Merge pull request #111 from jcarpent/devel

Fix some operators in Geometry classes

cmake @ 46dc4a57

-Subproject commit 2ef482debaa2b39da11902acda6bb9fcee461fca
+Subproject commit 46dc4a57521bde14ea75c959b6b4f887af50c65d

include/eigenpy/angle-axis.hpp

@@ -19,18 +19,23 @@ namespace eigenpy
   
   template<typename AngleAxis> class AngleAxisVisitor;
   
-  namespace internal
+  template<typename Scalar>
+  struct call< Eigen::AngleAxis<Scalar> >
   {
-    template<typename Scalar>
-    struct call_expose< Eigen::AngleAxis<Scalar> >
+    typedef Eigen::AngleAxis<Scalar> AngleAxis;
+    static inline void expose()
     {
-      typedef Eigen::AngleAxis<Scalar> type;
-      static inline void run()
-      {
-        AngleAxisVisitor<type>::expose();
-      }
-    };
-  } // namespace internal
+      AngleAxisVisitor<AngleAxis>::expose();
+    }
+      
+    static inline bool isApprox(const AngleAxis & self, const AngleAxis & other,
+                                const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
+    {
+      return self.isApprox(other,prec);
+    }
+  };
+
+  BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxAngleAxis_overload,call<Eigen::AngleAxisd>::isApprox,2,3)
 
   template<typename AngleAxis>
   class AngleAxisVisitor
@@ -74,11 +79,11 @@ namespace eigenpy
            bp::arg("Sets *this from a 3x3 rotation matrix."),bp::return_self<>())
       .def("toRotationMatrix",&AngleAxis::toRotationMatrix,"Constructs and returns an equivalent 3x3 rotation matrix.")
       .def("matrix",&AngleAxis::matrix,"Returns an equivalent rotation matrix.")
-      .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &))&AngleAxis::isApprox,
-           "Returns true if *this is approximately equal to other.")
-      .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &, const Scalar prec))&AngleAxis::isApprox,
-           bp::args("other","prec"),
-           "Returns true if *this is approximately equal to other, within the precision determined by prec.")
+      
+      .def("isApprox",
+           &call<AngleAxis>::isApprox,
+           isApproxAngleAxis_overload(bp::args("other","prec"),
+                                      "Returns true if *this is approximately equal to other, within the precision determined by prec."))
       
       /* --- Operators --- */
       .def(bp::self * bp::other<Vector3>())
@@ -101,7 +106,8 @@ namespace eigenpy
     { self.angle() = angle; }
 
     static bool __eq__(const AngleAxis & u, const AngleAxis & v)
-    { return u.isApprox(v); }
+    { return u.axis() == v.axis() && v.angle() == u.angle(); }
+    
     static bool __ne__(const AngleAxis & u, const AngleAxis & v)
     { return !__eq__(u,v); }
 

include/eigenpy/expose.hpp

 /*
- * Copyright 2019, INRIA
+ * Copyright 2019 INRIA
  */
 
 #ifndef __eigenpy_expose_hpp__
@@ -9,18 +9,15 @@
 
 namespace eigenpy
 {
-  namespace internal
+  ///
+  /// \brief Allows a template specialization.
+  ///
+  template<typename T>
+  struct call
   {
-    ///
-    /// \brief Allows a template specialization.
-    ///
-    template<typename T>
-    struct call_expose
-    {
-      static inline void run() { T::expose(); }
-    };
-  } // namespace internal
-  
+    static inline void expose() { T::expose(); }
+  };
+
   ///
   /// \brief Call the expose function of a given type T.
   ///
@@ -28,7 +25,7 @@ namespace eigenpy
   inline void expose()
   {
     if(!register_symbolic_link_to_registered_type<T>())
-      internal::call_expose<T>::run();
+      call<T>::expose();
   }
 }
 

include/eigenpy/quaternion.hpp

@@ -31,19 +31,24 @@ namespace eigenpy
 
   template<typename QuaternionDerived> class QuaternionVisitor;
   
-  namespace internal
+  template<typename Scalar, int Options>
+  struct call< Eigen::Quaternion<Scalar,Options> >
   {
-    template<typename Scalar, int Options>
-    struct call_expose< Eigen::Quaternion<Scalar,Options> >
+    typedef Eigen::Quaternion<Scalar,Options> Quaternion;
+    static inline void expose()
     {
-      typedef Eigen::Quaternion<Scalar,Options> type;
-      static inline void run()
-      {
-        QuaternionVisitor<type>::expose();
-      }
-    };
-  } // namespace internal
-  
+      QuaternionVisitor<Quaternion>::expose();
+    }
+    
+    static inline bool isApprox(const Quaternion & self, const Quaternion & other,
+                                const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
+    {
+      return self.isApprox(other,prec);
+    }
+  };
+
+  BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxQuaternion_overload,call<Eigen::Quaterniond>::isApprox,2,3)
+
   template<typename Quaternion>
   class QuaternionVisitor
   :  public bp::def_visitor< QuaternionVisitor<Quaternion> >
@@ -65,13 +70,22 @@ namespace eigenpy
     {
       cl
       .def(bp::init<>("Default constructor"))
-      .def(bp::init<Vector4>((bp::arg("Vec4: a 4D vector representing quaternion coefficients")),"Initialize from a vector 4D."))
-      .def(bp::init<Matrix3>((bp::arg("R: a rotation matrix")),"Initialize from rotation matrix."))
-      .def(bp::init<AngleAxis>((bp::arg("aa: angle axis")),"Initialize from an angle axis."))
-      .def(bp::init<Quaternion>((bp::arg("quaternion")),"Copy constructor."))
+      .def(bp::init<Vector4>((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("R")),
+                             "Initialize from rotation matrix.\n"
+                             "\tR : a rotation matrix 3x3."))
+      .def(bp::init<AngleAxis>((bp::arg("aa")),
+                               "Initialize from an angle axis.\n"
+                               "\taa: angle axis object."))
+      .def(bp::init<Quaternion>((bp::arg("quat")),
+                                "Copy constructor.\n"
+                                "\tquat: a quaternion."))
       .def("__init__",bp::make_constructor(&QuaternionVisitor::FromTwoVectors,
                                            bp::default_call_policies(),
-                                           (bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),"Initialize from two vectors u andv")
+                                           (bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),
+           "Initialize from two vectors u and v")
       .def(bp::init<Scalar,Scalar,Scalar,Scalar>
            ((bp::arg("w"),bp::arg("x"),bp::arg("y"),bp::arg("z")),
             "Initialize from coefficients.\n\n"
@@ -91,14 +105,10 @@ namespace eigenpy
                     &QuaternionVisitor::getCoeff<3>,
                     &QuaternionVisitor::setCoeff<3>,"The w coefficient.")
       
-//      .def("isApprox",(bool (Quaternion::*)(const Quaternion &))&Quaternion::template isApprox<Quaternion>,
-//           "Returns true if *this is approximately equal to other.")
-//      .def("isApprox",(bool (Quaternion::*)(const Quaternion &, const Scalar prec))&Quaternion::template isApprox<Quaternion>,
-//           "Returns true if *this is approximately equal to other, within the precision determined by prec..")
-      .def("isApprox",(bool (*)(const Quaternion &))&isApprox,
-           "Returns true if *this is approximately equal to other.")
-      .def("isApprox",(bool (*)(const Quaternion &, const Scalar prec))&isApprox,
-           "Returns true if *this is approximately equal to other, within the precision determined by prec..")
+      .def("isApprox",
+           &call<Quaternion>::isApprox,
+           isApproxQuaternion_overload(bp::args("other","prec"),
+                                       "Returns true if *this is approximately equal to other, within the precision determined by prec."))
       
       /* --- Methods --- */
       .def("coeffs",(const Vector4 & (Quaternion::*)()const)&Quaternion::coeffs,
@@ -106,7 +116,7 @@ namespace eigenpy
       .def("matrix",&Quaternion::matrix,"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix.")
       .def("toRotationMatrix",&Quaternion::toRotationMatrix,"Returns an equivalent 3x3 rotation matrix.")
       
-      .def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transform a into b through a rotation."
+      .def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transforms a into b through a rotation."
            ,bp::return_self<>())
       .def("conjugate",&Quaternion::conjugate,"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation.")
       .def("inverse",&Quaternion::inverse,"Returns the quaternion describing the inverse rotation.")
@@ -145,13 +155,11 @@ namespace eigenpy
 //           "Returns the quaternion which transform a into b through a rotation.")
       .def("FromTwoVectors",&FromTwoVectors,
            bp::args("a","b"),
-           "Returns the quaternion which transform a into b through a rotation.",
+           "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.")
       .staticmethod("Identity")
-      
-    
       ;
     }
   private:
@@ -174,16 +182,10 @@ namespace eigenpy
       Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
       return q; 
     }
-    
-    static bool isApprox(const Quaternion & self, const Quaternion & other,
-                         const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision)
-    {
-      return self.isApprox(other,prec);
-    }
   
-    static bool __eq__(const Quaternion& u, const Quaternion& v)
+    static bool __eq__(const Quaternion & u, const Quaternion & v)
     {
-      return u.isApprox(v,1e-9);
+      return u.coeffs() == v.coeffs();
     }
     
     static bool __ne__(const Quaternion& u, const Quaternion& v)

unittest/python/test_geometry.py

 from __future__ import print_function
 
+from eigenpy import *
 from geometry import *
 import numpy as np
 from numpy import cos,sin
@@ -20,8 +21,10 @@ assert(isapprox(np.linalg.norm(q.coeffs()),1))
 
 r = AngleAxis(q)
 q2 = Quaternion(r)
-assert(q==q2)
+assert(q==q)
 assert(isapprox(q.coeffs(),q2.coeffs()))
+assert(q2.isApprox(q2))
+assert(q2.isApprox(q2,1e-2))
 
 Rq = q.matrix()
 Rr = r.matrix()
@@ -29,7 +32,7 @@ assert(isapprox(Rq*Rq.T,np.eye(3)))
 assert(isapprox(Rr,Rq))
 
 qR = Quaternion(Rr)
-assert(q==qR)
+assert(q.isApprox(qR))
 assert(isapprox(q.coeffs(),qR.coeffs()))
 
 assert(isapprox(qR[3],1./np.sqrt(30)))
@@ -45,6 +48,8 @@ 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.angle,0.1) )
+assert(r.isApprox(r))
+assert(r.isApprox(r,1e-2))
 
 r.axis = np.matrix([0,1,0],np.double).T
 assert( isapprox(r.matrix()[0,0],cos(r.angle)))