[Python] compute_derivate : correctly add return_value_policy<manage_new_object>

python/curves_python.cpp

@@ -448,7 +448,7 @@ BOOST_PYTHON_MODULE(curves) {
       .def("__init__", make_constructor(&wrapBezier3ConstructorBounds))
       .def("__init__", make_constructor(&wrapBezier3ConstructorConstraints))
       .def("__init__", make_constructor(&wrapBezier3ConstructorBoundsConstraints))
-      .def("compute_derivate", &bezier3_t::compute_derivate)
+      .def("compute_derivate", &bezier3_t::compute_derivate, return_value_policy<manage_new_object>())
       .def("compute_primitive", &bezier3_t::compute_primitive)
       .def("waypointAtIndex", &bezier3_t::waypointAtIndex)
       .def_readonly("degree", &bezier3_t::degree_)
@@ -472,7 +472,7 @@ BOOST_PYTHON_MODULE(curves) {
       .def("__init__", make_constructor(&wrapBezierConstructorBounds))
       .def("__init__", make_constructor(&wrapBezierConstructorConstraints))
       .def("__init__", make_constructor(&wrapBezierConstructorBoundsConstraints))
-      .def("compute_derivate", &bezier_t::compute_derivate)
+      .def("compute_derivate", &bezier_t::compute_derivate, return_value_policy<manage_new_object>())
       .def("compute_primitive", &bezier_t::compute_primitive)
       .def("waypointAtIndex", &bezier_t::waypointAtIndex)
       .def_readonly("degree", &bezier_t::degree_)
@@ -522,7 +522,7 @@ BOOST_PYTHON_MODULE(curves) {
       .def("__call__", &bezier_linear_variable_t::operator())
       .def("evaluate", &bezier_linear_variable_t_evaluate, bp::return_value_policy<bp::manage_new_object>())
       .def("derivate", &bezier_linear_variable_t::derivate)
-      .def("compute_derivate", &bezier_linear_variable_t::compute_derivate)
+      .def("compute_derivate", &bezier_linear_variable_t::compute_derivate, return_value_policy<manage_new_object>())
       .def("compute_primitive", &bezier_linear_variable_t::compute_primitive)
       .def("split", split_py)
       .def("waypoints", &wayPointsToLists, return_value_policy<manage_new_object>())
@@ -569,7 +569,7 @@ BOOST_PYTHON_MODULE(curves) {
            " ddc(min) == dd_init and ddc(max) == dd_end")
       .def("coeffAtDegree", &polynomial_t::coeffAtDegree)
       .def("coeff", &polynomial_t::coeff)
-      .def("compute_derivate", &polynomial_t::compute_derivate, "Compute derivative of order N of curve at time t.")
+      .def("compute_derivate", &polynomial_t::compute_derivate, "Compute derivative of order N of curve at time t.", return_value_policy<manage_new_object>())
       .def("saveAsText", &polynomial_t::saveAsText<polynomial_t>, bp::args("filename"),
            "Saves *this inside a text file.")
       .def("loadFromText", &polynomial_t::loadFromText<polynomial_t>, bp::args("filename"),
@@ -616,7 +616,7 @@ BOOST_PYTHON_MODULE(curves) {
            "and time and connecting exactly self(self.max()) and end. It guarantee C2 continuity and guarantee that "
            "self.derivate(time,1) == d_end and self.derivate(time,2) == dd_end",
            args("self", "end", "d_end", "d_end", "time"))
-      .def("compute_derivate", &piecewise_t::compute_derivate,
+      .def("compute_derivate", &piecewise_t::compute_derivate, return_value_policy<manage_new_object>(),
            "Return a piecewise curve which is the derivate of this.", args("self", "order"))
       .def("append", &piecewise_t::add_curve_ptr,
            "Add a new curve to piecewise curve, which should be defined in T_{min},T_{max}] "
@@ -649,12 +649,12 @@ BOOST_PYTHON_MODULE(curves) {
       .def("loadFromBinary", &piecewise_t::loadFromBinary<piecewise_t>,
            bp::args("filename"), "Loads *this from a binary file.");
 
-  class_<piecewise_SE3_t, bases<curve_abc_t> >("piecewise_SE3", init<>())
+  class_<piecewise_SE3_t, bases<curve_SE3_t> >("piecewise_SE3", init<>())
       .def("__init__", make_constructor(&wrapPiecewiseSE3Constructor, default_call_policies(), arg("curve")),
       "Create a piecewise-se3 curve containing the given se3 curve.")
       .def("__init__", make_constructor(&wrapPiecewiseSE3EmptyConstructor),
       "Create an empty piecewise-se3 curve.")
-      .def("compute_derivate", &piecewise_SE3_t::compute_derivate,
+      .def("compute_derivate", &piecewise_SE3_t::compute_derivate, return_value_policy<manage_new_object>(),
            "Return a piecewise_polynomial curve which is the derivate of this.", args("self", "order"))
       .def("append", &piecewise_SE3_t::add_curve_ptr,
            "Add a new curve to piecewise curve, which should be defined in T_{min},T_{max}] "