From 9d7ad651c0f35264059cc4baeadaf25a38f69ce3 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Mon, 30 Jan 2023 18:42:20 +0100
Subject: [PATCH] geometry: fix quaternion holder type
---
include/eigenpy/quaternion.hpp | 25 ++++++++++++++++---------
1 file changed, 16 insertions(+), 9 deletions(-)
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 5b93ce4..5fc4c51 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -350,15 +350,22 @@ class QuaternionVisitor
public:
static void expose() {
- bp::class_<Quaternion>("Quaternion",
- "Quaternion representing rotation.\n\n"
- "Supported operations "
- "('q is a Quaternion, 'v' is a Vector3): "
- "'q*q' (rotation composition), "
- "'q*=q', "
- "'q*v' (rotating 'v' by 'q'), "
- "'q==q', 'q!=q', 'q[0..3]'.",
- bp::no_init)
+#if BOOST_VERSION / 100 % 1000 < 71
+ typedef EIGENPY_CLASS_HOLDER_TYPE(Quaternion) HolderType;
+#else
+ typedef ::boost::python::detail::not_specified HolderType;
+#endif
+
+ bp::class_<Quaternion, HolderType>(
+ "Quaternion",
+ "Quaternion representing rotation.\n\n"
+ "Supported operations "
+ "('q is a Quaternion, 'v' is a Vector3): "
+ "'q*q' (rotation composition), "
+ "'q*=q', "
+ "'q*v' (rotating 'v' by 'q'), "
+ "'q==q', 'q!=q', 'q[0..3]'.",
+ bp::no_init)
.def(QuaternionVisitor<Quaternion>());
// Cast to Eigen::QuaternionBase and vice-versa
--
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