From 958307b656838b1c3d6196b9689f6c0a4f60d76d Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Mon, 8 Aug 2016 19:21:07 +0200
Subject: [PATCH] [Python] Expose isApprox and isIdentity
---
bindings/python/se3.hpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/bindings/python/se3.hpp b/bindings/python/se3.hpp
index 58ca49ed8..f20c264da 100644
--- a/bindings/python/se3.hpp
+++ b/bindings/python/se3.hpp
@@ -44,6 +44,7 @@ namespace se3
: public boost::python::def_visitor< SE3PythonVisitor<SE3> >
{
typedef typename eigenpy::UnalignedEquivalent<SE3>::type SE3_fx;
+ typedef typename SE3::Scalar Scalar;
typedef typename SE3::Matrix3 Matrix3;
typedef typename SE3::Matrix6 Matrix6;
typedef typename SE3::Matrix4 Matrix4;
@@ -87,6 +88,12 @@ namespace se3
.def("actInv_point", &SE3PythonVisitor::actInv_point)
.def("act_se3", &SE3PythonVisitor::act_se3)
.def("actInv_se3", &SE3PythonVisitor::actInv_se3)
+
+ .def("isApprox",(bool (SE3_fx::*)(const SE3_fx & other, const Scalar & prec)) &SE3_fx::isApprox,bp::args("other","prec"),"Returns true if *this is approximately equal to other, within the precision given by prec.")
+ .def("isApprox",(bool (SE3_fx::*)(const SE3_fx & other)) &SE3_fx::isApprox,bp::args("other"),"Returns true if *this is approximately equal to other.")
+
+ .def("isIdentity",(bool (SE3_fx::*)(const Scalar & prec)) &SE3_fx::isIdentity,bp::args("prec"),"Returns true if *this is approximately equal to the identity placement, within the precision given by prec.")
+ .def("isIdentity",(bool (SE3_fx::*)(void)) &SE3_fx::isIdentity,"Returns true if *this is approximately equal to the identity placement.")
.def("__str__",&SE3PythonVisitor::toString)
.def("__invert__",&SE3_fx::inverse)
--
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