From 30bd0c6526a1edc5166374f5ba8a2eaa9a7eca33 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Wed, 19 May 2021 09:24:21 +0200
Subject: [PATCH] geometry: fix quaternion static Identity constructor
---
include/eigenpy/quaternion.hpp | 11 +++++++++--
1 file changed, 9 insertions(+), 2 deletions(-)
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index c0d23745..84723e2f 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -234,8 +234,9 @@ namespace eigenpy
"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.")
+ .def("Identity",&Identity,
+ "Returns a quaternion representing an identity rotation.",
+ bp::return_value_policy<bp::manage_new_object>())
.staticmethod("Identity")
;
}
@@ -254,6 +255,12 @@ namespace eigenpy
static Quaternion & assign(Quaternion & self, const OtherQuat & quat)
{ return self = quat; }
+ static Quaternion* Identity()
+ {
+ Quaternion* q(new Quaternion); q->setIdentity();
+ return q;
+ }
+
static Quaternion* FromTwoVectors(const Vector3& u, const Vector3& v)
{
Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
--
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