[operators][fir_filter] fix some bug on the python bindings side

src/matrix/fir-filter.cpp

@@ -23,7 +23,7 @@ using dynamicgraph::Vector;
                                                                                \
   template <>                                                                  \
   const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME =        \
-      std::string(className) + "_" + #sotSigType + "," + #sotCoefType + "_";   \
+      std::string(className) + "_" + #sotSigType + "_" + #sotCoefType;         \
                                                                                \
   template <>                                                                  \
   const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \

src/matrix/operator-python-module-py.cc

@@ -102,6 +102,10 @@ BOOST_PYTHON_MODULE(wrap)
   exposeUnaryOp < HomogeneousMatrixToVector>      ();
   exposeUnaryOp < SkewSymToVector>                ();
   exposeUnaryOp < PoseUThetaToMatrixHomo>         ();
+  exposeUnaryOp < HomogeneousMatrixToVector>      ();
+  exposeUnaryOp < HomogeneousMatrixToSE3Vector>   ();
+  exposeUnaryOp < SE3VectorToHomogeneousMatrix>   ();
+  exposeUnaryOp < PoseQuaternionToMatrixHomo>     ();
   exposeUnaryOp < MatrixHomoToPoseQuaternion>     ();
   exposeUnaryOp < MatrixHomoToPoseRollPitchYaw>   ();
   exposeUnaryOp < PoseRollPitchYawToMatrixHomo>   ();

src/matrix/operator.cpp

@@ -58,40 +58,11 @@ REGISTER_UNARY_OP(InverserQuaternion, Inverse_of_unitquat);
 /* ----------------------------------------------------------------------- */
 
 REGISTER_UNARY_OP(HomogeneousMatrixToVector, MatrixHomoToPoseUTheta);
-
-struct HomogeneousMatrixToSE3Vector
-    : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
-  void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
-    res.resize(12);
-    res.head<3>() = M.translation();
-    res.segment(3, 3) = M.linear().row(0);
-    res.segment(6, 3) = M.linear().row(1);
-    res.segment(9, 3) = M.linear().row(2);
-  }
-};
 REGISTER_UNARY_OP(HomogeneousMatrixToSE3Vector, MatrixHomoToSE3Vector);
-
-struct SE3VectorToHomogeneousMatrix
-    : public UnaryOpHeader<dg::Vector, MatrixHomogeneous> {
-  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
-    Mres.translation() = vect.head<3>();
-    Mres.linear().row(0) = vect.segment(3, 3);
-    Mres.linear().row(1) = vect.segment(6, 3);
-    Mres.linear().row(2) = vect.segment(9, 3);
-  }
-};
 REGISTER_UNARY_OP(SE3VectorToHomogeneousMatrix, SE3VectorToMatrixHomo);
 REGISTER_UNARY_OP(SkewSymToVector, SkewSymToVector);
 REGISTER_UNARY_OP(PoseUThetaToMatrixHomo, PoseUThetaToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseQuaternion, MatrixHomoToPoseQuaternion);
-
-struct PoseQuaternionToMatrixHomo
-    : public UnaryOpHeader<Vector, MatrixHomogeneous> {
-  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
-    Mres.translation() = vect.head<3>();
-    Mres.linear() = VectorQuaternion(vect.tail<4>()).toRotationMatrix();
-  }
-};
 REGISTER_UNARY_OP(PoseQuaternionToMatrixHomo, PoseQuatToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseRollPitchYaw);
 REGISTER_UNARY_OP(PoseRollPitchYawToMatrixHomo, PoseRollPitchYawToMatrixHomo);

src/matrix/operator.hh

@@ -310,6 +310,35 @@ struct PoseUThetaToMatrixHomo
   }
 };
 
+struct SE3VectorToHomogeneousMatrix
+    : public UnaryOpHeader<dg::Vector, MatrixHomogeneous> {
+  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
+    Mres.translation() = vect.head<3>();
+    Mres.linear().row(0) = vect.segment(3, 3);
+    Mres.linear().row(1) = vect.segment(6, 3);
+    Mres.linear().row(2) = vect.segment(9, 3);
+  }
+};
+
+struct HomogeneousMatrixToSE3Vector
+    : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
+  void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
+    res.resize(12);
+    res.head<3>() = M.translation();
+    res.segment(3, 3) = M.linear().row(0);
+    res.segment(6, 3) = M.linear().row(1);
+    res.segment(9, 3) = M.linear().row(2);
+  }
+};
+
+struct PoseQuaternionToMatrixHomo
+    : public UnaryOpHeader<Vector, MatrixHomogeneous> {
+  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
+    Mres.translation() = vect.head<3>();
+    Mres.linear() = VectorQuaternion(vect.tail<4>()).toRotationMatrix();
+  }
+};
+
 struct MatrixHomoToPoseQuaternion
     : public UnaryOpHeader<MatrixHomogeneous, Vector> {
   inline void operator()(const MatrixHomogeneous &M, Vector &res) {