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add operator overloading and fix some TODOs in the wrapper

release/4.3a0
Varun Agrawal 2021-04-02 09:59:29 -04:00
parent a63512dfba
commit 38d867d556
1 changed files with 24 additions and 24 deletions
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48
gtsam/gtsam.i
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@ -266,7 +266,6 @@ class Point2 {
};
// std::vector<gtsam::Point2>
#include <gtsam/geometry/Point2.h>
class Point2Vector
{
// Constructors
@ -309,7 +308,10 @@ class StereoPoint2 {
gtsam::StereoPoint2 between(const gtsam::StereoPoint2& p2) const;
// Operator Overloads
gtsam::StereoPoint2 operator*(const gtsam::StereoPoint2& p2) const;
gtsam::StereoPoint2 operator-() const;
// gtsam::StereoPoint2 operator+(Vector b) const; //TODO Mixed types not yet supported
gtsam::StereoPoint2 operator+(const gtsam::StereoPoint2& p2) const;
gtsam::StereoPoint2 operator-(const gtsam::StereoPoint2& p2) const;
// Manifold
gtsam::StereoPoint2 retract(Vector v) const;
@ -359,7 +361,6 @@ class Point3 {
void pickle() const;
};
#include <gtsam/geometry/Point3.h>
class Point3Pairs {
Point3Pairs();
size_t size() const;
@ -555,7 +556,7 @@ class Rot3 {
// Group
static gtsam::Rot3 identity();
gtsam::Rot3 inverse() const;
gtsam::Rot3 inverse() const;
gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
gtsam::Rot3 between(const gtsam::Rot3& p2) const;
@ -616,7 +617,7 @@ class Pose2 {
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
// Operator Overloads
// Operator Overloads
gtsam::Pose2 operator*(const gtsam::Pose2& p2) const;
// Manifold
@ -719,7 +720,6 @@ class Pose3 {
void pickle() const;
};
#include <gtsam/geometry/Pose3.h>
class Pose3Pairs {
Pose3Pairs();
size_t size() const;
@ -728,8 +728,6 @@ class Pose3Pairs {
void push_back(const gtsam::Pose3Pair& pose_pair);
};
// std::vector<gtsam::Pose3>
#include <gtsam/geometry/Pose3.h>
class Pose3Vector
{
Pose3Vector();
@ -1000,7 +998,9 @@ class CalibratedCamera {
// Standard Interface
gtsam::Pose3 pose() const;
double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods
double range(const gtsam::Point3& point) const;
double range(const gtsam::Pose3& pose) const;
double range(const gtsam::CalibratedCamera& camera) const;
// enabling serialization functionality
void serialize() const;
@ -1072,7 +1072,6 @@ class Similarity3 {
};
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h>
// Some typedefs for common camera types
@ -1275,9 +1274,9 @@ class SymbolicBayesTree {
};
// class SymbolicBayesTreeClique {
// BayesTreeClique();
// BayesTreeClique(CONDITIONAL* conditional);
// // BayesTreeClique(const pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
// SymbolicBayesTreeClique();
// SymbolicBayesTreeClique(CONDITIONAL* conditional);
// SymbolicBayesTreeClique(const pair<typename ConditionalType::shared_ptr, typename ConditionalType::FactorType::shared_ptr>& result) : Base(result) {}
//
// bool equals(const This& other, double tol) const;
// void print(string s) const;
@ -1288,13 +1287,13 @@ class SymbolicBayesTree {
// CONDITIONAL* conditional() const;
// bool isRoot() const;
// size_t treeSize() const;
// // const std::list<derived_ptr>& children() const { return children_; }
// // derived_ptr parent() const { return parent_.lock(); }
// const std::list<derived_ptr>& children() const { return children_; }
// derived_ptr parent() const { return parent_.lock(); }
//
// // TODO: need wrapped versions graphs, BayesNet
// // BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
// // FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
// // FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
// BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
// FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
//
// void deleteCachedShortcuts();
// };
@ -2758,7 +2757,7 @@ virtual class SmartProjectionPoseFactor: gtsam::NonlinearFactor {
void add(const gtsam::Point2& measured_i, size_t poseKey_i);
// enabling serialization functionality
//void serialize() const;
void serialize() const;
};
typedef gtsam::SmartProjectionPoseFactor<gtsam::Cal3_S2> SmartProjectionPose3Factor;
@ -3064,7 +3063,7 @@ class ShonanAveraging3 {
ShonanAveraging3(string g2oFile);
ShonanAveraging3(string g2oFile,
const gtsam::ShonanAveragingParameters3 &parameters);
// TODO(frank): deprecate once we land pybind wrapper
ShonanAveraging3(const gtsam::BetweenFactorPose3s &factors);
ShonanAveraging3(const gtsam::BetweenFactorPose3s &factors,
@ -3157,7 +3156,9 @@ class ConstantBias {
gtsam::imuBias::ConstantBias between(const gtsam::imuBias::ConstantBias& b) const;
// Operator Overloads
gtsam::imuBias::ConstantBias operator*(const gtsam::imuBias::ConstantBias& b) const;
gtsam::imuBias::ConstantBias operator-() const;
gtsam::imuBias::ConstantBias operator+(const gtsam::imuBias::ConstantBias& b) const;
gtsam::imuBias::ConstantBias operator-(const gtsam::imuBias::ConstantBias& b) const;
// Manifold
gtsam::imuBias::ConstantBias retract(Vector v) const;
@ -3209,9 +3210,8 @@ virtual class PreintegratedRotationParams {
Matrix getGyroscopeCovariance() const;
// TODO(frank): allow optional
// boost::optional<Vector> getOmegaCoriolis() const;
// boost::optional<Pose3> getBodyPSensor() const;
boost::optional<Vector> getOmegaCoriolis() const;
boost::optional<gtsam::Pose3> getBodyPSensor() const;
};
#include <gtsam/navigation/PreintegrationParams.h>