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Additional fix #236

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Merged
merged 2 commits into from
May 21, 2021
Merged

Additional fix #236

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2c50196
geometry: fix default constructor
jcarpent May 21, 2021
750d69d
geometry: fix constructor from vector
jcarpent May 21, 2021
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10 changes: 8 additions & 2 deletions include/eigenpy/quaternion.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,6 @@ namespace eigenpy
void visit(PyClass& cl) const
{
cl
.def(bp::init<>(bp::arg("self"),"Default constructor")[bp::return_value_policy<bp::return_by_value>()])
.def(bp::init<Matrix3>((bp::arg("self"),bp::arg("R")),
"Initialize from rotation matrix.\n"
"\tR : a rotation matrix 3x3.")[bp::return_value_policy<bp::return_by_value>()])
Expand All @@ -129,6 +128,8 @@ namespace eigenpy
(bp::arg("vec4"))),
"Initialize from a vector 4D.\n"
"\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw.")
.def("__init__",bp::make_constructor(&QuaternionVisitor::DefaultConstructor),
"Default constructor")
.def(bp::init<Scalar,Scalar,Scalar,Scalar>
((bp::arg("self"),bp::arg("w"),bp::arg("x"),bp::arg("y"),bp::arg("z")),
"Initialize from coefficients.\n\n"
Expand Down Expand Up @@ -269,9 +270,14 @@ namespace eigenpy
return q;
}

static Quaternion* DefaultConstructor()
{
return new Quaternion;
}

static Quaternion* FromOneVector(const Vector4& v)
{
Quaternion* q(new Quaternion(v));
Quaternion* q(new Quaternion(v[3],v[0],v[1],v[2]));
return q;
}

Expand Down