From 414e6b58f91027e4050457e65ee1fbf30fab58a6 Mon Sep 17 00:00:00 2001
From: Andrew Melim <Andrew.Melim@gatech.edu>
Date: Wed, 20 Nov 2013 02:30:44 +0000
Subject: [PATCH] Finally fixed templates, moved into single library for
 simplicity, add noisemodels, nonlinear

---
 python/CMakeLists.txt                         |  6 +-
 python/exportgtsam.cpp                        | 63 +++++++++++++++++++
 python/geometry/exportGeometry.cpp            | 13 ----
 python/linear/NoiseModel.cpp                  | 13 ++++
 .../nonlinear/LevenbergMarquardtOptimizer.cpp | 12 ++++
 python/nonlinear/NonlinearFactorGraph.cpp     | 18 ++++++
 python/nonlinear/Values.cpp                   | 19 ++++++
 python/slam/BearingFactor.cpp                 |  2 +-
 python/slam/BetweenFactor.cpp                 |  2 +-
 python/slam/PriorFactor.cpp                   |  8 +--
 python/slam/exportSlam.cpp                    | 24 -------
 11 files changed, 135 insertions(+), 45 deletions(-)
 create mode 100644 python/exportgtsam.cpp
 delete mode 100644 python/geometry/exportGeometry.cpp
 create mode 100644 python/linear/NoiseModel.cpp
 create mode 100644 python/nonlinear/LevenbergMarquardtOptimizer.cpp
 create mode 100644 python/nonlinear/NonlinearFactorGraph.cpp
 create mode 100644 python/nonlinear/Values.cpp
 delete mode 100644 python/slam/exportSlam.cpp

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index e503bdb45..cd9861dc0 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -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}
 #)
\ No newline at end of file
diff --git a/python/exportgtsam.cpp b/python/exportgtsam.cpp
new file mode 100644
index 000000000..51e0ae1f3
--- /dev/null
+++ b/python/exportgtsam.cpp
@@ -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");
+}
\ No newline at end of file
diff --git a/python/geometry/exportGeometry.cpp b/python/geometry/exportGeometry.cpp
deleted file mode 100644
index 3887f7ca1..000000000
--- a/python/geometry/exportGeometry.cpp
+++ /dev/null
@@ -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();
-}
\ No newline at end of file
diff --git a/python/linear/NoiseModel.cpp b/python/linear/NoiseModel.cpp
new file mode 100644
index 000000000..89ee26e9a
--- /dev/null
+++ b/python/linear/NoiseModel.cpp
@@ -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")
+  ;
+}
\ No newline at end of file
diff --git a/python/nonlinear/LevenbergMarquardtOptimizer.cpp b/python/nonlinear/LevenbergMarquardtOptimizer.cpp
new file mode 100644
index 000000000..b7e38359f
--- /dev/null
+++ b/python/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -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>())
+  ;
+}
\ No newline at end of file
diff --git a/python/nonlinear/NonlinearFactorGraph.cpp b/python/nonlinear/NonlinearFactorGraph.cpp
new file mode 100644
index 000000000..16aa4c6e4
--- /dev/null
+++ b/python/nonlinear/NonlinearFactorGraph.cpp
@@ -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)
+  ;
+}
\ No newline at end of file
diff --git a/python/nonlinear/Values.cpp b/python/nonlinear/Values.cpp
new file mode 100644
index 000000000..c1451cef1
--- /dev/null
+++ b/python/nonlinear/Values.cpp
@@ -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>())
+  ;
+}
\ No newline at end of file
diff --git a/python/slam/BearingFactor.cpp b/python/slam/BearingFactor.cpp
index 63d4bb3ed..b13d1f281 100644
--- a/python/slam/BearingFactor.cpp
+++ b/python/slam/BearingFactor.cpp
@@ -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<>())
   ;
 }
\ No newline at end of file
diff --git a/python/slam/BetweenFactor.cpp b/python/slam/BetweenFactor.cpp
index 3674614da..2732e4e7e 100644
--- a/python/slam/BetweenFactor.cpp
+++ b/python/slam/BetweenFactor.cpp
@@ -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>())
   ;
diff --git a/python/slam/PriorFactor.cpp b/python/slam/PriorFactor.cpp
index e1ee27602..1984fe144 100644
--- a/python/slam/PriorFactor.cpp
+++ b/python/slam/PriorFactor.cpp
@@ -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 >())
   ;
 }
\ No newline at end of file
diff --git a/python/slam/exportSlam.cpp b/python/slam/exportSlam.cpp
deleted file mode 100644
index fdd1d1549..000000000
--- a/python/slam/exportSlam.cpp
+++ /dev/null
@@ -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");
-}
\ No newline at end of file