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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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19
python/handwritten/nonlinear/Values.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -26,6 +26,7 @@
#include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Rot3.h"
#include "gtsam/geometry/Pose3.h"
#include "gtsam/navigation/ImuBias.h"
using namespace boost::python;
using namespace gtsam;
@ -44,15 +45,15 @@ using namespace gtsam;
* >>> v.at(2,gtsam.geometry.Rot3())
* >>> v.at(3,gtsam.geometry.Pose3())
*
* A more 'pythonic' way I think would be to not use this function and define different
* A more 'pythonic' way I think would be to not use this function and define different
* 'at' methods below using the name of the type in the function name, like:
*
* .def("point3_at", &Values::at<Point3>, return_internal_reference<>())
* .def("rot3_at", &Values::at<Rot3>, return_internal_reference<>())
* .def("pose3_at", &Values::at<Pose3>, return_internal_reference<>())
*
* and then they could be accessed from python as
*
* and then they could be accessed from python as
*
* >>> import gtsam
* >>> v = gtsam.nonlinear.Values()
* >>> v.insert(1,gtsam.geometry.Point3())
@ -76,8 +77,8 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1);
void exportValues(){
// NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below
// will compile, but are useless in the python wrapper. We need to use specific
// NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below
// will compile, but are useless in the python wrapper. We need to use specific
// 'at' and 'insert' methods for each type.
// const Value& (Values::*at1)(Key) const = &Values::at;
// void (Values::*insert1)(Key, const Value&) = &Values::insert;
@ -88,6 +89,8 @@ void exportValues(){
void (Values::*insert_point3)(Key, const gtsam::Point3&) = &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_bias) (Key, const gtsam::imuBias::ConstantBias&) = &Values::insert;
void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &Values::insert;
class_<Values>("Values", init<>())
@ -110,6 +113,8 @@ void exportValues(){
.def("insert", insert_point3)
.def("insert", insert_rot3)
.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.
// See long comment above.
// .def("at", &ValuesAt<Point3>, return_internal_reference<>())
@ -117,7 +122,7 @@ void exportValues(){
// .def("at", &ValuesAt<Pose3>, return_internal_reference<>())
.def("point3_at", &Values::at<Point3>, return_value_policy<copy_const_reference>())
.def("rot3_at", &Values::at<Rot3>, return_value_policy<copy_const_reference>())
.def("pose3_at", &Values::at<Pose3>, return_value_policy<copy_const_reference>())
.def("pose3_at", &Values::at<Pose3>, return_value_policy<copy_const_reference>())
.def("exists", exists1)
.def("keys", &Values::keys)
;

18
python/handwritten/slam/BetweenFactor.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -11,7 +11,7 @@
/**
* @brief wraps BetweenFactor for several values to python
* @author Andrew Melim
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
@ -33,17 +33,17 @@ using namespace gtsam;
using namespace std;
// template<class VALUE>
// template<class T>
// void exportBetweenFactor(const std::string& name){
// class_<VALUE>(name, init<>())
// .def(init<Key, Key, VALUE, SharedNoiseModel>())
// class_<T>(name, init<>())
// .def(init<Key, Key, T, SharedNoiseModel>())
// ;
// }
#define BETWEENFACTOR(VALUE) \
class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \
.def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \
.def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \
#define BETWEENFACTOR(T) \
class_< BetweenFactor<T>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<T> > >("BetweenFactor"#T) \
.def(init<Key,Key,T,noiseModel::Base::shared_ptr>()) \
.def("measured", &BetweenFactor<T>::measured, return_internal_reference<>()) \
;
void exportBetweenFactors()

7
python/handwritten/slam/PriorFactor.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -11,7 +11,7 @@
/**
* @brief wraps PriorFactor for several values to python
* @author Andrew Melim
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
@ -54,4 +54,5 @@ void exportPriorFactors()
PRIORFACTOR(Point3)
PRIORFACTOR(Rot3)
PRIORFACTOR(Pose3)
}
PRIORFACTOR(Vector3)
}