add setup script

cython/requirements.txt

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+numpy>=1.11.1
+eigency>=1.66
+Cython>=0.24.1

cython/setup.py

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+from distutils.core import setup
+from distutils.extension import Extension
+from Cython.Build import cythonize
+import eigency
+
+setup(
+  ext_modules = cythonize(Extension(
+    "gtsam",
+    sources=["gtsam.pyx"],
+    include_dirs = ["/Users/dta-huynh/install/include",
+                    "/Users/dta-huynh/install/include/gtsam/3rdparty/Eigen",
+                    "/usr/local/include"] + eigency.get_includes(include_eigen=False),
+
+    libraries = ['gtsam'],
+    library_dirs = ["/Users/dta-huynh/install/lib"],
+    language="c++")),
+)

cython/test_gtsam.py

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+from gtsam import *
+import numpy as np
+
+r = Rot3()
+print(r)
+print(r.pitch())
+r2 = Rot3()
+r3 = r.compose(r2)
+print("r3 pitch:", r3.pitch())
+
+v = np.array([.1, .1, .1])
+print("v = ", v)
+r4 = r3.retract(v)
+print("r4 pitch:", r4.pitch())
+r4._print(b'r4: ')
+r3._print(b"r3: ")
+
+v = r3.localCoordinates(r4)
+print("localCoordinates:", v)
+
+Rmat = np.array([
+    [0.990074, -0.0942928, 0.104218], 
+    [0.104218,  0.990074, -0.0942928], 
+    [-0.0942928, 0.104218, 0.990074]
+    ])
+r5 = Rot3.ctor(Rmat)
+r5._print(b"r5: ")
+
+l = Rot3.Logmap(r5)
+print("l = ", l)
+
+
+noise = Gaussian.Covariance(Rmat)
+noise._print(b"noise:")
+
+D = np.array([1.,2.,3.])
+diag = Diagonal.Variances(D)
+print("diag:", diag)
+diag._print(b"diag:")
+print("diag R:", diag.R())
+
+p = Point3()
+factor = BetweenFactorPoint3(1,2,p, noise)
+factor._print(b"factor:")
+
+vv = VectorValues()
+vv._print(b"vv:")
+vv.insert(1, np.array([1.,2.,3.]))
+vv.insert(2, np.array([3.,4.]))
+vv.insert(3, np.array([5.,6.,7.,8.]))
+vv._print(b"vv:")
+
+vv2 = VectorValues.ctor2(vv)
+vv2.insert(4, np.array([4.,2.,1]))
+vv2._print(b"vv2:")
+vv._print(b"vv:")
+
+vv.insert(4, np.array([1.,2.,4.]))
+vv._print(b"vv:")
+vv3 = vv.add(vv2)
+
+vv3._print(b"vv3:")
+
+values = Values()
+values.insertPoint3(1, Point3())
+values.insertRot3(2, Rot3())
+values._print(b"values:")