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Split into two units

release/4.3a0
Frank 2016-01-27 13:16:52 -08:00
parent 1ba304a2e3
commit 3bb34679be
4 changed files with 73 additions and 37 deletions
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1
gtsam/navigation/PreintegrationBase.h
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@ -30,7 +30,6 @@
namespace gtsam {
#define ALLOW_DEPRECATED_IN_GTSAM4
#ifdef ALLOW_DEPRECATED_IN_GTSAM4
/// @deprecated
struct PoseVelocityBias {

2
python/handwritten/exportgtsam.cpp
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@ -53,6 +53,7 @@ void exportBetweenFactors();
void exportGenericProjectionFactor();
// navigation
void exportImuFactor();
void exportScenario();
@ -99,5 +100,6 @@ BOOST_PYTHON_MODULE(_libgtsam_python){
exportBetweenFactors();
exportGenericProjectionFactor();
exportImuFactor();
exportScenario();
}

71
python/handwritten/navigation/ImuFactor.cpp Normal file
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@ -0,0 +1,71 @@
/* ----------------------------------------------------------------------------
* 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)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @brief wraps ConstantTwistScenario class to python
* @author Frank Dellaert
**/
#include <boost/python.hpp>
#define NO_IMPORT_ARRAY
#include <numpy_eigen/NumpyEigenConverter.hpp>
#include "gtsam/navigation/ImuFactor.h"
using namespace boost::python;
using namespace gtsam;
void exportImuFactor() {
class_<NavState>("NavState", init<>())
// TODO(frank): overload with jacobians
// .def("attitude", &NavState::attitude)
// .def("position", &NavState::position)
// .def("velocity", &NavState::velocity)
.def(repr(self))
.def("pose", &NavState::pose);
class_<imuBias::ConstantBias>("ConstantBias", init<>())
.def(init<const Vector3&, const Vector3&>())
.def(repr(self));
class_<PreintegrationParams, boost::shared_ptr<PreintegrationParams> >(
"PreintegrationParams", init<const Vector3&>())
.def_readwrite("gyroscopeCovariance",
&PreintegrationParams::gyroscopeCovariance)
.def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis)
.def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor)
.def_readwrite("accelerometerCovariance",
&PreintegrationParams::accelerometerCovariance)
.def_readwrite("integrationCovariance",
&PreintegrationParams::integrationCovariance)
.def_readwrite("use2ndOrderCoriolis",
&PreintegrationParams::use2ndOrderCoriolis)
.def_readwrite("n_gravity", &PreintegrationParams::n_gravity)
.def("MakeSharedD", &PreintegrationParams::MakeSharedD)
.staticmethod("MakeSharedD")
.def("MakeSharedU", &PreintegrationParams::MakeSharedU)
.staticmethod("MakeSharedU");
class_<PreintegratedImuMeasurements>(
"PreintegratedImuMeasurements",
init<const boost::shared_ptr<PreintegrationParams>&,
const imuBias::ConstantBias&>())
.def(repr(self))
.def("resetIntegration", &PreintegratedImuMeasurements::resetIntegration)
.def("integrateMeasurement",
&PreintegratedImuMeasurements::integrateMeasurement)
.def("preintMeasCov", &PreintegratedImuMeasurements::preintMeasCov);
// NOTE(frank): Abstract classes need boost::noncopyable
class_<ImuFactor, boost::noncopyable>("ImuFactor", no_init);
}

36
python/handwritten/navigation/Scenario.cpp
View File

@ -48,42 +48,6 @@ void exportScenario() {
def("ScenarioPointer", &ScenarioPointer,
return_value_policy<reference_existing_object>());
class_<PreintegrationParams, boost::shared_ptr<PreintegrationParams> >(
"PreintegrationParams", init<const Vector3&>())
.def_readwrite("gyroscopeCovariance",
&PreintegrationParams::gyroscopeCovariance)
.def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis)
.def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor)
.def_readwrite("accelerometerCovariance",
&PreintegrationParams::accelerometerCovariance)
.def_readwrite("integrationCovariance",
&PreintegrationParams::integrationCovariance)
.def_readwrite("use2ndOrderCoriolis",
&PreintegrationParams::use2ndOrderCoriolis)
.def_readwrite("n_gravity", &PreintegrationParams::n_gravity)
.def("MakeSharedD", &PreintegrationParams::MakeSharedD)
.staticmethod("MakeSharedD")
.def("MakeSharedU", &PreintegrationParams::MakeSharedU)
.staticmethod("MakeSharedU");
class_<PreintegratedImuMeasurements>(
"PreintegratedImuMeasurements",
init<const boost::shared_ptr<PreintegrationParams>&,
const imuBias::ConstantBias&>()).def(repr(self));
class_<NavState>("NavState", init<>())
// TODO(frank): overload with jacobians
// .def("attitude", &NavState::attitude)
// .def("position", &NavState::position)
// .def("velocity", &NavState::velocity)
.def(repr(self))
.def("pose", &NavState::pose);
class_<imuBias::ConstantBias>("ConstantBias", init<>())
.def(init<const Vector3&, const Vector3&>())
.def(repr(self));
class_<ScenarioRunner>(
"ScenarioRunner",
init<const Scenario*, const boost::shared_ptr<PreintegrationParams>&,