diff --git a/.travis.yml b/.travis.yml
index edc338ad7044d687121fad794b1708b1207b26f3..980135067791b472bb2f28208c88742b6be14746 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,6 +1,7 @@
-language: generic
+language: python
python:
- "2.7"
+ - "3.4"
sudo: required
dist: trusty
compiler:
@@ -9,7 +10,7 @@ compiler:
env:
global:
- secure: "SnIBG/xLIHX3CSvUbqqsX8xTVqIqQ7fFS6HWO6KZQVBsT6yugTwYHbyhNiU531JejYJ/I3ZrDhXfYH3qFZiYxnH1sifvwV+fnTtMXpPN7qPZwIymkjcmm6gJF51e0C7VOfUbvKFv0ngwj+ul21rgZSMuoEvxPK0WxtE3/ZSfn9c="
- - APT_DEPENDENCIES="doxygen libeigen3-dev "
+ - APT_DEPENDENCIES="doxygen libeigen3-dev libboost-test-dev libboost-python-dev libeigen3-dev"
- DEBSIGN_KEYID=5AE5CD75
- CC=gcc
- DO_COVERAGE_ON_BRANCH="master;release"
@@ -19,24 +20,18 @@ env:
- BUILDTYPE=Release
- BUILDTYPE=Debug
notifications:
-email:
- - pinocchio@laas.fr
+ email:
+ - pinocchio-build@laas.fr
branches:
-only:
- - master
- - debian
- - devel
-matrix:
-allow_failures:
- - compiler:
-before_install: ./travis_custom/custom_before_install
-install:
- - pip install --user coveralls
- - pip install --user numpy
+ only:
+ - master
+ - debian
+ - devel
+before_install: ./.travis/run before_install
+install: pip install coveralls numpy
script:
- export CMAKE_ADDITIONAL_OPTIONS="-DCMAKE_BUILD_TYPE=${BUILDTYPE}"
- sudo free -m -t
- ./.travis/run ../travis_custom/custom_build
after_failure: ./.travis/run after_failure
-after_success:
- - ./.travis/run after_success
+after_success: ./.travis/run after_success
diff --git a/travis_custom/custom_before_install b/travis_custom/custom_before_install
deleted file mode 100755
index 46e3546485f36a313bad37f4a910b03098dba3c8..0000000000000000000000000000000000000000
--- a/travis_custom/custom_before_install
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash
-set -e
-
-# Setup environment variables.
-export APT_DEPENDENCIES="doxygen libboost-test-dev libboost-python-dev libeigen3-dev python2.7-dev python-numpy"
-
-# When this script is called the current directory is ./custom_travis
-. ./.travis/run ../.travis/before_install
diff --git a/unittest/python/test_eigenpy.py b/unittest/python/test_eigenpy.py
index aab786f7e518e2b3cc7742751d03a64525a60394..2e63b1ca39e5f1e2c828e9ddbd4bf5a7e4b6da64 100644
--- a/unittest/python/test_eigenpy.py
+++ b/unittest/python/test_eigenpy.py
@@ -1,101 +1,103 @@
+from __future__ import print_function
+
import numpy as np
import matrix as eigenpy
verbose = False
-if verbose: print "===> From MatrixXd to Py"
+if verbose: print("===> From MatrixXd to Py")
M = eigenpy.naturals(3,3,verbose)
Mcheck = np.reshape(np.matrix(range(9),np.double),[3,3])
assert np.array_equal(Mcheck,M)
-if verbose: print "===> From Matrix3d to Py"
+if verbose: print("===> From Matrix3d to Py")
M33= eigenpy.naturals33(verbose)
assert np.array_equal(Mcheck,M33)
-if verbose: print "===> From VectorXd to Py"
+if verbose: print("===> From VectorXd to Py")
v = eigenpy.naturalsX(3,verbose)
vcheck = np.matrix([range(3),],np.double).T
assert np.array_equal(vcheck ,v)
-if verbose: print "===> From Py to Eigen::MatrixXd"
-if verbose: print "===> From Py to Eigen::MatrixXd"
-if verbose: print "===> From Py to Eigen::MatrixXd"
+if verbose: print("===> From Py to Eigen::MatrixXd")
+if verbose: print("===> From Py to Eigen::MatrixXd")
+if verbose: print("===> From Py to Eigen::MatrixXd")
Mref = np.reshape(np.matrix(range(64),np.double),[8,8])
-if verbose: print "===> Matrix 8x8"
+if verbose: print("===> Matrix 8x8")
M = Mref
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block 0:3x0:3"
+if verbose: print("===> Block 0:3x0:3")
M = Mref[0:3,0:3]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block 1:3x1:3"
+if verbose: print("===> Block 1:3x1:3")
M = Mref[1:3,1:3]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block 1:5:2x1:5:2"
+if verbose: print("===> Block 1:5:2x1:5:2")
M = Mref[1:5:2,1:5:2]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block 1:8:3x1:5"
+if verbose: print("===> Block 1:8:3x1:5")
M = Mref[1:8:3,1:5]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block transpose 1:8:3x1:6:2"
+if verbose: print("===> Block transpose 1:8:3x1:6:2")
M = Mref[1:8:3,0:6:2].T
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block Vector 1x0:6:2"
+if verbose: print("===> Block Vector 1x0:6:2")
M = Mref[1:2,0:6:2]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block Vector 1x0:6:2 tanspose"
+if verbose: print("===> Block Vector 1x0:6:2 tanspose")
M = Mref[1:2,0:6:2].T
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block Vector 0:6:2x1"
+if verbose: print("===> Block Vector 0:6:2x1")
M = Mref[0:6:2,1:2]
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> Block Vector 0:6:2x1 tanspose"
+if verbose: print("===> Block Vector 0:6:2x1 tanspose")
M = Mref[0:6:2,1:2].T
assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );
-if verbose: print "===> From Py to Eigen::VectorXd"
-if verbose: print "===> From Py to Eigen::VectorXd"
-if verbose: print "===> From Py to Eigen::VectorXd"
+if verbose: print("===> From Py to Eigen::VectorXd")
+if verbose: print("===> From Py to Eigen::VectorXd")
+if verbose: print("===> From Py to Eigen::VectorXd")
-if verbose: print "===> Block Vector 0:6:2x1 1 dim"
+if verbose: print("===> Block Vector 0:6:2x1 1 dim")
M = Mref[0:6:2,1].T
assert( np.array_equal(M.T,eigenpy.reflexV(M,verbose)) );
-if verbose: print "===> Block Vector 0:6:2x1"
+if verbose: print("===> Block Vector 0:6:2x1")
M = Mref[0:6:2,1:2]
assert( np.array_equal(M,eigenpy.reflexV(M,verbose)) );
-if verbose: print "===> Block Vector 0:6:2x1 transpose"
+if verbose: print("===> Block Vector 0:6:2x1 transpose")
M = Mref[0:6:2,1:2].T
assert( np.array_equal(M.T,eigenpy.reflexV(M,verbose)) );
-if verbose: print "===> From Py to Eigen::Matrix3d"
-if verbose: print "===> From Py to Eigen::Matrix3d"
-if verbose: print "===> From Py to Eigen::Matrix3d"
+if verbose: print("===> From Py to Eigen::Matrix3d")
+if verbose: print("===> From Py to Eigen::Matrix3d")
+if verbose: print("===> From Py to Eigen::Matrix3d")
-if verbose: print "===> Block Vector 0:3x0:6:2 "
+if verbose: print("===> Block Vector 0:3x0:6:2 ")
M = Mref[0:3,0:6:2]
assert( np.array_equal(M,eigenpy.reflex33(M,verbose)) );
-if verbose: print "===> Block Vector 0:3x0:6:2 T"
+if verbose: print("===> Block Vector 0:3x0:6:2 T")
M = Mref[0:3,0:6].T
try:
assert( np.array_equal(M,eigenpy.reflex33(M,verbose)) );
-except eigenpy.Exception, e:
- if verbose: print "As expected, got the following /ROW/ error:", e.message
+except eigenpy.Exception as e:
+ if verbose: print("As expected, got the following /ROW/ error:", e.message)
-if verbose: print "===> From Py to Eigen::Vector3d"
-if verbose: print "===> From Py to Eigen::Vector3d"
-if verbose: print "===> From Py to Eigen::Vector3d"
+if verbose: print("===> From Py to Eigen::Vector3d")
+if verbose: print("===> From Py to Eigen::Vector3d")
+if verbose: print("===> From Py to Eigen::Vector3d")
M = Mref[0:3,1:2]
assert( np.array_equal(M,eigenpy.reflex3(M,verbose)) );
diff --git a/unittest/python/test_geometry.py b/unittest/python/test_geometry.py
index 1f2642a4fbedbb3af023abdef368dcc67804acaa..5fd6638f4521b6f52ad3577d92ac56b11efa9783 100644
--- a/unittest/python/test_geometry.py
+++ b/unittest/python/test_geometry.py
@@ -1,3 +1,5 @@
+from __future__ import print_function
+
from geometry import *
import numpy as np
from numpy import cos,sin
@@ -33,13 +35,13 @@ assert(isapprox(q.coeffs(),qR.coeffs()))
assert(isapprox(qR[3],1./np.sqrt(30)))
try:
qR[5]
- print "Error, this message should not appear."
-except Exception,e:
- if verbose: print "As expected, catched exception: ",e.message
+ print("Error, this message should not appear.")
+except Exception as e:
+ if verbose: print("As expected, catched exception: ",e.message)
# --- Angle Vector ------------------------------------------------
r = AngleAxis(.1,np.array([1,0,0],np.double))
-if verbose: print "Rx(.1) = \n\n",r.matrix(),"\n"
+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) )
@@ -66,6 +68,6 @@ res = testInQuaternion_fx(q)
assert(q.norm() == res)
try:
testInQuaternion(q)
- print "Error, this message should not appear."
+ print("Error, this message should not appear.")
except:
- if verbose: print "As expected, catch a Boost::python::ArgError exception."
+ if verbose: print("As expected, catch a Boost::python::ArgError exception.")