geometry.cpp

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/*
 * Copyright 2014-2019, CNRS
 * Copyright 2018-2019, INRIA
 */

#include "eigenpy/eigenpy.hpp"
#include "eigenpy/geometry.hpp"
#include <Eigen/Geometry>
#include <iostream>
 
namespace bp = boost::python;

Eigen::AngleAxisd testOutAngleAxis()
{
  return Eigen::AngleAxisd(.1,Eigen::Vector3d::UnitZ());
}

double testInAngleAxis(Eigen::AngleAxisd aa)
{
  return aa.angle();
}

Eigen::Quaterniond testOutQuaternion()
{
  Eigen::Quaterniond res(1,2,3,4);
  return res;
}
double testInQuaternion( Eigen::Quaterniond q )
{
  return q.norm(); 
}

BOOST_PYTHON_MODULE(geometry)
{
  eigenpy::enableEigenPy();

  eigenpy::exposeAngleAxis();
  eigenpy::exposeQuaternion();

  bp::def("testOutAngleAxis",&testOutAngleAxis);
  bp::def("testInAngleAxis",&testInAngleAxis);

  bp::def("testOutQuaternion",&testOutQuaternion);
  bp::def("testInQuaternion",&testInQuaternion);

}