test: add test of PlainObjectBase feature

Author: jcarpent

unittest/matrix.cpp

@@ -81,6 +81,12 @@ MatrixDerived base(const Eigen::MatrixBase<MatrixDerived> & m)
   return m.derived();
 }
 
+template<typename MatrixDerived>
+MatrixDerived plain(const Eigen::PlainObjectBase<MatrixDerived> & m)
+{
+  return m.derived();
+}
+
 template<typename Scalar>
 Eigen::Matrix<Scalar,6,6> matrix6(const Scalar & value)
 {
@@ -123,6 +129,9 @@ BOOST_PYTHON_MODULE(matrix)
 
   bp::def("base", base<VectorXd>);
   bp::def("base", base<MatrixXd>);
+  
+  bp::def("plain", plain<VectorXd>);
+  bp::def("plain", plain<MatrixXd>);
 
   bp::def("matrix6", matrix6<double>);
 }

unittest/python/test_matrix.py

@@ -36,6 +36,10 @@
 Mref_from_base = eigenpy.base(Mref)
 assert( np.array_equal(Mref,Mref_from_base) );
 
+# Test plain function
+Mref_from_plain = eigenpy.plain(Mref)
+assert( np.array_equal(Mref,Mref_from_plain) );
+
 if verbose: print("===> Matrix 8x8")
 M = Mref
 assert( np.array_equal(M,eigenpy.reflex(M,verbose)) );