Verified Commit 19f6b1d4 authored by Justin Carpentier's avatar Justin Carpentier
Browse files

geometry: fix angle axis arguments

parent a5268cc2
......@@ -54,15 +54,15 @@ namespace eigenpy
void visit(PyClass& cl) const
{
cl
.def(bp::init<>("Default constructor"))
.def(bp::init<>(bp::arg("self"),"Default constructor"))
.def(bp::init<Scalar,Vector3>
((bp::arg("angle"),bp::arg("axis")),
((bp::arg("self"),bp::arg("angle"),bp::arg("axis")),
"Initialize from angle and axis."))
.def(bp::init<Matrix3>
((bp::arg("rotationMatrix")),
((bp::arg("self"),bp::arg("rotationMatrix")),
"Initialize from a rotation matrix"))
.def(bp::init<Quaternion>(bp::arg("quaternion"),"Initialize from a quaternion."))
.def(bp::init<AngleAxis>(bp::arg("copy"),"Copy constructor."))
.def(bp::init<Quaternion>(bp::arg("self"),bp::arg("quaternion"),"Initialize from a quaternion."))
.def(bp::init<AngleAxis>(bp::arg("self"),bp::arg("copy"),"Copy constructor."))
/* --- Properties --- */
.add_property("axis",
......@@ -74,15 +74,24 @@ namespace eigenpy
&AngleAxisVisitor::setAngle,"The rotation angle.")
/* --- Methods --- */
.def("inverse",&AngleAxis::inverse,"Return the inverse rotation.")
.def("inverse",&AngleAxis::inverse,
bp::arg("self"),
"Return the inverse rotation.")
.def("fromRotationMatrix",&AngleAxis::template fromRotationMatrix<Matrix3>,
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.")
(bp::arg("self"),bp::arg("rot")),
"Sets *this from a 3x3 rotation matrix",
bp::return_self<>())
.def("toRotationMatrix",
bp::arg("self"),
&AngleAxis::toRotationMatrix,
"Constructs and returns an equivalent 3x3 rotation matrix.")
.def("matrix",&AngleAxis::matrix,
bp::arg("self"),
"Returns an equivalent rotation matrix.")
.def("isApprox",
&call<AngleAxis>::isApprox,
isApproxAngleAxis_overload(bp::args("other","prec"),
isApproxAngleAxis_overload(bp::args("self","other","prec"),
"Returns true if *this is approximately equal to other, within the precision determined by prec."))
/* --- Operators --- */
......@@ -125,7 +134,7 @@ namespace eigenpy
static void expose()
{
bp::class_<AngleAxis>("AngleAxis",
"AngleAxis representation of rotations.\n\n",
"AngleAxis representation of a rotation.\n\n",
bp::no_init)
.def(AngleAxisVisitor<AngleAxis>());
}
......
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