[C++] Update bindings of Angle Axis

- Update API to follow Eigen conventions
- Add Doc
- Remove unaligned conversions

Author: jcarpent

src/angle-axis.hpp

@@ -23,119 +23,99 @@
 
 namespace eigenpy
 {
-  template<>
-  struct UnalignedEquivalent<Eigen::AngleAxisd>
-  {
-    typedef Eigen::AngleAxis<double> type;
-  };
 
   namespace bp = boost::python;
 
-  template<typename D>
+  template<typename AngleAxis>
   class AngleAxisVisitor
-    :  public boost::python::def_visitor< AngleAxisVisitor<D> >
+    :  public boost::python::def_visitor< AngleAxisVisitor<AngleAxis> >
   {
-    typedef D AngleAxis;
-    typedef typename eigenpy::UnalignedEquivalent<D>::type AngleAxisUnaligned;
-
-    typedef typename AngleAxisUnaligned::Scalar Scalar;
-    typedef typename eigenpy::UnalignedEquivalent<typename AngleAxisUnaligned::Vector3>::type Vector3;
-    typedef typename eigenpy::UnalignedEquivalent<typename AngleAxisUnaligned::Matrix3>::type Matrix3;
-
-    typedef eigenpy::UnalignedEquivalent<Eigen::Quaternion<Scalar> > Quaternion;
 
+    typedef typename AngleAxis::Scalar Scalar;
+    typedef typename AngleAxis::Vector3 Vector3;
+    typedef typename AngleAxis::Matrix3 Matrix3;
+    
+    typedef typename Eigen::Quaternion<Scalar,0> Quaternion;
+    
   public:
 
     template<class PyClass>
     void visit(PyClass& cl) const 
     {
       cl
-	.def(bp::init<Scalar,Vector3>
-	     ((bp::arg("angle"),bp::arg("axis")),
-	      "Initialize from angle and axis"))
-	.def(bp::init<Matrix3>
-	     ((bp::arg("rotationMatrix")),
-	      "Initialize from a rotation matrix"))
-	.def("__init__",bp::make_constructor(&AngleAxisVisitor::constructFromQuaternion,
-					     bp::default_call_policies(),
-					     (bp::arg("quaternion"))),"Initialize from quaternion")
-	.def(bp::init<AngleAxisUnaligned>((bp::arg("clone"))))
-
-	.def("matrix",&AngleAxisUnaligned::toRotationMatrix,"Return the corresponding rotation matrix 3x3.")
-	.def("vector",&AngleAxisVisitor::toVector3,"Return the correspond angle*axis vector3")
-	.add_property("axis",&AngleAxisVisitor::getAxis,&AngleAxisVisitor::setAxis)
-	.add_property("angle",&AngleAxisVisitor::getAngle,&AngleAxisVisitor::setAngle)
-
-	/* --- Methods --- */
-	.def("normalize",&AngleAxisVisitor::normalize,"Normalize the axis vector (without changing the angle).")
-	.def("inverse",&AngleAxisUnaligned::inverse,"Return the inverse rotation.")
-	.def("apply",&AngleAxisVisitor::apply,(bp::arg("vector3")),"Apply the rotation map to the vector")
-
-	/* --- Operators --- */
-	.def(bp::self * bp::other<Vector3>())
-	.def("__eq__",&AngleAxisVisitor::__eq__)
-	.def("__ne__",&AngleAxisVisitor::__ne__)
-	.def("__abs__",&AngleAxisVisitor::getAngleAbs)
-	;
+      .def(bp::init<>("Default constructor"))
+      .def(bp::init<Scalar,Vector3>
+           ((bp::arg("angle"),bp::arg("axis")),
+            "Initialize from angle and axis."))
+      .def(bp::init<Matrix3>
+           ((bp::arg("rotationMatrix")),
+            "Initialize from a rotation matrix"))
+      .def(bp::init<Quaternion>(bp::arg("quaternion"),"Initialize from a quaternion."))
+      .def(bp::init<AngleAxis>(bp::arg("copy"),"Copy constructor."))
+      
+      /* --- Properties --- */
+      .add_property("axis",
+                    bp::make_function((const Vector3 & (AngleAxis::*)()const)&AngleAxis::axis,
+                                      bp::return_value_policy<bp::copy_const_reference>()),
+                    &AngleAxisVisitor::setAxis,"The rotation axis.")
+      .add_property("angle",
+                    (Scalar (AngleAxis::*)()const)&AngleAxis::angle,
+                    &AngleAxisVisitor::setAngle,"The rotation angle.")
+      
+      /* --- Methods --- */
+      .def("inverse",&AngleAxis::inverse,"Return the inverse rotation.")
+      .def("fromRotationMatrix",&AngleAxis::template fromRotationMatrix<Matrix3>,
+           bp::arg("Sets *this from a 3x3 rotation matrix."),bp::return_self<>())
+      .def("toRotationMatrix",&AngleAxis::toRotationMatrix,"Constructs and returns an equivalent 3x3 rotation matrix.")
+      .def("matrix",&AngleAxis::matrix,"Returns an equivalent rotation matrix.")
+      .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &))&AngleAxis::isApprox,
+           "Returns true if *this is approximately equal to other.")
+      .def("isApprox",(bool (AngleAxis::*)(const AngleAxis &, const Scalar prec))&AngleAxis::isApprox,
+           bp::args("other","prec"),
+           "Returns true if *this is approximately equal to other, within the precision determined by prec.")
+      
+      /* --- Operators --- */
+      .def(bp::self * bp::other<Vector3>())
+      .def(bp::self * bp::other<Quaternion>())
+      .def(bp::self * bp::self)
+      .def("__eq__",&AngleAxisVisitor::__eq__)
+      .def("__ne__",&AngleAxisVisitor::__ne__)
+      
+      .def("__str__",&print)
+      .def("__repr__",&print)
+      ;
     }
+    
   private:
-  
-    static AngleAxisUnaligned* constructFromQuaternion(const Eigen::Quaternion<Scalar,Eigen::DontAlign> & qu)
-    {
-      Eigen::Quaternion<Scalar> q = qu;
-      return new AngleAxisUnaligned(q);
-    }
- 
-    static Vector3 apply(const AngleAxisUnaligned & r, const Vector3 & v ) { return r*v; }
 
-    static Vector3 getAxis(const AngleAxisUnaligned& self) { return self.axis(); }
-    static void setAxis(AngleAxisUnaligned& self, const Vector3 & r)
-    {
-      self = AngleAxisUnaligned( self.angle(),r );
-    }
+    static void setAxis(AngleAxis & self, const Vector3 & axis)
+    { self.axis() = axis; }
 
-    static double getAngle(const AngleAxisUnaligned& self) { return self.angle(); }
-    static void setAngle( AngleAxisUnaligned& self, const double & th) 
-    {
-      self = AngleAxisUnaligned( th,self.axis() );
-    }
-    static double getAngleAbs(const AngleAxisUnaligned& self) { return std::abs(self.angle()); }
+    static void setAngle( AngleAxis & self, const Scalar & angle)
+    { self.angle() = angle; }
 
-    static bool __eq__(const AngleAxisUnaligned & u, const AngleAxisUnaligned & v)
-    {
-      return u.isApprox(v);
-    }
-    static bool __ne__(const AngleAxisUnaligned & u, const AngleAxisUnaligned & v)
-    {
-      return !__eq__(u,v); 
-    }
+    static bool __eq__(const AngleAxis & u, const AngleAxis & v)
+    { return u.isApprox(v); }
+    static bool __ne__(const AngleAxis & u, const AngleAxis & v)
+    { return !__eq__(u,v); }
 
-    static Vector3 toVector3( const AngleAxisUnaligned & self ) { return self.axis()*self.angle(); }
-    static void normalize( AngleAxisUnaligned & self )
+    static std::string print(const AngleAxis & self)
     {
-      setAxis(self,self.axis() / self.axis().norm());
-    }
-
-  private:
-  
-    static PyObject* convert(AngleAxis const& q)
-    {
-      AngleAxisUnaligned qx = q;
-      return boost::python::incref(boost::python::object(qx).ptr());
+      std::stringstream ss;
+      ss << "angle: " << self.angle() << std::endl;
+      ss << "axis: " << self.axis().transpose() << std::endl;
+      
+      return ss.str();
     }
 
   public:
 
     static void expose()
     {
-      bp::class_<AngleAxisUnaligned>("AngleAxis",
-				     "AngleAxis representation of rotations.\n\n",
-				     bp::init<>())
-	.def(AngleAxisVisitor<D>());
-    
-      // TODO: check the problem of fix-size Angle Axis.
-      //bp::to_python_converter< AngleAxis,AngleAxisVisitor<D> >();
-
+      bp::class_<AngleAxis>("AngleAxis",
+                            "AngleAxis representation of rotations.\n\n",
+                            bp::no_init)
+      .def(AngleAxisVisitor<AngleAxis>());
     }
 
   };