Merge pull request #118 from jcarpent/devel

Expose getNumpyType

include/eigenpy/details.hpp

@@ -114,6 +114,11 @@ namespace eigenpy
       static NP_TYPE np_type;
       return np_type;
     }
+    
+    static bp::object getNumpyType()
+    {
+      return getInstance().CurrentNumpyType;
+    }
 
   protected:
     NumpyType()

src/eigenpy.cpp

@@ -16,7 +16,10 @@ namespace eigenpy
     
     bp::def("setNumpyType",&NumpyType::setNumpyType,
             bp::arg("Numpy type (np.ndarray or np.matrix)"),
-            "Change the type returned by the converters from an Eigen object.");
+            "Change the Numpy type returned by the converters from an Eigen object.");
+            
+    bp::def("getNumpyType",&NumpyType::getNumpyType,
+            "Get the Numpy type returned by the converters from an Eigen object.");
     
     bp::def("switchToNumpyArray",&NumpyType::switchToNumpyArray,
             "Set the conversion from Eigen::Matrix to numpy.ndarray.");

unittest/python/test_geometry.py

 from __future__ import print_function
 
-from eigenpy import *
 from geometry import *
 import numpy as np
 from numpy import cos,sin

unittest/python/test_switch.py

@@ -3,12 +3,14 @@ from __future__ import print_function
 import eigenpy
 import numpy as np
 
+eigenpy.switchToNumpyMatrix()
 quat = eigenpy.Quaternion()
 # By default, we convert as numpy.matrix
 coeffs_vector = quat.coeffs() 
 print(type(coeffs_vector))
 
 assert isinstance(coeffs_vector,np.matrixlib.defmatrix.matrix)
+assert eigenpy.getNumpyType() == np.matrix
 
 # Switch to numpy.array
 eigenpy.switchToNumpyArray()
@@ -16,3 +18,4 @@ coeffs_array = quat.coeffs()
 print(type(coeffs_array))
 
 assert isinstance(coeffs_vector,np.ndarray)
+assert eigenpy.getNumpyType() == np.ndarray