObject = pyModule.attr("asmatrix");
//NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());

CurrentNumpyType = NumpyMatrixObject; // default conversion
getType() = DEFAULT_TYPE;
CurrentNumpyType = NumpyArrayObject; // default conversion
getType() = ARRAY_TYPE;
}

bp::object CurrentNumpyType;
Expand Down
8 changes: 4 additions & 4 deletions unittest/python/test_geometry.py
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Expand Up @@ -27,7 +27,7 @@ def isapprox(a,b,epsilon=1e-6):

Rq = q.matrix()
Rr = r.matrix()
assert(isapprox(Rq*Rq.T,np.eye(3)))
assert(isapprox(Rq.dot(Rq.T),np.eye(3)))
assert(isapprox(Rr,Rq))

qR = Quaternion(Rr)
Expand All @@ -42,15 +42,15 @@ def isapprox(a,b,epsilon=1e-6):
if verbose: print("As expected, catched exception: ",e)

# --- Angle Vector ------------------------------------------------
r = AngleAxis(.1,np.matrix([1,0,0],np.double).T)
r = AngleAxis(.1,np.array([1,0,0],np.double))
if verbose: print("Rx(.1) = \n\n",r.matrix(),"\n")
assert( isapprox(r.matrix()[2,2],cos(r.angle)))
assert( isapprox(r.axis,np.matrix("1;0;0")) )
assert( isapprox(r.axis,np.array([1.,0,0])) )
assert( isapprox(r.angle,0.1) )
assert(r.isApprox(r))
assert(r.isApprox(r,1e-2))

r.axis = np.matrix([0,1,0],np.double).T
r.axis = np.array([0,1,0],np.double).T
assert( isapprox(r.matrix()[0,0],cos(r.angle)))

ri = r.inverse()
Expand Down
10 changes: 5 additions & 5 deletions unittest/python/test_matrix.py
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Expand Up @@ -11,11 +11,11 @@

if verbose: print("===> From empty VectorXd to Py")
v = eigenpy.emptyVector()
assert v.shape == (0,1)
assert v.shape == (0,)

if verbose: print("===> From MatrixXd to Py")
M = eigenpy.naturals(3,3,verbose)
Mcheck = np.reshape(np.matrix(range(9),np.double),[3,3])
Mcheck = np.reshape(np.array(range(9),np.double),[3,3])
assert np.array_equal(Mcheck,M)

if verbose: print("===> From Matrix3d to Py")
Expand All @@ -24,13 +24,13 @@

if verbose: print("===> From VectorXd to Py")
v = eigenpy.naturalsX(3,verbose)
vcheck = np.matrix([range(3),],np.double).T
vcheck = np.array(range(3),np.double).T
assert np.array_equal(vcheck ,v)

if verbose: print("===> From Py to Eigen::MatrixXd")
if verbose: print("===> From Py to Eigen::MatrixXd")
if verbose: print("===> From Py to Eigen::MatrixXd")
Mref = np.reshape(np.matrix(range(64),np.double),[8,8])
Mref = np.reshape(np.array(range(64),np.double),[8,8])

# Test base function
Mref_from_base = eigenpy.base(Mref)
Expand Down Expand Up @@ -125,4 +125,4 @@

vec1x1 = eigenpy.vector1x1(value)
assert(vec1x1.size == 1)
assert(vec1x1[0,0] == value)
assert(vec1x1[0] == value)