Merge pull request #221 from jcarpent/devel

Fix init call order

include/eigenpy/quaternion.hpp

 /*
- * Copyright 2014-2020 CNRS INRIA
+ * Copyright 2014-2021 CNRS INRIA
  */
 
 #ifndef __eigenpy_quaternion_hpp__
@@ -111,12 +111,12 @@ namespace eigenpy
     {
       cl
       .def(bp::init<>(bp::arg("self"),"Default constructor"))
-      .def(bp::init<Vector4>((bp::arg("self"),bp::arg("vec4")),
-                             "Initialize from a vector 4D.\n"
-                             "\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
       .def(bp::init<Matrix3>((bp::arg("self"),bp::arg("R")),
                              "Initialize from rotation matrix.\n"
                              "\tR : a rotation matrix 3x3."))
+      .def(bp::init<Vector4>((bp::arg("self"),bp::arg("vec4")),
+                             "Initialize from a vector 4D.\n"
+                             "\tvec4 : a 4D vector representing quaternion coefficients in the order xyzw."))
       .def(bp::init<AngleAxis>((bp::arg("self"),bp::arg("aa")),
                                "Initialize from an angle axis.\n"
                                "\taa: angle axis object."))

unittest/python/test_geometry.py

@@ -18,6 +18,10 @@ q.normalize()
 assert(isapprox(np.linalg.norm(q.coeffs()),q.norm()))
 assert(isapprox(np.linalg.norm(q.coeffs()),1))
 
+v = np.array([0.5,-0.5,0.5,0.5])
+qv = Quaternion(v)
+assert(isapprox(qv.coeffs(), v))
+
 r = AngleAxis(q)
 q2 = Quaternion(r)
 assert(q==q)