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Add a few more template arguments

release/4.3a0
Frank 2016-01-27 14:15:50 -08:00
parent fa97e5d220
commit 02e2b37b08
3 changed files with 25 additions and 19 deletions
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5
python/handwritten/nonlinear/Values.cpp
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@ -26,6 +26,7 @@
#include "gtsam/geometry/Point3.h" #include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Rot3.h" #include "gtsam/geometry/Rot3.h"
#include "gtsam/geometry/Pose3.h" #include "gtsam/geometry/Pose3.h"
#include "gtsam/navigation/ImuBias.h"
using namespace boost::python; using namespace boost::python;
using namespace gtsam; using namespace gtsam;
@ -88,6 +89,8 @@ void exportValues(){
void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert; void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert;
void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert; void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert;
void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert; void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert;
void (Values::*insert_bias) (Key, const gtsam::imuBias::ConstantBias&) = &Values::insert;
void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &Values::insert;
class_<Values>("Values", init<>()) class_<Values>("Values", init<>())
@ -110,6 +113,8 @@ void exportValues(){
.def("insert", insert_point3) .def("insert", insert_point3)
.def("insert", insert_rot3) .def("insert", insert_rot3)
.def("insert", insert_pose3) .def("insert", insert_pose3)
.def("insert", insert_bias)
.def("insert", insert_vector3)
// NOTE: The following commented lines are another way of specializing the return type. // NOTE: The following commented lines are another way of specializing the return type.
// See long comment above. // See long comment above.
// .def("at", &ValuesAt<Point3>, return_internal_reference<>()) // .def("at", &ValuesAt<Point3>, return_internal_reference<>())

14
python/handwritten/slam/BetweenFactor.cpp
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@ -33,17 +33,17 @@ using namespace gtsam;
using namespace std; using namespace std;
// template<class VALUE> // template<class T>
// void exportBetweenFactor(const std::string& name){ // void exportBetweenFactor(const std::string& name){
// class_<VALUE>(name, init<>()) // class_<T>(name, init<>())
// .def(init<Key, Key, VALUE, SharedNoiseModel>()) // .def(init<Key, Key, T, SharedNoiseModel>())
// ; // ;
// } // }
#define BETWEENFACTOR(VALUE) \ #define BETWEENFACTOR(T) \
class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \ class_< BetweenFactor<T>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<T> > >("BetweenFactor"#T) \
.def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \ .def(init<Key,Key,T,noiseModel::Base::shared_ptr>()) \
.def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \ .def("measured", &BetweenFactor<T>::measured, return_internal_reference<>()) \
; ;
void exportBetweenFactors() void exportBetweenFactors()

1
python/handwritten/slam/PriorFactor.cpp
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@ -54,4 +54,5 @@ void exportPriorFactors()
PRIORFACTOR(Point3) PRIORFACTOR(Point3)
PRIORFACTOR(Rot3) PRIORFACTOR(Rot3)
PRIORFACTOR(Pose3) PRIORFACTOR(Pose3)
PRIORFACTOR(Vector3)
} }