fix python tests

CMakeLists.txt

@@ -20,7 +20,7 @@ include_directories(${EIGEN3_INCLUDE_DIR})
 
 SETUP_PROJECT()
 
-OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" OFF)
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
 IF(BUILD_PYTHON_INTERFACE)
 # search for python
 	FINDPYTHON(2.7 REQUIRED)

python/CMakeLists.txt

@@ -22,3 +22,5 @@ PKG_CONFIG_USE_DEPENDENCY(spline eigenpy)
 INSTALL(
 	FILES ${LIBRARY_OUTPUT_PATH}spline.so	DESTINATION ${PYTHON_SITELIB}
 )
+
+ADD_PYTHON_UNIT_TEST("python-spline" "python/test/test.py" "python")

python/test/test.py

@@ -7,7 +7,7 @@ __EPS = 1e-6
 
 waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
 waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
-time_waypoints = matrix([0., 1.])
+time_waypoints = matrix([0., 1.]).transpose()
 
 # testing bezier curve
 a = bezier6(waypoints6)
@@ -50,10 +50,10 @@ assert (prim(0) == matrix([0., 0., 0.])).all()
 
 # testing bezier with constraints
 c = curve_constraints()
-c.init_vel = matrix([0., 1., 1.])
-c.end_vel = matrix([0., 1., 1.])
-c.init_acc = matrix([0., 1., -1.])
-c.end_acc = matrix([0., 100., 1.])
+c.init_vel = matrix([0., 1., 1.]).transpose()
+c.end_vel = matrix([0., 1., 1.]).transpose()
+c.init_acc = matrix([0., 1., -1.]).transpose()
+c.end_acc = matrix([0., 100., 1.]).transpose()
 
 waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
 a = bezier(waypoints, c)
@@ -84,10 +84,10 @@ c.end_vel
 c.init_acc
 c.end_acc
 
-c.init_vel = matrix([0., 1., 1.])
-c.end_vel = matrix([0., 1., 1.])
-c.init_acc = matrix([0., 1., 1.])
-c.end_acc = matrix([0., 1., 1.])
+c.init_vel = matrix([0., 1., 1.]).transpose()
+c.end_vel = matrix([0., 1., 1.]).transpose()
+c.init_acc = matrix([0., 1., 1.]).transpose()
+c.end_acc = matrix([0., 1., 1.]).transpose()
 
 a = spline_deriv_constraint(waypoints, time_waypoints)
 a = spline_deriv_constraint(waypoints, time_waypoints, c)