From 5a6f4804fec060500644ce35dc659ca5bbf3a5d0 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sat, 23 May 2020 09:52:10 +0200
Subject: [PATCH] test: test registration of a new type
---
unittest/matrix.cpp | 12 ++++++++++++
unittest/python/test_matrix.py | 4 ++++
2 files changed, 16 insertions(+)
diff --git a/unittest/matrix.cpp b/unittest/matrix.cpp
index 84a116f1..b7cbc593 100644
--- a/unittest/matrix.cpp
+++ b/unittest/matrix.cpp
@@ -81,12 +81,22 @@ MatrixDerived base(const Eigen::MatrixBase<MatrixDerived> & m)
return m.derived();
}
+template<typename Scalar>
+Eigen::Matrix<Scalar,6,6> matrix6(const Scalar & value)
+{
+ typedef Eigen::Matrix<Scalar,6,6> ReturnType;
+ return ReturnType::Constant(value);
+}
+
BOOST_PYTHON_MODULE(matrix)
{
using namespace Eigen;
namespace bp = boost::python;
eigenpy::enableEigenPy();
+ typedef Eigen::Matrix<double,6,6> Matrix6;
+ eigenpy::enableEigenPySpecific<Matrix6>();
+
Eigen::MatrixXd (*naturalsXX)(int,int,bool) = naturals;
Eigen::VectorXd (*naturalsX)(int,bool) = naturals;
Eigen::Matrix3d (*naturals33)(bool) = naturals;
@@ -108,4 +118,6 @@ BOOST_PYTHON_MODULE(matrix)
bp::def("base", base<VectorXd>);
bp::def("base", base<MatrixXd>);
+
+ bp::def("matrix6", matrix6<double>);
}
diff --git a/unittest/python/test_matrix.py b/unittest/python/test_matrix.py
index 18fce68e..5734eb92 100644
--- a/unittest/python/test_matrix.py
+++ b/unittest/python/test_matrix.py
@@ -126,3 +126,7 @@ assert(mat1x1[0,0] == value)
vec1x1 = eigenpy.vector1x1(value)
assert(vec1x1.size == 1)
assert(vec1x1[0] == value)
+
+# test registration of matrix6
+mat6 = eigenpy.matrix6(0.)
+assert(mat6.size == 36)
--
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