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Fix quaternion static Identity constructor #233

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Merged
merged 1 commit into from
May 19, 2021
Merged

Fix quaternion static Identity constructor #233

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11 changes: 9 additions & 2 deletions include/eigenpy/quaternion.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -234,8 +234,9 @@ namespace eigenpy
"Returns the quaternion which transforms a into b through a rotation.",
bp::return_value_policy<bp::manage_new_object>())
.staticmethod("FromTwoVectors")
.def("Identity",&Quaternion::Identity,
"Returns a quaternion representing an identity rotation.")
.def("Identity",&Identity,
"Returns a quaternion representing an identity rotation.",
bp::return_value_policy<bp::manage_new_object>())
.staticmethod("Identity")
;
}
Expand All @@ -254,6 +255,12 @@ namespace eigenpy
static Quaternion & assign(Quaternion & self, const OtherQuat & quat)
{ return self = quat; }

static Quaternion* Identity()
{
Quaternion* q(new Quaternion); q->setIdentity();
return q;
}

static Quaternion* FromTwoVectors(const Vector3& u, const Vector3& v)
{
Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
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