Commit b9e325ed authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub

Merge pull request #111 from jcarpent/devel

Fix some operators in Geometry classes
parents 56d706a7 0f0d95a9
Subproject commit 2ef482debaa2b39da11902acda6bb9fcee461fca
Subproject commit 46dc4a57521bde14ea75c959b6b4f887af50c65d
......@@ -19,18 +19,23 @@ namespace eigenpy
template<typename AngleAxis> class AngleAxisVisitor;
namespace internal
template<typename Scalar>
struct call< Eigen::AngleAxis<Scalar> >
{
template<typename Scalar>
struct call_expose< Eigen::AngleAxis<Scalar> >
typedef Eigen::AngleAxis<Scalar> AngleAxis;
static inline void expose()
{
typedef Eigen::AngleAxis<Scalar> type;
static inline void run()
{
AngleAxisVisitor<type>::expose();
}
};
} // namespace internal
AngleAxisVisitor<AngleAxis>::expose();
}
static inline bool isApprox(const AngleAxis & self, const AngleAxis & other,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return self.isApprox(other,prec);
}
};
BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxAngleAxis_overload,call<Eigen::AngleAxisd>::isApprox,2,3)
template<typename AngleAxis>
class AngleAxisVisitor
......@@ -74,11 +79,11 @@ namespace eigenpy
bp::arg("Sets *this from a 3x3 rotation matrix."),bp::return_self<>())
.def("toRotationMatrix",&AngleAxis::toRotationMatrix,"Constructs and returns an equivalent 3x3 rotation matrix.")
.def("matrix",&AngleAxis::matrix,"Returns an equivalent rotation matrix.")
.def("isApprox",(bool (AngleAxis::*)(const AngleAxis &))&AngleAxis::isApprox,
"Returns true if *this is approximately equal to other.")
.def("isApprox",(bool (AngleAxis::*)(const AngleAxis &, const Scalar prec))&AngleAxis::isApprox,
bp::args("other","prec"),
"Returns true if *this is approximately equal to other, within the precision determined by prec.")
.def("isApprox",
&call<AngleAxis>::isApprox,
isApproxAngleAxis_overload(bp::args("other","prec"),
"Returns true if *this is approximately equal to other, within the precision determined by prec."))
/* --- Operators --- */
.def(bp::self * bp::other<Vector3>())
......@@ -101,7 +106,8 @@ namespace eigenpy
{ self.angle() = angle; }
static bool __eq__(const AngleAxis & u, const AngleAxis & v)
{ return u.isApprox(v); }
{ return u.axis() == v.axis() && v.angle() == u.angle(); }
static bool __ne__(const AngleAxis & u, const AngleAxis & v)
{ return !__eq__(u,v); }
......
/*
* Copyright 2019, INRIA
* Copyright 2019 INRIA
*/
#ifndef __eigenpy_expose_hpp__
......@@ -9,18 +9,15 @@
namespace eigenpy
{
namespace internal
///
/// \brief Allows a template specialization.
///
template<typename T>
struct call
{
///
/// \brief Allows a template specialization.
///
template<typename T>
struct call_expose
{
static inline void run() { T::expose(); }
};
} // namespace internal
static inline void expose() { T::expose(); }
};
///
/// \brief Call the expose function of a given type T.
///
......@@ -28,7 +25,7 @@ namespace eigenpy
inline void expose()
{
if(!register_symbolic_link_to_registered_type<T>())
internal::call_expose<T>::run();
call<T>::expose();
}
}
......
......@@ -31,19 +31,24 @@ namespace eigenpy
template<typename QuaternionDerived> class QuaternionVisitor;
namespace internal
template<typename Scalar, int Options>
struct call< Eigen::Quaternion<Scalar,Options> >
{
template<typename Scalar, int Options>
struct call_expose< Eigen::Quaternion<Scalar,Options> >
typedef Eigen::Quaternion<Scalar,Options> Quaternion;
static inline void expose()
{
typedef Eigen::Quaternion<Scalar,Options> type;
static inline void run()
{
QuaternionVisitor<type>::expose();
}
};
} // namespace internal
QuaternionVisitor<Quaternion>::expose();
}
static inline bool isApprox(const Quaternion & self, const Quaternion & other,
const Scalar & prec = Eigen::NumTraits<Scalar>::dummy_precision())
{
return self.isApprox(other,prec);
}
};
BOOST_PYTHON_FUNCTION_OVERLOADS(isApproxQuaternion_overload,call<Eigen::Quaterniond>::isApprox,2,3)
template<typename Quaternion>
class QuaternionVisitor
: public bp::def_visitor< QuaternionVisitor<Quaternion> >
......@@ -65,13 +70,22 @@ namespace eigenpy
{
cl
.def(bp::init<>("Default constructor"))
.def(bp::init<Vector4>((bp::arg("Vec4: a 4D vector representing quaternion coefficients")),"Initialize from a vector 4D."))
.def(bp::init<Matrix3>((bp::arg("R: a rotation matrix")),"Initialize from rotation matrix."))
.def(bp::init<AngleAxis>((bp::arg("aa: angle axis")),"Initialize from an angle axis."))
.def(bp::init<Quaternion>((bp::arg("quaternion")),"Copy constructor."))
.def(bp::init<Vector4>((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("R")),
"Initialize from rotation matrix.\n"
"\tR : a rotation matrix 3x3."))
.def(bp::init<AngleAxis>((bp::arg("aa")),
"Initialize from an angle axis.\n"
"\taa: angle axis object."))
.def(bp::init<Quaternion>((bp::arg("quat")),
"Copy constructor.\n"
"\tquat: a quaternion."))
.def("__init__",bp::make_constructor(&QuaternionVisitor::FromTwoVectors,
bp::default_call_policies(),
(bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),"Initialize from two vectors u andv")
(bp::arg("u: a 3D vector"),bp::arg("v: a 3D vector"))),
"Initialize from two vectors u and v")
.def(bp::init<Scalar,Scalar,Scalar,Scalar>
((bp::arg("w"),bp::arg("x"),bp::arg("y"),bp::arg("z")),
"Initialize from coefficients.\n\n"
......@@ -91,14 +105,10 @@ namespace eigenpy
&QuaternionVisitor::getCoeff<3>,
&QuaternionVisitor::setCoeff<3>,"The w coefficient.")
// .def("isApprox",(bool (Quaternion::*)(const Quaternion &))&Quaternion::template isApprox<Quaternion>,
// "Returns true if *this is approximately equal to other.")
// .def("isApprox",(bool (Quaternion::*)(const Quaternion &, const Scalar prec))&Quaternion::template isApprox<Quaternion>,
// "Returns true if *this is approximately equal to other, within the precision determined by prec..")
.def("isApprox",(bool (*)(const Quaternion &))&isApprox,
"Returns true if *this is approximately equal to other.")
.def("isApprox",(bool (*)(const Quaternion &, const Scalar prec))&isApprox,
"Returns true if *this is approximately equal to other, within the precision determined by prec..")
.def("isApprox",
&call<Quaternion>::isApprox,
isApproxQuaternion_overload(bp::args("other","prec"),
"Returns true if *this is approximately equal to other, within the precision determined by prec."))
/* --- Methods --- */
.def("coeffs",(const Vector4 & (Quaternion::*)()const)&Quaternion::coeffs,
......@@ -106,7 +116,7 @@ namespace eigenpy
.def("matrix",&Quaternion::matrix,"Returns an equivalent 3x3 rotation matrix. Similar to toRotationMatrix.")
.def("toRotationMatrix",&Quaternion::toRotationMatrix,"Returns an equivalent 3x3 rotation matrix.")
.def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transform a into b through a rotation."
.def("setFromTwoVectors",&setFromTwoVectors,((bp::arg("a"),bp::arg("b"))),"Set *this to be the quaternion which transforms a into b through a rotation."
,bp::return_self<>())
.def("conjugate",&Quaternion::conjugate,"Returns the conjugated quaternion. The conjugate of a quaternion represents the opposite rotation.")
.def("inverse",&Quaternion::inverse,"Returns the quaternion describing the inverse rotation.")
......@@ -145,13 +155,11 @@ namespace eigenpy
// "Returns the quaternion which transform a into b through a rotation.")
.def("FromTwoVectors",&FromTwoVectors,
bp::args("a","b"),
"Returns the quaternion which transform a into b through a rotation.",
"Returns the quaternion which transforms a into b through a rotation.",
bp::return_value_policy<bp::manage_new_object>())
.staticmethod("FromTwoVectors")
.def("Identity",&Quaternion::Identity,"Returns a quaternion representing an identity rotation.")
.staticmethod("Identity")
;
}
private:
......@@ -174,16 +182,10 @@ namespace eigenpy
Quaternion* q(new Quaternion); q->setFromTwoVectors(u,v);
return q;
}
static bool isApprox(const Quaternion & self, const Quaternion & other,
const Scalar prec = Eigen::NumTraits<Scalar>::dummy_precision)
{
return self.isApprox(other,prec);
}
static bool __eq__(const Quaternion& u, const Quaternion& v)
static bool __eq__(const Quaternion & u, const Quaternion & v)
{
return u.isApprox(v,1e-9);
return u.coeffs() == v.coeffs();
}
static bool __ne__(const Quaternion& u, const Quaternion& v)
......
from __future__ import print_function
from eigenpy import *
from geometry import *
import numpy as np
from numpy import cos,sin
......@@ -20,8 +21,10 @@ assert(isapprox(np.linalg.norm(q.coeffs()),1))
r = AngleAxis(q)
q2 = Quaternion(r)
assert(q==q2)
assert(q==q)
assert(isapprox(q.coeffs(),q2.coeffs()))
assert(q2.isApprox(q2))
assert(q2.isApprox(q2,1e-2))
Rq = q.matrix()
Rr = r.matrix()
......@@ -29,7 +32,7 @@ assert(isapprox(Rq*Rq.T,np.eye(3)))
assert(isapprox(Rr,Rq))
qR = Quaternion(Rr)
assert(q==qR)
assert(q.isApprox(qR))
assert(isapprox(q.coeffs(),qR.coeffs()))
assert(isapprox(qR[3],1./np.sqrt(30)))
......@@ -45,6 +48,8 @@ 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) )
assert(r.isApprox(r))
assert(r.isApprox(r,1e-2))
r.axis = np.matrix([0,1,0],np.double).T
assert( isapprox(r.matrix()[0,0],cos(r.angle)))
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment