Merge pull request #7 from Simple-Robotics/topic/add-package-xml

Add package.xml

Author: jcarpent

CMakeLists.txt

@@ -6,7 +6,10 @@ cmake_minimum_required(VERSION 3.18)
 
 set(PROJECT_NAME nanoeigenpy)
 set(PROJECT_URL https://github.com/Simple-Robotics/nanoeigenpy)
-set(PROJECT_DESCRIPTION "Tools for using Eigen with nanobind")
+set(
+  PROJECT_DESCRIPTION
+  "A support library for bindings between Eigen in C++ and Python, based on nanobind"
+)
 set(PROJECT_CUSTOM_HEADER_EXTENSION "hpp")
 set(PROJECT_USE_CMAKE_EXPORT True)
 
@@ -236,4 +239,7 @@ install(
 ADD_HEADER_GROUP(${PROJECT_NAME}_HEADERS)
 ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
 
+# Install ROS package.xml
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
 SETUP_PROJECT_FINALIZE()

package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>nanoeigenpy</name>
+  <version>0.0.0</version>
+  <description>A support library for bindings between Eigen in C++ and Python, based on nanobind</description>
+  <maintainer email="[email protected]">Wilson Jallet</maintainer>
+  <maintainer email="[email protected]">Lucas Haubert</maintainer>
+  <author>Wilson Jallet</author>
+  <author>Lucas Haubert</author>
+  <license>BSD</license>
+
+  <url type="website">https://github.com/Simple-Robotics/nanoeigenpy</url>
+
+  <build_depend>git</build_depend>
+  <build_depend>doxygen</build_depend>
+
+  <!-- The following tag is recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</depend>
+  <depend>eigen</depend>
+  <depend>nanobind-dev</depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

tests/test_iterative_solvers.py

@@ -17,7 +17,7 @@
 
 @pytest.mark.parametrize("cls", _clazzes)
 def test_solver(cls):
-    Q = np.random.randn(dim, dim)
+    Q = rng.standard_normal((dim, dim))
     A = 0.5 * (Q.T + Q)
     solver = cls(A)
     solver.setMaxIterations(MAX_ITER)
@@ -41,7 +41,7 @@ def test_solver(cls):
 
 @pytest.mark.parametrize("cls", _clazzes)
 def test_solver_with_guess(cls):
-    Q = np.random.randn(dim, dim)
+    Q = rng.standard_normal((dim, dim))
     A = 0.5 * (Q.T + Q)
     solver = cls(A)
     solver.setMaxIterations(MAX_ITER)