Implement the test for pybind11 type_caster

bindings/pybind11/CMakeLists.txt

@@ -44,7 +44,7 @@ set_target_properties(pybind11_idyntree PROPERTIES
 
 # if compile tests execute also python tests
 if(IDYNTREE_COMPILE_TESTS)
-    add_subdirectory(tests)
+    add_subdirectory(tests idyntree_pybind11_test)
 endif()
 
 # Output package is:

bindings/pybind11/tests/CMakeLists.txt

@@ -1,3 +1,13 @@
+pybind11_add_module(test_idyntree_vector_casters test_idyntree_vector_casters.cpp)
+target_link_libraries(test_idyntree_vector_casters PUBLIC idyntree-pybind11)
+
+# The generated Python dynamic module must have the same name as the pybind11
+# module, i.e. `bindings`.
+set_target_properties (test_idyntree_vector_casters PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  OUTPUT_NAME "vector_casters"
+)
+
 add_test (NAME pybind11_idyntree_test
   COMMAND ${Python3_EXECUTABLE} -m unittest discover -s ${CMAKE_CURRENT_SOURCE_DIR}
   WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/bindings/pybind11

bindings/pybind11/tests/test_idyntree_vector_casters.cpp

@@ -0,0 +1,61 @@
+#include <pybind11/pybind11.h>
+#include <iDynTree/pybind11/VectorCasters.h>
+
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/Core/MatrixDynSize.h>
+#include <iDynTree/Core/MatrixFixSize.h>
+
+
+class TestClass
+{
+    iDynTree::VectorDynSize vectorDyn;
+    iDynTree::VectorFixSize<3> vectorFix;
+    iDynTree::MatrixDynSize matrixDyn;
+    iDynTree::MatrixFixSize<4,5> matrixFix;
+
+public:
+
+    void setVectorDyn(const iDynTree::VectorDynSize& vector) {
+        vectorDyn = vector;
+    }
+
+    const iDynTree::VectorDynSize& getVectorDyn() const {
+        return vectorDyn;
+    }
+
+    void setMatrixDyn(const iDynTree::MatrixDynSize& matrix) {
+        matrixDyn = matrix;
+    }
+
+    const iDynTree::MatrixDynSize& getMatrixDyn() const {
+        return matrixDyn;
+    }
+
+    void setVectorFix(const iDynTree::VectorFixSize<3>& vector) {
+        vectorFix = vector;
+    }
+
+    const iDynTree::VectorFixSize<3>& getVectorFix() const {
+        return vectorFix;
+    }
+
+    void setMatrixFix(const iDynTree::MatrixFixSize<4,5>& matrix) {
+        matrixFix = matrix;
+    }
+
+    const iDynTree::MatrixFixSize<4,5>& getMatrixFix() const {
+        return matrixFix;
+    }
+};
+
+
+namespace py = ::pybind11;
+PYBIND11_MODULE(vector_casters, m) {
+  py::class_<TestClass>(m, "TestClass")
+    .def(py::init())
+    .def_property("vector_dyn", &TestClass::getVectorDyn, &TestClass::setVectorDyn)
+    .def_property("vector_fix", &TestClass::getVectorFix, &TestClass::setVectorFix)
+    .def_property("matrix_dyn", &TestClass::getMatrixDyn, &TestClass::setMatrixDyn)
+    .def_property("matrix_fix", &TestClass::getMatrixFix, &TestClass::setMatrixFix);
+}

bindings/pybind11/tests/test_idyntree_vector_casters.py

@@ -0,0 +1,44 @@
+"""Tests for idyntree-vector-casters."""
+import unittest
+
+from idyntree_pybind11_test.vector_casters import TestClass
+import numpy as np
+
+
+class TestClassTest(unittest.TestCase):
+
+  def test_vector_fix(self):
+    obj = TestClass()
+    vector = [1., 2., 3.]
+    obj.vector_fix = vector
+    self.assertEqual(len(obj.vector_fix), 3)
+    self.assertEqual(list(obj.vector_fix), list(vector))
+
+  def test_vector_dyn(self):
+    obj = TestClass()
+    vector = [1., 2., 3., 5., 6., 7.]
+    obj.vector_dyn = vector
+    self.assertEqual(len(obj.vector_dyn), len(vector))
+    self.assertEqual(list(obj.vector_dyn), list(vector))
+
+  def test_matrix_fix(self):
+    obj = TestClass()
+    matrix = np.random.rand(4, 5)
+    obj.matrix_fix = matrix
+    self.assertEqual(obj.matrix_fix.shape, matrix.shape)
+    for i in range(4):
+      for j in range(3):
+        self.assertEqual(obj.matrix_fix[i,j], matrix[i,j])
+
+  def test_matrix_dyn(self):
+    obj = TestClass()
+    matrix = np.random.rand(10, 10)
+    obj.matrix_dyn = matrix
+    self.assertEqual(obj.matrix_dyn.shape, matrix.shape)
+    for i in range(10):
+      for j in range(10):
+        self.assertEqual(obj.matrix_dyn[i,j], matrix[i,j])
+
+if __name__ == "__main__":
+  unittest.main()
+