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Fix init call order #221

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Merged
merged 2 commits into from
Jan 19, 2021
Merged

Fix init call order #221

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61d2534
geom: fix init call order
jcarpent Jan 19, 2021
424595c
[test_geometry] Test constructor from vector (#1)
gabrielebndn Jan 19, 2021
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8 changes: 4 additions & 4 deletions include/eigenpy/quaternion.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright 2014-2020 CNRS INRIA
* Copyright 2014-2021 CNRS INRIA
*/

#ifndef __eigenpy_quaternion_hpp__
Expand Down Expand Up @@ -111,12 +111,12 @@ namespace eigenpy
{
cl
.def(bp::init<>(bp::arg("self"),"Default constructor"))
.def(bp::init<Vector4>((bp::arg("self"),bp::arg("vec4")),
"Initialize from a vector 4D.\n"
"\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
.def(bp::init<Matrix3>((bp::arg("self"),bp::arg("R")),
"Initialize from rotation matrix.\n"
"\tR : a rotation matrix 3x3."))
.def(bp::init<Vector4>((bp::arg("self"),bp::arg("vec4")),
"Initialize from a vector 4D.\n"
"\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
.def(bp::init<AngleAxis>((bp::arg("self"),bp::arg("aa")),
"Initialize from an angle axis.\n"
"\taa: angle axis object."))
Expand Down
4 changes: 4 additions & 0 deletions unittest/python/test_geometry.py
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Expand Up @@ -18,6 +18,10 @@ def isapprox(a,b,epsilon=1e-6):
assert(isapprox(np.linalg.norm(q.coeffs()),q.norm()))
assert(isapprox(np.linalg.norm(q.coeffs()),1))

v = np.array([0.5,-0.5,0.5,0.5])
qv = Quaternion(v)
assert(isapprox(qv.coeffs(), v))

r = AngleAxis(q)
q2 = Quaternion(r)
assert(q==q)
Expand Down