Commit 9d8dd7aa by Justin Carpentier

### test: fix when using Array by default

parent 9476f88e
 ... ... @@ -27,7 +27,7 @@ assert(q2.isApprox(q2,1e-2)) Rq = q.matrix() Rr = r.matrix() assert(isapprox(Rq*Rq.T,np.eye(3))) assert(isapprox(Rq.dot(Rq.T),np.eye(3))) assert(isapprox(Rr,Rq)) qR = Quaternion(Rr) ... ... @@ -42,15 +42,15 @@ except RuntimeError as e: if verbose: print("As expected, catched exception: ",e) # --- Angle Vector ------------------------------------------------ r = AngleAxis(.1,np.matrix([1,0,0],np.double).T) r = AngleAxis(.1,np.array([1,0,0],np.double)) 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.axis,np.array([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 r.axis = np.array([0,1,0],np.double).T assert( isapprox(r.matrix()[0,0],cos(r.angle))) ri = r.inverse() ... ...
 ... ... @@ -11,11 +11,11 @@ assert M.shape == (0,0) if verbose: print("===> From empty VectorXd to Py") v = eigenpy.emptyVector() assert v.shape == (0,1) assert v.shape == (0,) if verbose: print("===> From MatrixXd to Py") M = eigenpy.naturals(3,3,verbose) Mcheck = np.reshape(np.matrix(range(9),np.double),[3,3]) Mcheck = np.reshape(np.array(range(9),np.double),[3,3]) assert np.array_equal(Mcheck,M) if verbose: print("===> From Matrix3d to Py") ... ... @@ -24,13 +24,13 @@ assert np.array_equal(Mcheck,M33) if verbose: print("===> From VectorXd to Py") v = eigenpy.naturalsX(3,verbose) vcheck = np.matrix([range(3),],np.double).T vcheck = np.array(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") Mref = np.reshape(np.matrix(range(64),np.double),[8,8]) Mref = np.reshape(np.array(range(64),np.double),[8,8]) # Test base function Mref_from_base = eigenpy.base(Mref) ... ... @@ -125,4 +125,4 @@ assert(mat1x1[0,0] == value) vec1x1 = eigenpy.vector1x1(value) assert(vec1x1.size == 1) assert(vec1x1[0,0] == value) assert(vec1x1[0] == value)
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