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Merge branch 'develop' into feature/cython_wrapper

release/4.3a0
Frank Dellaert 2017-12-02 18:33:02 -08:00
parent ee176b7669 9f09069b65
commit 0dd7dcdc9f
27 changed files with 142 additions and 181 deletions
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6
LICENSE
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@ -4,11 +4,11 @@ LICENSE.BSD in this directory.
GTSAM contains two third party libraries, with documentation of licensing and
modifications as follows:
- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree
- CCOLAMD 2.9.3: Tim Davis' constrained column approximate minimum degree
ordering library
- Included unmodified in gtsam/3rdparty/CCOLAMD and gtsam/3rdparty/UFconfig
- http://www.cise.ufl.edu/research/sparse
- Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
- http://faculty.cse.tamu.edu/davis/suitesparse.html
- Licenced under BSD-3, provided in gtsam/3rdparty/CCOLAMD/Doc/License.txt
- Eigen 3.2: General C++ matrix and linear algebra library
- Modified with 3 patches that have been contributed back to the Eigen team:
- http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)

16
bitbucket-pipelines.yml Normal file
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@ -0,0 +1,16 @@
# This is a sample build configuration for C++ – Make.
# Check our guides at https://confluence.atlassian.com/x/5Q4SMw for more examples.
# Only use spaces to indent your .yml configuration.
# -----
# You can specify a custom docker image from Docker Hub as your build environment.
image: ilssim/cmake-boost-qt5
pipelines:
default:
- step:
script: # Modify the commands below to build your repository.
- mkdir build
- cd build
- cmake ..
- make
- make check

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gtsam/3rdparty/CCOLAMD/Demo/ccolamd_example vendored
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4
gtsam/3rdparty/CCOLAMD/Demo/ccolamd_example.out vendored
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@ -15,7 +15,7 @@ Column 3, with 2 entries:
row 1
row 3
ccolamd version 2.9, Apr 1, 2016: OK.
ccolamd version 2.9, May 4, 2016: OK.
ccolamd: number of dense or empty rows ignored: 0
ccolamd: number of dense or empty columns ignored: 0
ccolamd: number of garbage collections performed: 0
@ -38,7 +38,7 @@ Column 3, with 1 entries:
row 4
Column 4, with 0 entries:
csymamd version 2.9, Apr 1, 2016: OK.
csymamd version 2.9, May 4, 2016: OK.
csymamd: number of dense or empty rows ignored: 0
csymamd: number of dense or empty columns ignored: 0
csymamd: number of garbage collections performed: 0

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gtsam/3rdparty/CCOLAMD/Demo/ccolamd_l_example vendored
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4
gtsam/3rdparty/CCOLAMD/Demo/ccolamd_l_example.out vendored
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@ -15,7 +15,7 @@ Column 3, with 2 entries:
row 1
row 3
ccolamd version 2.9, Apr 1, 2016: OK.
ccolamd version 2.9, May 4, 2016: OK.
ccolamd: number of dense or empty rows ignored: 0
ccolamd: number of dense or empty columns ignored: 0
ccolamd: number of garbage collections performed: 0
@ -38,7 +38,7 @@ Column 3, with 1 entries:
row 4
Column 4, with 0 entries:
csymamd version 2.9, Apr 1, 2016: OK.
csymamd version 2.9, May 4, 2016: OK.
csymamd: number of dense or empty rows ignored: 0
csymamd: number of dense or empty columns ignored: 0
csymamd: number of garbage collections performed: 0

50
gtsam/3rdparty/CCOLAMD/Demo/my_ccolamd_example.out vendored
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@ -1,50 +0,0 @@
ccolamd 5-by-4 input matrix:
Column 0, with 3 entries:
row 0
row 1
row 4
Column 1, with 2 entries:
row 2
row 4
Column 2, with 4 entries:
row 0
row 1
row 2
row 3
Column 3, with 2 entries:
row 1
row 3
ccolamd version 2.7, Jan 25, 2011: OK.
ccolamd: number of dense or empty rows ignored: 0
ccolamd: number of dense or empty columns ignored: 0
ccolamd: number of garbage collections performed: 0
ccolamd column ordering:
1st column: 1
2nd column: 0
3rd column: 3
4th column: 2
csymamd 5-by-5 input matrix:
Entries in strictly lower triangular part:
Column 0, with 1 entries:
row 1
Column 1, with 2 entries:
row 2
row 3
Column 2, with 0 entries:
Column 3, with 1 entries:
row 4
Column 4, with 0 entries:
csymamd version 2.7, Jan 25, 2011: OK.
csymamd: number of dense or empty rows ignored: 0
csymamd: number of dense or empty columns ignored: 0
csymamd: number of garbage collections performed: 0
csymamd column ordering:
1st row/column: 0
2nd row/column: 2
3rd row/column: 1
4th row/column: 3
5th row/column: 4

50
gtsam/3rdparty/CCOLAMD/Demo/my_ccolamd_l_example.out vendored
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@ -1,50 +0,0 @@
ccolamd 5-by-4 input matrix:
Column 0, with 3 entries:
row 0
row 1
row 4
Column 1, with 2 entries:
row 2
row 4
Column 2, with 4 entries:
row 0
row 1
row 2
row 3
Column 3, with 2 entries:
row 1
row 3
ccolamd version 2.7, Jan 25, 2011: OK.
ccolamd: number of dense or empty rows ignored: 0
ccolamd: number of dense or empty columns ignored: 0
ccolamd: number of garbage collections performed: 0
ccolamd_l column ordering:
1st column: 1
2nd column: 0
3rd column: 3
4th column: 2
csymamd_l 5-by-5 input matrix:
Entries in strictly lower triangular part:
Column 0, with 1 entries:
row 1
Column 1, with 2 entries:
row 2
row 3
Column 2, with 0 entries:
Column 3, with 1 entries:
row 4
Column 4, with 0 entries:
csymamd version 2.7, Jan 25, 2011: OK.
csymamd: number of dense or empty rows ignored: 0
csymamd: number of dense or empty columns ignored: 0
csymamd: number of garbage collections performed: 0
csymamd_l column ordering:
1st row/column: 0
2nd row/column: 2
3rd row/column: 1
4th row/column: 3
5th row/column: 4

4
gtsam/3rdparty/CCOLAMD/Doc/ChangeLog vendored
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@ -1,3 +1,7 @@
May 4, 2016: version 2.9.6
* minor changes to Makefile
Apr 1, 2016: version 2.9.5
* licensing simplified (no other change); refer to CCOLAMD/Doc/License.txt

34
gtsam/3rdparty/CCOLAMD/Doc/License.txt vendored
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@ -6,16 +6,28 @@ http://www.suitesparse.com
--------------------------------------------------------------------------------
CCOLAMD is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
CCOLAMD license: BSD 3-clause:
CCOLAMD is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the organizations to which the authors are
affiliated, nor the names of its contributors may be used to endorse
or promote products derived from this software without specific prior
written permission.
You should have received a copy of the GNU Lesser General Public
License along with this Module; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
DAMAGE.

4
gtsam/3rdparty/CCOLAMD/Include/ccolamd.h vendored
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@ -41,11 +41,11 @@ extern "C" {
* #endif
*/
#define CCOLAMD_DATE "Apr 1, 2016"
#define CCOLAMD_DATE "May 4, 2016"
#define CCOLAMD_VERSION_CODE(main,sub) ((main) * 1000 + (sub))
#define CCOLAMD_MAIN_VERSION 2
#define CCOLAMD_SUB_VERSION 9
#define CCOLAMD_SUBSUB_VERSION 5
#define CCOLAMD_SUBSUB_VERSION 6
#define CCOLAMD_VERSION \
CCOLAMD_VERSION_CODE(CCOLAMD_MAIN_VERSION,CCOLAMD_SUB_VERSION)

4
gtsam/3rdparty/CCOLAMD/Lib/Makefile vendored
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@ -3,7 +3,7 @@
#-------------------------------------------------------------------------------
LIBRARY = libccolamd
VERSION = 2.9.5
VERSION = 2.9.6
SO_VERSION = 2
default: library
@ -32,6 +32,8 @@ ccolamd_l.o: $(SRC) $(INC)
$(CC) $(CF) $(I) -c ../Source/ccolamd.c -DDLONG -o ccolamd_l.o
# creates libccolamd.a, a C-callable CCOLAMD library
static: $(AR_TARGET)
$(AR_TARGET): $(OBJ)
$(ARCHIVE) $@ $^
- $(RANLIB) $@

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gtsam/3rdparty/CCOLAMD/Lib/libccolamd.a vendored
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4
gtsam/3rdparty/CCOLAMD/Makefile vendored
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@ -20,6 +20,10 @@ all:
library:
( cd Lib ; $(MAKE) )
# compile the static libraries only
static:
( cd Lib ; $(MAKE) static )
# remove object files, but keep the compiled programs and library archives
clean:
( cd Lib ; $(MAKE) clean )

28
gtsam/3rdparty/CCOLAMD/Source/ccolamd_global.c vendored
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@ -1,28 +0,0 @@
/* ========================================================================== */
/* === ccolamd_global.c ===================================================== */
/* ========================================================================== */
/* ----------------------------------------------------------------------------
* CCOLAMD Copyright (C), Univ. of Florida. Authors: Timothy A. Davis,
* Sivasankaran Rajamanickam, and Stefan Larimore
* See License.txt for the Version 2.1 of the GNU Lesser General Public License
* http://www.cise.ufl.edu/research/sparse
* -------------------------------------------------------------------------- */
/* Global variables for CCOLAMD */
#ifndef NPRINT
#ifdef MATLAB_MEX_FILE
#include <stdlib.h>
#include <stdint.h>
typedef uint16_t char16_t;
#include "mex.h"
int (*ccolamd_printf) (const char *, ...) = mexPrintf ;
#else
#include <stdio.h>
int (*ccolamd_printf) (const char *, ...) = printf ;
#endif
#else
int (*ccolamd_printf) (const char *, ...) = ((void *) 0) ;
#endif

4
gtsam/3rdparty/SuiteSparse_config/Makefile vendored
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@ -7,7 +7,7 @@ export SUITESPARSE
# version of SuiteSparse_config is also version of SuiteSparse meta-package
LIBRARY = libsuitesparseconfig
VERSION = 4.5.2
VERSION = 4.5.6
SO_VERSION = 4
default: library
@ -27,6 +27,8 @@ OBJ = SuiteSparse_config.o
SuiteSparse_config.o: SuiteSparse_config.c SuiteSparse_config.h
$(CC) $(CF) -c SuiteSparse_config.c
static: $(AR_TARGET)
$(AR_TARGET): $(OBJ)
$(ARCHIVE) $(AR_TARGET) SuiteSparse_config.o
$(RANLIB) $(AR_TARGET)

2
gtsam/3rdparty/SuiteSparse_config/README.txt vendored
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@ -1,4 +1,4 @@
SuiteSparse_config, 2016, Timothy A. Davis, http://www.suitesparse.com
SuiteSparse_config, 2017, Timothy A. Davis, http://www.suitesparse.com
(formerly the UFconfig package)
This directory contains a default SuiteSparse_config.mk file. It tries to

39
gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.h vendored
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@ -184,24 +184,24 @@ int SuiteSparse_divcomplex
*
* SuiteSparse contains the following packages:
*
* SuiteSparse_config version 4.5.2 (version always the same as SuiteSparse)
* AMD version 2.4.5
* BTF version 1.2.5
* CAMD version 2.4.5
* CCOLAMD version 2.9.5
* CHOLMOD version 3.0.10
* COLAMD version 2.9.5
* CSparse version 3.1.8
* CXSparse version 3.1.8
* GPUQREngine version 1.0.4
* KLU version 1.3.7
* LDL version 2.2.5
* RBio version 2.2.5
* SPQR version 2.0.6
* SuiteSparse_GPURuntime version 1.0.4
* UMFPACK version 5.7.5
* SuiteSparse_config version 4.5.6 (version always the same as SuiteSparse)
* AMD version 2.4.6
* BTF version 1.2.6
* CAMD version 2.4.6
* CCOLAMD version 2.9.6
* CHOLMOD version 3.0.11
* COLAMD version 2.9.6
* CSparse version 3.1.9
* CXSparse version 3.1.9
* GPUQREngine version 1.0.5
* KLU version 1.3.8
* LDL version 2.2.6
* RBio version 2.2.6
* SPQR version 2.0.8
* SuiteSparse_GPURuntime version 1.0.5
* UMFPACK version 5.7.6
* MATLAB_Tools various packages & M-files
* xerbla version 1.0.2
* xerbla version 1.0.3
*
* Other package dependencies:
* BLAS required by CHOLMOD and UMFPACK
@ -211,7 +211,6 @@ int SuiteSparse_divcomplex
* they are compiled with GPU acceleration.
*/
int SuiteSparse_version /* returns SUITESPARSE_VERSION */
(
/* output, not defined on input. Not used if NULL. Returns
@ -234,11 +233,11 @@ int SuiteSparse_version /* returns SUITESPARSE_VERSION */
*/
#define SUITESPARSE_HAS_VERSION_FUNCTION
#define SUITESPARSE_DATE "Apr 1, 2016"
#define SUITESPARSE_DATE "Oct 3, 2017"
#define SUITESPARSE_VER_CODE(main,sub) ((main) * 1000 + (sub))
#define SUITESPARSE_MAIN_VERSION 4
#define SUITESPARSE_SUB_VERSION 5
#define SUITESPARSE_SUBSUB_VERSION 2
#define SUITESPARSE_SUBSUB_VERSION 6
#define SUITESPARSE_VERSION \
SUITESPARSE_VER_CODE(SUITESPARSE_MAIN_VERSION,SUITESPARSE_SUB_VERSION)

9
gtsam/3rdparty/SuiteSparse_config/SuiteSparse_config.mk vendored
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@ -5,7 +5,7 @@
# This file contains all configuration settings for all packages in SuiteSparse,
# except for CSparse (which is stand-alone) and the packages in MATLAB_Tools.
SUITESPARSE_VERSION = 4.5.2
SUITESPARSE_VERSION = 4.5.6
#===============================================================================
# Options you can change without editing this file:
@ -115,6 +115,7 @@ SUITESPARSE_VERSION = 4.5.2
CC = icc -D_GNU_SOURCE
CXX = $(CC)
CFOPENMP = -qopenmp -I$(MKLROOT)/include
LDFLAGS += -openmp
endif
ifneq ($(shell which ifort 2>/dev/null),)
# use the Intel ifort compiler for Fortran codes
@ -123,7 +124,7 @@ SUITESPARSE_VERSION = 4.5.2
endif
#---------------------------------------------------------------------------
# code formatting (for Tcov only)
# code formatting (for Tcov on Linux only)
#---------------------------------------------------------------------------
PRETTY ?= grep -v "^\#" | indent -bl -nce -bli0 -i4 -sob -l120
@ -224,7 +225,6 @@ SUITESPARSE_VERSION = 4.5.2
CUDA_INC = -I$(CUDA_INC_PATH)
NVCC = $(CUDA_PATH)/bin/nvcc
NVCCFLAGS = -Xcompiler -fPIC -O3 \
-gencode=arch=compute_20,code=sm_20 \
-gencode=arch=compute_30,code=sm_30 \
-gencode=arch=compute_35,code=sm_35 \
-gencode=arch=compute_50,code=sm_50 \
@ -305,8 +305,9 @@ SUITESPARSE_VERSION = 4.5.2
SPQR_CONFIG ?= $(GPU_CONFIG)
# to compile with Intel's TBB, use TBB=-ltbb SPQR_CONFIG=-DHAVE_TBB
# to compile with Intel's TBB, use TBB=-ltbb -DSPQR_CONFIG=-DHAVE_TBB
TBB ?=
# TBB = -ltbb -DSPQR_CONFIG=-DHAVE_TBB
# TODO: this *mk file should auto-detect the presence of Intel's TBB,
# and set the compiler flags accordingly.

4
gtsam/3rdparty/SuiteSparse_config/xerbla/Makefile vendored
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@ -4,7 +4,7 @@
USE_FORTRAN = 0
# USE_FORTRAN = 1
VERSION = 1.0.2
VERSION = 1.0.3
SO_VERSION = 1
default: library
@ -35,6 +35,8 @@ ccode: all
fortran: all
static: $(AR_TARGET)
$(AR_TARGET): $(DEPENDS)
$(COMPILE)
$(ARCHIVE) $(AR_TARGET) xerbla.o

3
gtsam/CMakeLists.txt
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@ -25,7 +25,6 @@ add_subdirectory(3rdparty)
set (3rdparty_srcs
${eigen_headers} # Set by 3rdparty/CMakeLists.txt
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config/SuiteSparse_config.c)
gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure
@ -138,7 +137,7 @@ endif()
# make sure that ccolamd compiles even in face of warnings
if(WIN32)
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "/w")
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w")
else()
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error")
endif()

2
gtsam/base/GenericValue.h
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@ -190,7 +190,7 @@ public:
}
/// use this macro instead of BOOST_CLASS_EXPORT for GenericValues
#define GTSAM_VALUE_EXPORT(Type) BOOST_CLASS_EXPORT(GenericValue<Type>)
#define GTSAM_VALUE_EXPORT(Type) BOOST_CLASS_EXPORT(gtsam::GenericValue<Type>)
};

10
gtsam/geometry/Pose3.cpp
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@ -378,6 +378,16 @@ Unit3 Pose3::bearing(const Point3& point, OptionalJacobian<2, 6> H1,
}
}
/* ************************************************************************* */
Unit3 Pose3::bearing(const Pose3& pose, OptionalJacobian<2, 6> H1,
OptionalJacobian<2, 6> H2) const {
if (H2) {
H2->setZero();
return bearing(pose.translation(), H1, H2.cols<3>(3));
}
return bearing(pose.translation(), H1, boost::none);
}
/* ************************************************************************* */
boost::optional<Pose3> Pose3::Align(const std::vector<Point3Pair>& abPointPairs) {
const size_t n = abPointPairs.size();

12
gtsam/geometry/Pose3.h
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@ -282,6 +282,15 @@ public:
Unit3 bearing(const Point3& point, OptionalJacobian<2, 6> H1 = boost::none,
OptionalJacobian<2, 3> H2 = boost::none) const;
/**
* Calculate bearing to another pose
* @param other 3D location and orientation of other body. The orientation
* information is ignored.
* @return bearing (Unit3)
*/
Unit3 bearing(const Pose3& pose, OptionalJacobian<2, 6> H1 = boost::none,
OptionalJacobian<2, 6> H2 = boost::none) const;
/// @}
/// @name Advanced Interface
/// @{
@ -353,6 +362,9 @@ struct traits<const Pose3> : public internal::LieGroup<Pose3> {};
template <>
struct Bearing<Pose3, Point3> : HasBearing<Pose3, Point3, Unit3> {};
template<>
struct Bearing<Pose3, Pose3> : HasBearing<Pose3, Pose3, Unit3> {};
template <typename T>
struct Range<Pose3, T> : HasRange<Pose3, T, double> {};

21
gtsam/geometry/tests/testPose3.cpp
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@ -708,6 +708,27 @@ TEST(Pose3, Bearing2) {
EXPECT(assert_equal(expectedH2, actualH2));
}
TEST(Pose3, PoseToPoseBearing) {
Matrix expectedH1, actualH1, expectedH2, actualH2, H2block;
EXPECT(assert_equal(Unit3(0,1,0), xl1.bearing(xl2, actualH1, actualH2), 1e-9));
// Check numerical derivatives
expectedH1 = numericalDerivative21(bearing_proxy, xl1, l2);
// Since the second pose is treated as a point, the value calculated by
// numericalDerivative22 only depends on the position of the pose. Here, we
// calculate the Jacobian w.r.t. the second pose's position, and then augment
// that with zeroes in the block that is w.r.t. the second pose's
// orientation.
H2block = numericalDerivative22(bearing_proxy, xl1, l2);
expectedH2 = Matrix(2, 6);
expectedH2.setZero();
expectedH2.block<2, 3>(0, 3) = H2block;
EXPECT(assert_equal(expectedH1, actualH1));
EXPECT(assert_equal(expectedH2, actualH2));
}
/* ************************************************************************* */
TEST( Pose3, unicycle )
{

2
gtsam/navigation/PreintegratedRotation.h
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@ -35,6 +35,8 @@ struct PreintegratedRotationParams {
PreintegratedRotationParams() : gyroscopeCovariance(I_3x3) {}
virtual ~PreintegratedRotationParams() {}
virtual void print(const std::string& s) const;
virtual bool equals(const PreintegratedRotationParams& other, double tol=1e-9) const;

7
python/handwritten/geometry/Pose3.cpp
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@ -53,6 +53,9 @@ void exportPose3(){
// function pointers to desambiguate range() calls
double (Pose3::*range1)(const Point3 &, OptionalJacobian<1,6>, OptionalJacobian<1,3>) const = &Pose3::range;
double (Pose3::*range2)(const Pose3 &, OptionalJacobian<1,6>, OptionalJacobian<1,6>) const = &Pose3::range;
// function pointers to desambiguate bearing() calls
Unit3 (Pose3::*bearing1)(const Point3 &, OptionalJacobian<2,6>, OptionalJacobian<2,3>) const = &Pose3::bearing;
Unit3 (Pose3::*bearing2)(const Pose3 &, OptionalJacobian<2,6>, OptionalJacobian<2,6>) const = &Pose3::bearing;
class_<Pose3>("Pose3")
.def(init<>())
@ -65,7 +68,6 @@ void exportPose3(){
.def("equals", &Pose3::equals, equals_overloads(args("pose", "tol")))
.def("identity", &Pose3::identity)
.staticmethod("identity")
.def("bearing", &Pose3::bearing)
.def("matrix", &Pose3::matrix)
.def("transform_from", &Pose3::transform_from,
transform_from_overloads(args("point", "H1", "H2")))
@ -88,5 +90,6 @@ void exportPose3(){
.def("between", between2, between_overloads())
.def("range", range1, range_overloads())
.def("range", range2, range_overloads())
.def("bearing", &Pose3::bearing, bearing_overloads());
.def("bearing", bearing1, bearing_overloads())
.def("bearing", bearing2, bearing_overloads());
}