Merge branch 'topic/eigenpy2' into 'devel'

declare eigenpy.switchToNumpyMatrix() for now

See merge request !25

unittest/python/test_com_estimation.py

@@ -8,6 +8,8 @@ import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import (DcmEstimator, EulerToQuat, TalosBaseEstimator,
                                                      create_parameter_server, plug)
 
+pin.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")
 

unittest/python/test_dcm_controller_talos.py

@@ -8,6 +8,8 @@ from rospkg import RosPack
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import DcmController, create_parameter_server
 
+pin.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")
 

unittest/python/test_dcm_distribute.py

@@ -10,6 +10,8 @@ import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import (DcmController, create_distribute_wrench, create_parameter_server,
                                                      plug)
 
+pin.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")
 

unittest/python/test_dcm_estimator.py

@@ -8,6 +8,8 @@ from rospkg import RosPack
 import sot_talos_balance.talos.parameter_server_conf as parameter_server_conf
 from sot_talos_balance.create_entities_utils import Bunch, DcmEstimator, ParameterServer
 
+pin.switchToNumpyMatrix()
+
 dt = 0.001
 conf = Bunch()
 robot_name = 'robot'

unittest/python/test_dummy_wpgen.py

@@ -9,6 +9,8 @@ import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import (DummyWalkingPatternGenerator, SimpleReferenceFrame,
                                                      create_parameter_server, plug)
 
+pin.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")
 

unittest/python/test_ft_calibration.py

+import eigenpy
 import numpy as np
 from numpy.testing import assert_almost_equal as assertApprox
 
 import sot_talos_balance.talos.ft_calibration_conf as conf
 from sot_talos_balance.ft_calibration import FtCalibration
 
+eigenpy.switchToNumpyArray()
+
 robot_name = 'robot'
 ftc = FtCalibration('ftc')
 ftc.init(robot_name)

unittest/python/test_round_double_to_int.py

@@ -4,6 +4,9 @@ import numpy as np
 
 from sot_talos_balance.round_double_to_int import RoundDoubleToInt
 
+import eigenpy
+eigenpy.switchToNumpyMatrix()
+
 rd = RoundDoubleToInt('round')
 time = 0
 

unittest/python/test_simple_state_integrator.py

@@ -5,6 +5,9 @@ from numpy.testing import assert_almost_equal as assertApprox
 
 from sot_talos_balance.simple_state_integrator import SimpleStateIntegrator
 
+import eigenpy
+eigenpy.switchToNumpyMatrix()
+
 dt = 1e-3
 initstate = [0.]*9
 

unittest/python/test_simple_zmp_estimator.py

@@ -6,6 +6,8 @@ from numpy.testing import assert_almost_equal as assertApprox
 
 from sot_talos_balance.simple_zmp_estimator import SimpleZmpEstimator
 
+pin.switchToNumpyMatrix()
+
 # --- Create estimator
 
 print("--- Create estimator ---")

unittest/python/test_state_transformation.py

+import eigenpy
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
@@ -9,6 +10,8 @@ from sot_talos_balance.create_entities_utils import (DcmEstimator, SimpleReferen
                                                      TalosBaseEstimator, create_parameter_server, plug)
 from sot_talos_balance.euler_to_quat import EulerToQuat
 
+eigenpy.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")