test: add test of Eigen::SelfAdjointEigenSolver

Author: jcarpent

unittest/CMakeLists.txt

@@ -51,3 +51,6 @@ SET_TESTS_PROPERTIES("py-version" PROPERTIES DEPENDS ${PYWRAP})
 
 ADD_PYTHON_UNIT_TEST("py-eigen-solver" "unittest/python/test_eigen_solver.py" "python/eigenpy")
 SET_TESTS_PROPERTIES("py-eigen-solver" PROPERTIES DEPENDS ${PYWRAP})
+
+ADD_PYTHON_UNIT_TEST("py-self-adjoint-eigen-solver" "unittest/python/test_self_adjoint_eigen_solver.py" "python/eigenpy")
+SET_TESTS_PROPERTIES("py-self-adjoint-eigen-solver" PROPERTIES DEPENDS ${PYWRAP})

unittest/python/test_self_adjoint_eigen_solver.py

@@ -0,0 +1,16 @@
+import eigenpy
+eigenpy.switchToNumpyArray()
+
+import numpy as np
+import numpy.linalg as la
+
+dim = 100
+A = np.random.rand(dim,dim)
+A = (A + A.T)*0.5
+
+es = eigenpy.SelfAdjointEigenSolver(A)
+
+V = es.eigenvectors()
+D = es.eigenvalues()
+
+assert eigenpy.is_approx(A.dot(V),V.dot(np.diag(D)))