Merge pull request #172 from machines-in-motion/topic/mnaveau/fix_python_bindings_bugs

[operators][fir_filter] fix some bug on the python bindings side

Author: nim65s

.gitignore

@@ -4,3 +4,4 @@ include/sot-core/import-default-paths.h
 unitTesting/test-paths.h
 *~
 _build*
+*__pycache__*

src/dynamic_graph/sot/core/math_small_entities.py

@@ -11,10 +11,10 @@
     HomoToTwist, Inverse_of_matrix, Inverse_of_matrixHomo,
     Inverse_of_matrixrotation, Inverse_of_matrixtwist, Inverse_of_unitquat,
     MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion,
-    PoseQuatToMatrixHomo, MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta,
-    MatrixToHomo, MatrixToQuaternion, MatrixToRPY, MatrixToUTheta,
-    MatrixHomoToSE3Vector, SE3VectorToMatrixHomo, MatrixTranspose,
-    Multiply_double_vector, Multiply_matrix_vector,
+    PoseQuaternionToMatrixHomo, MatrixHomoToPoseRollPitchYaw,
+    MatrixHomoToPoseUTheta, MatrixToHomo, MatrixToQuaternion, MatrixToRPY,
+    MatrixToUTheta, MatrixHomoToSE3Vector, SE3VectorToMatrixHomo,
+    MatrixTranspose, Multiply_double_vector, Multiply_matrix_vector,
     Multiply_matrixTwist_vector, Multiply_matrixHomo_vector,
     Multiply_of_double, Multiply_of_matrix, Multiply_of_matrixHomo,
     Multiply_of_matrixrotation, Multiply_of_matrixtwist,

src/dynamic_graph/sot/core/meta_task_posture.py

@@ -4,7 +4,7 @@
 from dynamic_graph.sot.core.matrix_util import matrixToTuple, vectorToTuple
 from dynamic_graph.sot.core.meta_task_6d import toFlags # kept for backward compatibility
 from dynamic_graph.sot.core.meta_tasks import setGain
-from dynamic_graph.sot.core.sot import Task
+from dynamic_graph.sot.core.task import Task
 from numpy import identity, matrix, zeros
 
 

src/dynamic_graph/sot/core/meta_task_visual_point.py

@@ -3,7 +3,7 @@
 from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.meta_tasks import setGain
 from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
-from dynamic_graph.sot.core.sot import Task
+from dynamic_graph.sot.core.task import Task
 from dynamic_graph.sot.core.visual_point_projecter import VisualPointProjecter
 
 

src/matrix/fir-filter.cpp

@@ -23,7 +23,7 @@ using dynamicgraph::Vector;
                                                                                \
   template <>                                                                  \
   const std::string sotClassType<sotSigType, sotCoefType>::CLASS_NAME =        \
-      std::string(className) + "_" + #sotSigType + "," + #sotCoefType + "_";   \
+      std::string(className) + "_" + #sotSigType + "_" + #sotCoefType;         \
                                                                                \
   template <>                                                                  \
   const std::string &sotClassType<sotSigType, sotCoefType>::getClassName(void) \

src/matrix/operator-python-module-py.cc

@@ -99,9 +99,12 @@ BOOST_PYTHON_MODULE(wrap)
    /* --- SE3/SO3 conversions ----------------------------------------------- */
    /* ----------------------------------------------------------------------- */
 
-  exposeUnaryOp < HomogeneousMatrixToVector>      ();
   exposeUnaryOp < SkewSymToVector>                ();
   exposeUnaryOp < PoseUThetaToMatrixHomo>         ();
+  exposeUnaryOp < MatrixHomoToPoseUTheta>         ();
+  exposeUnaryOp < MatrixHomoToSE3Vector>          ();
+  exposeUnaryOp < SE3VectorToMatrixHomo>          ();
+  exposeUnaryOp < PoseQuaternionToMatrixHomo>     ();
   exposeUnaryOp < MatrixHomoToPoseQuaternion>     ();
   exposeUnaryOp < MatrixHomoToPoseRollPitchYaw>   ();
   exposeUnaryOp < PoseRollPitchYawToMatrixHomo>   ();

src/matrix/operator.cpp

@@ -57,42 +57,13 @@ REGISTER_UNARY_OP(InverserQuaternion, Inverse_of_unitquat);
 /* --- SE3/SO3 conversions ----------------------------------------------- */
 /* ----------------------------------------------------------------------- */
 
-REGISTER_UNARY_OP(HomogeneousMatrixToVector, MatrixHomoToPoseUTheta);
-
-struct HomogeneousMatrixToSE3Vector
-    : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
-  void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
-    res.resize(12);
-    res.head<3>() = M.translation();
-    res.segment(3, 3) = M.linear().row(0);
-    res.segment(6, 3) = M.linear().row(1);
-    res.segment(9, 3) = M.linear().row(2);
-  }
-};
-REGISTER_UNARY_OP(HomogeneousMatrixToSE3Vector, MatrixHomoToSE3Vector);
-
-struct SE3VectorToHomogeneousMatrix
-    : public UnaryOpHeader<dg::Vector, MatrixHomogeneous> {
-  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
-    Mres.translation() = vect.head<3>();
-    Mres.linear().row(0) = vect.segment(3, 3);
-    Mres.linear().row(1) = vect.segment(6, 3);
-    Mres.linear().row(2) = vect.segment(9, 3);
-  }
-};
-REGISTER_UNARY_OP(SE3VectorToHomogeneousMatrix, SE3VectorToMatrixHomo);
+REGISTER_UNARY_OP(MatrixHomoToPoseUTheta, MatrixHomoToPoseUTheta);
+REGISTER_UNARY_OP(MatrixHomoToSE3Vector, MatrixHomoToSE3Vector);
+REGISTER_UNARY_OP(SE3VectorToMatrixHomo, SE3VectorToMatrixHomo);
 REGISTER_UNARY_OP(SkewSymToVector, SkewSymToVector);
 REGISTER_UNARY_OP(PoseUThetaToMatrixHomo, PoseUThetaToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseQuaternion, MatrixHomoToPoseQuaternion);
-
-struct PoseQuaternionToMatrixHomo
-    : public UnaryOpHeader<Vector, MatrixHomogeneous> {
-  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
-    Mres.translation() = vect.head<3>();
-    Mres.linear() = VectorQuaternion(vect.tail<4>()).toRotationMatrix();
-  }
-};
-REGISTER_UNARY_OP(PoseQuaternionToMatrixHomo, PoseQuatToMatrixHomo);
+REGISTER_UNARY_OP(PoseQuaternionToMatrixHomo, PoseQuaternionToMatrixHomo);
 REGISTER_UNARY_OP(MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseRollPitchYaw);
 REGISTER_UNARY_OP(PoseRollPitchYawToMatrixHomo, PoseRollPitchYawToMatrixHomo);
 REGISTER_UNARY_OP(PoseRollPitchYawToPoseUTheta, PoseRollPitchYawToPoseUTheta);

src/matrix/operator.hh

@@ -278,7 +278,7 @@ struct InverserQuaternion
 /* --- SE3/SO3 conversions ----------------------------------------------- */
 /* ----------------------------------------------------------------------- */
 
-struct HomogeneousMatrixToVector
+struct MatrixHomoToPoseUTheta
     : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
   inline void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
     res.resize(6);
@@ -310,6 +310,35 @@ struct PoseUThetaToMatrixHomo
   }
 };
 
+struct SE3VectorToMatrixHomo
+    : public UnaryOpHeader<dg::Vector, MatrixHomogeneous> {
+  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
+    Mres.translation() = vect.head<3>();
+    Mres.linear().row(0) = vect.segment(3, 3);
+    Mres.linear().row(1) = vect.segment(6, 3);
+    Mres.linear().row(2) = vect.segment(9, 3);
+  }
+};
+
+struct MatrixHomoToSE3Vector
+    : public UnaryOpHeader<MatrixHomogeneous, dg::Vector> {
+  void operator()(const MatrixHomogeneous &M, dg::Vector &res) {
+    res.resize(12);
+    res.head<3>() = M.translation();
+    res.segment(3, 3) = M.linear().row(0);
+    res.segment(6, 3) = M.linear().row(1);
+    res.segment(9, 3) = M.linear().row(2);
+  }
+};
+
+struct PoseQuaternionToMatrixHomo
+    : public UnaryOpHeader<Vector, MatrixHomogeneous> {
+  void operator()(const dg::Vector &vect, MatrixHomogeneous &Mres) {
+    Mres.translation() = vect.head<3>();
+    Mres.linear() = VectorQuaternion(vect.tail<4>()).toRotationMatrix();
+  }
+};
+
 struct MatrixHomoToPoseQuaternion
     : public UnaryOpHeader<MatrixHomogeneous, Vector> {
   inline void operator()(const MatrixHomogeneous &M, Vector &res) {

tests/matrix/test_operator.cpp

@@ -199,7 +199,7 @@ BOOST_AUTO_TEST_CASE(matrixHomo_poseQuaternion) {
   test_impl<MatrixHomoToPoseQuaternion, PoseQuaternionToMatrixHomo>();
 }
 BOOST_AUTO_TEST_CASE(matrixHomo_se3Vector) {
-  test_impl<HomogeneousMatrixToSE3Vector, SE3VectorToHomogeneousMatrix>();
+  test_impl<MatrixHomoToSE3Vector, SE3VectorToMatrixHomo>();
 }
 
 BOOST_AUTO_TEST_SUITE_END()

tests/python/python_imports.py

@@ -0,0 +1,99 @@
+#!/usr/bin/env python
+
+import unittest
+
+class PythonImportTest(unittest.TestCase):
+    def test_math_small_entities(self):
+        try:
+            import dynamic_graph.sot.core.math_small_entities
+        except ImportError as ie:
+            self.fail(str(ie))
+    
+    def test_feature_position_relative(self):
+        try:
+            import dynamic_graph.sot.core.feature_position_relative
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_feature_position(self):
+        try:
+            import dynamic_graph.sot.core.feature_position
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_matrix_util(self):
+        try:
+            import dynamic_graph.sot.core.matrix_util
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_task_6d(self):
+        try:
+            import dynamic_graph.sot.core.meta_task_6d
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_task_posture(self):
+        try:
+            import dynamic_graph.sot.core.meta_task_posture
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_task_visual_point(self):
+        try:
+            import dynamic_graph.sot.core.meta_task_visual_point
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_tasks_kine_relative(self):
+        try:
+            import dynamic_graph.sot.core.meta_tasks_kine_relative
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_tasks_kine(self):
+        try:
+            import dynamic_graph.sot.core.meta_tasks_kine
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_meta_tasks(self):
+        try:
+            import dynamic_graph.sot.core.meta_tasks
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_attime(self):
+        try:
+            import dynamic_graph.sot.core.utils.attime
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    def test_history(self):
+        try:
+            import dynamic_graph.sot.core.utils.history
+        except ImportError as ie:
+            self.fail(str(ie))
+
+    @unittest.skip("Fail on 'import dynamic_graph.matlab'")
+    def test_thread_interruptible_loop(self):
+        try:
+            import dynamic_graph.sot.core.utils.thread_interruptible_loop
+        except ImportError as ie:
+            self.fail(str(ie))
+
+
+    def test_viewer_helper(self):
+        try:
+            import dynamic_graph.sot.core.utils.viewer_helper
+        except ImportError as ie:
+            self.fail(str(ie))
+
+
+    def test_viewer_loger(self):
+        try:
+            import dynamic_graph.sot.core.utils.viewer_loger
+        except ImportError as ie:
+            self.fail(str(ie))
+if __name__ == '__main__':
+    unittest.main()