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Finally fixed templates, moved into single library for simplicity, add noisemodels, nonlinear

release/4.3a0
Andrew Melim 2013-11-20 02:30:44 +00:00 committed by Ellon Mendes
parent d0efbadac8
commit 414e6b58f9
11 changed files with 135 additions and 45 deletions
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6
python/CMakeLists.txt
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@ -18,8 +18,10 @@ file(GLOB slam_src "slam/*.cpp")
file(GLOB symbolic_src "symbolic/*.cpp")
#wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src})
wrap_python("geometry" ${PROJECT_SOURCE_DIR}/python/gtsam ${geometry_src})
wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src})
wrap_python("gtsam" ${PROJECT_SOURCE_DIR}/python/gtsam exportgtsam.cpp
${geometry_src} ${linear_src} ${nonlinear_src} ${slam_src})
#wrap_python("nonlinear" ${PROJECT_SOURCE_DIR}/python/gtsam ${nonlinear_src})
#wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src})
#add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME}
# ${AUTOGEN_TEST_FILES}
#)

63
python/exportgtsam.cpp Normal file
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@ -0,0 +1,63 @@
#include <boost/python.hpp>
#include <boost/cstdint.hpp>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
using namespace boost::python;
using namespace gtsam;
using namespace std;
// Geometery
void exportPoint2();
void exportRot2();
void exportPose2();
// Linear
void exportNoiseModels();
// Nonlinear
void exportValues();
void exportNonlinearFactorGraph();
void exportLevenbergMarquardtOptimizer();
// Slam
template< class FACTOR, class VALUE >
void exportPriorFactor(const std::string& name){
class_< FACTOR >(name.c_str(), init<>())
.def(init< Key, VALUE&, SharedNoiseModel >())
;
}
template<class FACTOR, class VALUE>
void exportBetweenFactor(const std::string& name){
class_<FACTOR>(name.c_str(), init<>())
.def(init<Key, Key, VALUE&, SharedNoiseModel>())
;
}
typedef gtsam::PriorFactor<gtsam::Point2> Point2PriorFactor;
typedef gtsam::PriorFactor<gtsam::Pose2> Pose2PriorFactor;
typedef gtsam::BetweenFactor<gtsam::Pose2> Pose2BetweenFactor;
//-----------------------------------//
BOOST_PYTHON_MODULE(libgtsam){
using namespace boost::python;
exportPoint2();
exportRot2();
exportPose2();
exportNoiseModels();
exportValues();
exportNonlinearFactorGraph();
exportLevenbergMarquardtOptimizer();
exportPriorFactor< Point2PriorFactor, Point2 >("Point2PriorFactor");
exportPriorFactor< Pose2PriorFactor, Pose2 >("Pose2PriorFactor");
exportBetweenFactor< Pose2BetweenFactor, Pose2 >("Pose2BetweenFactor");
}

13
python/geometry/exportGeometry.cpp
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@ -1,13 +0,0 @@
#include <boost/python.hpp>
#include <boost/cstdint.hpp>
void exportPoint2();
void exportRot2();
void exportPose2();
BOOST_PYTHON_MODULE(libgeometry){
using namespace boost::python;
exportPoint2();
exportRot2();
exportPose2();
}

13
python/linear/NoiseModel.cpp Normal file
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@ -0,0 +1,13 @@
#include <boost/python.hpp>
#include <gtsam/linear/NoiseModel.h>
using namespace boost::python;
using namespace gtsam;
void exportNoiseModels(){
// Diagonal Noise Model, no constructor
class_<noiseModel::Diagonal>("DiagonalNoiseModel", no_init)
.def("Sigmas", &noiseModel::Diagonal::Sigmas)
.staticmethod("Sigmas")
;
}

12
python/nonlinear/LevenbergMarquardtOptimizer.cpp Normal file
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@ -0,0 +1,12 @@
#include <boost/python.hpp>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
using namespace boost::python;
using namespace gtsam;
void exportLevenbergMarquardtOptimizer(){
class_<LevenbergMarquardtOptimizer>("LevenbergMarquardtOptimizer",
init<const NonlinearFactorGraph&, const Values&, const LevenbergMarquardtParams&>())
.def("optimize", &LevenbergMarquardtOptimizer::optimize, return_value_policy<copy_const_reference>())
;
}

18
python/nonlinear/NonlinearFactorGraph.cpp Normal file
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@ -0,0 +1,18 @@
#include <boost/python.hpp>
#include "gtsam/nonlinear/NonlinearFactorGraph.h"
#include <gtsam/nonlinear/NonlinearFactor.h>
using namespace boost::python;
using namespace gtsam;
void exportNonlinearFactorGraph(){
typedef boost::shared_ptr<NonlinearFactor> shared_factor;
void (NonlinearFactorGraph::*push_back1)(const shared_factor& factor) = &NonlinearFactorGraph::push_back;
class_<NonlinearFactorGraph>("NonlinearFactorGraph", init<>())
.def("push_back", push_back1)
;
}

19
python/nonlinear/Values.cpp Normal file
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@ -0,0 +1,19 @@
#include <boost/python.hpp>
#include <gtsam/nonlinear/Values.h>
using namespace boost::python;
using namespace gtsam;
void exportValues(){
const Value& (Values::*at1)(Key) const = &Values::at;
bool (Values::*exists1)(Key) const = &Values::exists;
void (Values::*insert1)(Key, const Value&) = &Values::insert;
class_<Values>("Values", init<>())
.def(init<Values>())
.def("at", at1, return_value_policy<copy_const_reference>())
.def("exists", exists1)
.def("insert", insert1, return_value_policy<copy_const_reference>())
;
}

2
python/slam/BearingFactor.cpp
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@ -7,7 +7,7 @@ using namespace gtsam;
using namespace std;
template<class VALUE>
void exposeBearingFactor(const std::string& name){
void exportBearingFactor(const std::string& name){
class_<VALUE>(name, init<>())
;
}

2
python/slam/BetweenFactor.cpp
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@ -7,7 +7,7 @@ using namespace gtsam;
using namespace std;
template<class VALUE>
void exposeBetweenFactor(const std::string& name){
void exportBetweenFactor(const std::string& name){
class_<VALUE>(name, init<>())
.def(init<Key, Key, VALUE, SharedNoiseModel>())
;

8
python/slam/PriorFactor.cpp
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@ -6,9 +6,9 @@ using namespace gtsam;
using namespace std;
template<class VALUE>
void exposePriorFactor(const std::string& name){
class_<VALUE>(name, init<>())
.def(init<Key, VALUE, SharedNoiseModel>())
template< class FACTOR, class VALUE >
void exportPriorFactor(const std::string& name){
class_< FACTOR >(name.c_str(), init<>())
.def(init< Key, VALUE&, SharedNoiseModel >())
;
}

24
python/slam/exportSlam.cpp
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@ -1,24 +0,0 @@
#include <boost/python.hpp>
#include <boost/cstdint.hpp>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h>
template<class VALUE> void exportPriorFactor(const std::string& name);
template<class VALUE> void exportBetweenFactor(const std::string& name);
BOOST_PYTHON_MODULE(libgeometry){
using namespace boost::python;
typedef gtsam::PriorFactor<gtsam::Point2> Point2PriorFactor;
typedef gtsam::PriorFactor<gtsam::Pose2> Pose2PriorFactor;
exportPriorFactor<Point2PriorFactor>("Point2PriorFactor");
exportPriorFactor<Pose2PriorFactor>("Pose2PriorFactor");
typedef gtsam::BetweenFactor<gtsam::Pose2> Pose2BetweenFactor;
exportBetweenFactor<Pose2BetweenFactor>("Pose2BetweenFactor");
}