diff --git a/include/eigenpy/angle-axis.hpp b/include/eigenpy/angle-axis.hpp
index abf2b0c317f7ecce1a989c2d64ef8f276b85df70..2946866262d753613752ff206af6cfc9dbada56c 100644
--- a/include/eigenpy/angle-axis.hpp
+++ b/include/eigenpy/angle-axis.hpp
@@ -27,8 +27,16 @@ namespace eigenpy
{
AngleAxisVisitor<AngleAxis>::expose();
}
+
+ static inline bool isApprox(const AngleAxis & self, const AngleAxis & other,
+ const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
+ {
+ return self.isApprox(other,prec);
+ }
};
+ BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxAngleAxis_overload,call<Eigen::AngleAxisd>::isApprox,2,3)
+
template<typename AngleAxis>
class AngleAxisVisitor
: public bp::def_visitor< AngleAxisVisitor<AngleAxis> >
@@ -71,11 +79,11 @@ namespace eigenpy
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.")
- .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &))&AngleAxis::isApprox,
- "Returns true if *this is approximately equal to other.")
- .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &, const Scalar prec))&AngleAxis::isApprox,
- bp::args("other","prec"),
- "Returns true if *this is approximately equal to other, within the precision determined by prec.")
+
+ .def("isApprox",
+ &call<AngleAxis>::isApprox,
+ isApproxAngleAxis_overload(bp::args("other","prec"),
+ "Returns true if *this is approximately equal to other, within the precision determined by prec."))
/* --- Operators --- */
.def(bp::self * bp::other<Vector3>())
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
index 38f1cb877a7e32bb58726ace6ec5bffec9be5db3..4b5120b4ef6ca169e253a6045de7b6ee81bec2d0 100644
--- a/include/eigenpy/quaternion.hpp
+++ b/include/eigenpy/quaternion.hpp
@@ -39,8 +39,16 @@ namespace eigenpy
{
QuaternionVisitor<Quaternion>::expose();
}
+
+ static inline bool isApprox(const Quaternion & self, const Quaternion & other,
+ const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
+ {
+ return self.isApprox(other,prec);
+ }
};
+ BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxQuaternion_overload,call<Eigen::Quaterniond>::isApprox,2,3)
+
template<typename Quaternion>
class QuaternionVisitor
: public bp::def_visitor< QuaternionVisitor<Quaternion> >
@@ -62,13 +70,22 @@ namespace eigenpy
{
cl
.def(bp::init<>("Default constructor"))
- .def(bp::init<Vector4>((bp::arg("Vec4: a 4D vector representing quaternion coefficients")),"Initialize from a vector 4D."))
- .def(bp::init<Matrix3>((bp::arg("R: a rotation matrix")),"Initialize from rotation matrix."))
- .def(bp::init<AngleAxis>((bp::arg("aa: angle axis")),"Initialize from an angle axis."))
- .def(bp::init<Quaternion>((bp::arg("quaternion")),"Copy constructor."))
+ .def(bp::init<Vector4>((bp::arg("vec4")),
+ "Initialize from a vector 4D.\n"
+ "\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
+ .def(bp::init<Matrix3>((bp::arg("R")),
+ "Initialize from rotation matrix.\n"
+ "\tR : a rotation matrix 3x3."))
+ .def(bp::init<AngleAxis>((bp::arg("aa")),
+ "Initialize from an angle axis.\n"
+ "\taa: angle axis object."))
+ .def(bp::init<Quaternion>((bp::arg("quat")),
+ "Copy constructor.\n"
+ "\tquat: a quaternion."))
.def("__init__",bp::make_constructor(&QuaternionVisitor::FromTwoVectors,
bp::default_call_policies(),
- (bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),"Initialize from two vectors u andv")
+ (bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),
+ "Initialize from two vectors u and v")
.def(bp::init<Scalar,Scalar,Scalar,Scalar>
((bp::arg("w"),bp::arg("x"),bp::arg("y"),bp::arg("z")),
"Initialize from coefficients.\n\n"
@@ -88,14 +105,10 @@ namespace eigenpy
&QuaternionVisitor::getCoeff<3>,
&QuaternionVisitor::setCoeff<3>,"The w coefficient.")
-// .def("isApprox",(bool (Quaternion::*)(const Quaternion &))&Quaternion::template isApprox<Quaternion>,
-// "Returns true if *this is approximately equal to other.")
-// .def("isApprox",(bool (Quaternion::*)(const Quaternion &, const Scalar prec))&Quaternion::template isApprox<Quaternion>,
-// "Returns true if *this is approximately equal to other, within the precision determined by prec..")
- .def("isApprox",(bool (*)(const Quaternion &))&isApprox,
- "Returns true if *this is approximately equal to other.")
- .def("isApprox",(bool (*)(const Quaternion &, const Scalar prec))&isApprox,
- "Returns true if *this is approximately equal to other, within the precision determined by prec..")
+ .def("isApprox",
+ &call<Quaternion>::isApprox,
+ isApproxQuaternion_overload(bp::args("other","prec"),
+ "Returns true if *this is approximately equal to other, within the precision determined by prec."))
/* --- Methods --- */
.def("coeffs",(const Vector4 & (Quaternion::*)()const)&Quaternion::coeffs,
@@ -103,7 +116,7 @@ namespace eigenpy
.def("matrix",&Quaternion::matrix,"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix.")
.def("toRotationMatrix",&Quaternion::toRotationMatrix,"Returns an equivalent 3x3 rotation matrix.")
- .def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transform a into b through a rotation."
+ .def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transforms a into b through a rotation."
,bp::return_self<>())
.def("conjugate",&Quaternion::conjugate,"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation.")
.def("inverse",&Quaternion::inverse,"Returns the quaternion describing the inverse rotation.")
@@ -142,13 +155,11 @@ namespace eigenpy
// "Returns the quaternion which transform a into b through a rotation.")
.def("FromTwoVectors",&FromTwoVectors,
bp::args("a","b"),
- "Returns the quaternion which transform a into b through a rotation.",
+ "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.")
.staticmethod("Identity")
-
-
;
}
private:
@@ -171,12 +182,6 @@ namespace eigenpy
Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
return q;
}
-
- static bool isApprox(const Quaternion & self, const Quaternion & other,
- const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision)
- {
- return self.isApprox(other,prec);
- }
static bool __eq__(const Quaternion & u, const Quaternion & v)
{
diff --git a/unittest/python/test_geometry.py b/unittest/python/test_geometry.py
index b507dae595ea27a96e7d57ca6850855e543f00c0..d14ed2060fe68d47aa732b6863abcd220eeaefaa 100644
--- a/unittest/python/test_geometry.py
+++ b/unittest/python/test_geometry.py
@@ -1,5 +1,6 @@
from __future__ import print_function
+from eigenpy import *
from geometry import *
import numpy as np
from numpy import cos,sin
@@ -22,6 +23,8 @@ r = AngleAxis(q)
q2 = Quaternion(r)
assert(q==q)
assert(isapprox(q.coeffs(),q2.coeffs()))
+assert(q2.isApprox(q2))
+assert(q2.isApprox(q2,1e-2))
Rq = q.matrix()
Rr = r.matrix()
@@ -45,6 +48,8 @@ if verbose: print("Rx(.1) = \n\n",r.matrix(),"\n")
assert( isapprox(r.matrix()[2,2],cos(r.angle)))
assert( isapprox(r.axis,np.matrix("1;0;0")) )
assert( isapprox(r.angle,0.1) )
+assert(r.isApprox(r))
+assert(r.isApprox(r,1e-2))
r.axis = np.matrix([0,1,0],np.double).T
assert( isapprox(r.matrix()[0,0],cos(r.angle)))