Add basic Python unit test for liegroups

unittest/python/CMakeLists.txt

@@ -20,6 +20,7 @@ SET(${PROJECT_NAME}_PYTHON_TESTS
   bindings_SE3
   bindings_geometry_model
   bindings_rnea
+  bindings_liegroups
   explog
   rpy
   utils

unittest/python/bindings_liegroups.py

+import unittest
+import pinocchio as pin
+import numpy as np
+from pinocchio.utils import eye,zero,rand
+
+ones = lambda n: np.ones([n, 1] if isinstance(n, int) else n)
+
+class TestLiegroupBindings(unittest.TestCase):
+
+    def test_basic(self):
+        R3 = pin.liegroups.R3()
+        SO3 = pin.liegroups.SO3()
+        R3xSO3 = R3 * SO3
+
+        self.assertEqual(R3.name, "R^3")
+        self.assertEqual(SO3.name, "SO(3)")
+        self.assertEqual(R3xSO3.name, R3.name + " x " + SO3.name)
+
+        self.assertEqual(R3.nq+SO3.nq, R3xSO3.nq)
+        self.assertEqual(R3.nv+SO3.nv, R3xSO3.nv)
+
+    def test_dIntegrate(self):
+        for lg in [ pin.liegroups.R3(),
+                    pin.liegroups.SO3(),
+                    pin.liegroups.SE3(),
+                    pin.liegroups.R3() * pin.liegroups.SO3(),
+                    ]:
+            q = lg.random()
+            v = np.random.rand(lg.nv)
+
+            J = lg.dIntegrate_dq(q, v)
+            #self.assertTrue(np.allclose(np.eye(3),J))
+
+            SELF = 0
+            J0 = np.random.rand(lg.nv,lg.nv)
+
+            J1 = lg.dIntegrate_dq(q, v, SELF, J0)
+            self.assertTrue(np.allclose(J @ J0,J1))
+
+            J1 = lg.dIntegrate_dq(q, v, J0, SELF)
+            self.assertTrue(np.allclose(J0 @ J,J1))
+
+if __name__ == '__main__':
+    unittest.main()