From abc9fae9d1391c89444a20fa2c17e583b9081666 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 5 Oct 2022 17:22:30 +0200
Subject: [PATCH] std-vector: try setting elements to zero
* does not work properly
---
unittest/python/test_std_vector.py | 26 +++++++++++++++++++++++---
unittest/vector.cpp | 17 +++++++++++++++--
2 files changed, 38 insertions(+), 5 deletions(-)
diff --git a/unittest/python/test_std_vector.py b/unittest/python/test_std_vector.py
index ddc900f8..13c0edc8 100644
--- a/unittest/python/test_std_vector.py
+++ b/unittest/python/test_std_vector.py
@@ -8,7 +8,7 @@ np.random.seed(0)
l1 = [np.random.randn(3), np.random.randn(2)]
l2 = eigenpy.StdVec_VectorXd(l1)
-l3 = [np.random.randn(2, 2), np.random.randn(1, 2), np.random.randn(2, 6)]
+l3 = [np.random.randn(2, 2), np.random.randn(3, 1), np.random.randn(4, 2)]
def checkAllValues(li1, li2):
@@ -33,11 +33,31 @@ print()
l4 = [np.random.randn(3, 3) for _ in range(4)]
assert "StdVec_Mat3d" in printVectorOf3x3.__doc__
printVectorOf3x3(l4)
+print()
l4_copy = copyStdVector(l4)
assert isinstance(l4_copy, eigenpy.StdVec_MatrixXd)
-print(l4_copy)
l4_copy2 = vector.copyStdVec_3x3(l4)
assert isinstance(l4_copy2, vector.StdVec_Mat3d)
-print(l4_copy2)
+
+
+def checkZero(l):
+ for x in l:
+ assert np.allclose(x, 0.), "x = {}".format(x)
+
+
+print("l1:")
+vector.setZero(l1)
+print(l1)
+checkZero(l1)
+
+print("l2:")
+l2_py = l2.tolist()
+vector.setZero(l2_py)
+print(l2_py)
+checkZero(l2_py)
+
+print("l3:")
+vector.setZero(l3)
+checkZero(l3)
diff --git a/unittest/vector.cpp b/unittest/vector.cpp
index 6941b384..97201c68 100644
--- a/unittest/vector.cpp
+++ b/unittest/vector.cpp
@@ -18,10 +18,19 @@ std::vector<MatType> copy(const std::vector<MatType> &Ms) {
return out;
}
+template<typename MatType>
+void setZero(std::vector<MatType> Ms) {
+ for (std::size_t i = 0; i < Ms.size(); i++) {
+ Ms[i].setZero();
+ }
+}
+
+
BOOST_PYTHON_MODULE(vector) {
namespace bp = boost::python;
+ using namespace eigenpy;
- eigenpy::enableEigenPy();
+ enableEigenPy();
bp::def("printVectorOfMatrix", printVectorOfMatrix<Eigen::VectorXd>);
bp::def("printVectorOfMatrix", printVectorOfMatrix<Eigen::MatrixXd>);
@@ -29,8 +38,12 @@ BOOST_PYTHON_MODULE(vector) {
bp::def("copyStdVector", copy<Eigen::MatrixXd>);
bp::def("copyStdVector", copy<Eigen::VectorXd>);
- eigenpy::StdVectorPythonVisitor<std::vector<Eigen::Matrix3d>>::expose(
+ StdVectorPythonVisitor<std::vector<Eigen::Matrix3d>>::expose(
"StdVec_Mat3d", "3D matrices.");
bp::def("printVectorOf3x3", printVectorOfMatrix<Eigen::Matrix3d>);
bp::def("copyStdVec_3x3", copy<Eigen::Matrix3d>, bp::args("mats"));
+
+ typedef Eigen::Ref<Eigen::MatrixXd> MatRef;
+ StdVectorPythonVisitor<std::vector<MatRef>, true>::expose("StdVec_MatRef");
+ bp::def("setZero", setZero<MatRef>, "Sets the coeff in [0,0] to 0.");
}
--
GitLab