From 9d8dd7aaa6089b96adccf2542007e209b8969c15 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Thu, 30 Jan 2020 10:00:42 +0100
Subject: [PATCH] test: fix when using Array by default
---
unittest/python/test_geometry.py | 8 ++++----
unittest/python/test_matrix.py | 10 +++++-----
2 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/unittest/python/test_geometry.py b/unittest/python/test_geometry.py
index 83a0d45..818d37f 100644
--- a/unittest/python/test_geometry.py
+++ b/unittest/python/test_geometry.py
@@ -27,7 +27,7 @@ assert(q2.isApprox(q2,1e-2))
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)
@@ -42,15 +42,15 @@ except RuntimeError as e:
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()
diff --git a/unittest/python/test_matrix.py b/unittest/python/test_matrix.py
index 17fd481..41a450c 100644
--- a/unittest/python/test_matrix.py
+++ b/unittest/python/test_matrix.py
@@ -11,11 +11,11 @@ assert M.shape == (0,0)
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")
@@ -24,13 +24,13 @@ assert np.array_equal(Mcheck,M33)
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)
@@ -125,4 +125,4 @@ assert(mat1x1[0,0] == value)
vec1x1 = eigenpy.vector1x1(value)
assert(vec1x1.size == 1)
-assert(vec1x1[0,0] == value)
+assert(vec1x1[0] == value)
--
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