Merge pull request #150 from jcarpent/topic/array_by_default

Switch to np.array type by default

Author: jcarpent

include/eigenpy/details.hpp

@@ -155,7 +155,6 @@ namespace eigenpy
 
   enum NP_TYPE
   {
-    DEFAULT_TYPE,
     MATRIX_TYPE,
     ARRAY_TYPE
   };
@@ -176,16 +175,6 @@ namespace eigenpy
 
     bp::object make(PyObject* pyObj, bool copy = false)
     {
-      if (getType() == DEFAULT_TYPE) {
-        std::cerr <<
-          "eigenpy warning: you use the deprecated class numpy.matrix without explicily asking for it. "
-          "The default behaviour will change to numpy.array at next major release.\n"
-          "- Either call eigenpy.switchToNumpyMatrix() before using eigenpy to suppress this warning\n"
-          "- or call eigenpy.switchToNumpyArray() and adapt your code accordingly.\n"
-          "See https://github.com/stack-of-tasks/eigenpy/issues/87 for further details."
-          << std::endl;
-        switchToNumpyMatrix();
-      }
       bp::object m;
       if(PyType_IsSubtype(reinterpret_cast<PyTypeObject*>(CurrentNumpyType.ptr()),NumpyMatrixType))
         m = NumpyMatrixObject(bp::object(bp::handle<>(pyObj)), bp::object(), copy);
@@ -268,8 +257,8 @@ namespace eigenpy
       //NumpyAsMatrixObject = pyModule.attr("asmatrix");
       //NumpyAsMatrixType = reinterpret_cast<PyTypeObject*>(NumpyAsMatrixObject.ptr());
 
-      CurrentNumpyType = NumpyMatrixObject; // default conversion
-      getType() = DEFAULT_TYPE;
+      CurrentNumpyType = NumpyArrayObject; // default conversion
+      getType() = ARRAY_TYPE;
     }
 
     bp::object CurrentNumpyType;

unittest/python/test_geometry.py

@@ -27,7 +27,7 @@ def isapprox(a,b,epsilon=1e-6):
 
 Rq = q.matrix()
 Rr = r.matrix()
-assert(isapprox(Rq*Rq.T,np.eye(3)))
+assert(isapprox(Rq.dot(Rq.T),np.eye(3)))
 assert(isapprox(Rr,Rq))
 
 qR = Quaternion(Rr)
@@ -42,15 +42,15 @@ def isapprox(a,b,epsilon=1e-6):
   if verbose: print("As expected, catched exception: ",e)
 
 # --- Angle Vector ------------------------------------------------
-r = AngleAxis(.1,np.matrix([1,0,0],np.double).T)
+r = AngleAxis(.1,np.array([1,0,0],np.double))
 if verbose: print("Rx(.1) = \n\n",r.matrix(),"\n")
 assert( isapprox(r.matrix()[2,2],cos(r.angle)))
-assert( isapprox(r.axis,np.matrix("1;0;0")) )
+assert( isapprox(r.axis,np.array([1.,0,0])) )
 assert( isapprox(r.angle,0.1) )
 assert(r.isApprox(r))
 assert(r.isApprox(r,1e-2))
 
-r.axis = np.matrix([0,1,0],np.double).T
+r.axis = np.array([0,1,0],np.double).T
 assert( isapprox(r.matrix()[0,0],cos(r.angle)))
 
 ri = r.inverse()

unittest/python/test_matrix.py

@@ -11,11 +11,11 @@
 
 if verbose: print("===> From empty VectorXd to Py")
 v = eigenpy.emptyVector()
-assert v.shape == (0,1)
+assert v.shape == (0,)
 
 if verbose: print("===> From MatrixXd to Py")
 M = eigenpy.naturals(3,3,verbose)
-Mcheck = np.reshape(np.matrix(range(9),np.double),[3,3])
+Mcheck = np.reshape(np.array(range(9),np.double),[3,3])
 assert np.array_equal(Mcheck,M)
 
 if verbose: print("===> From Matrix3d to Py")
@@ -24,13 +24,13 @@
 
 if verbose: print("===> From VectorXd to Py")
 v = eigenpy.naturalsX(3,verbose)
-vcheck = np.matrix([range(3),],np.double).T
+vcheck = np.array(range(3),np.double).T
 assert np.array_equal(vcheck ,v)
 
 if verbose: print("===> From Py to Eigen::MatrixXd")
 if verbose: print("===> From Py to Eigen::MatrixXd")
 if verbose: print("===> From Py to Eigen::MatrixXd")
-Mref = np.reshape(np.matrix(range(64),np.double),[8,8])
+Mref = np.reshape(np.array(range(64),np.double),[8,8])
 
 # Test base function
 Mref_from_base = eigenpy.base(Mref)
@@ -125,4 +125,4 @@
 
 vec1x1 = eigenpy.vector1x1(value)
 assert(vec1x1.size == 1)
-assert(vec1x1[0,0] == value)
+assert(vec1x1[0] == value)