[python] Fix explog for array

bindings/python/pinocchio/explog.py

@@ -15,9 +15,9 @@ def exp(x):
     if np.isscalar(x):
         return math.exp(x)
     if isinstance(x, np.ndarray):
-        if x.shape == (6, 1):
+        if x.shape == (6, 1) or x.shape == (6,):
             return pin.exp6(pin.Motion(x))
-        if x.shape == (3, 1):
+        if x.shape == (3, 1) or x.shape == (3,):
             return pin.exp3(x)
         raise ValueError('Error only 3 and 6 vectors are allowed.')
     raise ValueError('Error exp is only defined for real, vector3, vector6 and pin.Motion objects.')

unittest/python/explog.py

@@ -62,16 +62,29 @@ class TestExpLog(TestCase):
         self.assertApprox(log(42), math.log(42))
         self.assertApprox(exp(log(42)), 42)
         self.assertApprox(log(exp(42)), 42)
+
         m = rand(3)
-        self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test
+        self.assertLess(np.linalg.norm(m), np.pi) # necessary for next test
+        self.assertApprox(log(exp(m)), m)
+
+        m = np.random.rand(3)
+        self.assertLess(np.linalg.norm(m), np.pi) # necessary for next test
         self.assertApprox(log(exp(m)), m)
+
         m = pin.SE3.Random()
         self.assertApprox(exp(log(m)), m)
+
         m = rand(6)
-        self.assertTrue(np.linalg.norm(m) < np.pi) # necessary for next test (actually, only angular part)
+        self.assertLess(np.linalg.norm(m), np.pi) # necessary for next test (actually, only angular part)
         self.assertApprox(log(exp(m)), m)
+
+        m = np.random.rand(6)
+        self.assertLess(np.linalg.norm(m), np.pi) # necessary for next test (actually, only angular part)
+        self.assertApprox(log(exp(m)), m)
+
         m = eye(4)
         self.assertApprox(exp(log(m)).homogeneous, m)
+
         with self.assertRaises(ValueError):
             exp(eye(4))
         with self.assertRaises(ValueError):