Merge pull request #235 from jcarpent/devel

Fix constructors for Quaternion

include/eigenpy/quaternion.hpp

@@ -97,7 +97,7 @@ namespace eigenpy
     typedef typename QuaternionBase::Scalar Scalar;
     typedef typename Quaternion::Coefficients Coefficients;
     typedef typename QuaternionBase::Vector3 Vector3;
-    typedef typename Eigen::Matrix<Scalar,4,1> Vector4;
+    typedef Coefficients Vector4;
     typedef typename QuaternionBase::Matrix3 Matrix3;
 
     typedef typename QuaternionBase::AngleAxisType AngleAxis;
@@ -110,23 +110,25 @@ namespace eigenpy
     void visit(PyClass& cl) const 
     {
       cl
-      .def(bp::init<>(bp::arg("self"),"Default constructor"))
+      .def(bp::init<>(bp::arg("self"),"Default constructor")[bp::return_value_policy<bp::return_by_value>()])
       .def(bp::init<Matrix3>((bp::arg("self"),bp::arg("R")),
                              "Initialize from rotation matrix.\n"
-                             "\tR : a rotation matrix 3x3."))
-      .def(bp::init<Vector4>((bp::arg("self"),bp::arg("vec4")),
-                             "Initialize from a vector 4D.\n"
-                             "\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
+                             "\tR : a rotation matrix 3x3.")[bp::return_value_policy<bp::return_by_value>()])
       .def(bp::init<AngleAxis>((bp::arg("self"),bp::arg("aa")),
                                "Initialize from an angle axis.\n"
                                "\taa: angle axis object."))
       .def(bp::init<Quaternion>((bp::arg("self"),bp::arg("quat")),
                                 "Copy constructor.\n"
-                                "\tquat: a quaternion."))
+                                "\tquat: a quaternion.")[bp::return_value_policy<bp::return_by_value>()])
       .def("__init__",bp::make_constructor(&QuaternionVisitor::FromTwoVectors,
                                            bp::default_call_policies(),
                                            (bp::arg("u"),bp::arg("v"))),
            "Initialize from two vectors u and v")
+      .def("__init__",bp::make_constructor(&QuaternionVisitor::FromOneVector,
+                                           bp::default_call_policies(),
+                                           (bp::arg("vec4"))),
+           "Initialize from a vector 4D.\n"
+           "\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw.")
       .def(bp::init<Scalar,Scalar,Scalar,Scalar>
            ((bp::arg("self"),bp::arg("w"),bp::arg("x"),bp::arg("y"),bp::arg("z")),
             "Initialize from coefficients.\n\n"
@@ -266,6 +268,12 @@ namespace eigenpy
       Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
       return q;
     }
+    
+    static Quaternion* FromOneVector(const Vector4& v)
+    {
+      Quaternion* q(new Quaternion(v));
+      return q;
+    }
   
     static bool __eq__(const Quaternion & u, const Quaternion & v)
     {