Wrap KeyVector to python

While here, do small cleanup on exportgtsam.cpp

python/handwritten/base/FastVector.cpp

@@ -0,0 +1,37 @@
+ /* ----------------------------------------------------------------------------
+
+ * 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 FastVector instances to python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+#include <boost/python.hpp>
+#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include "gtsam/base/FastVector.h"
+#include "gtsam/base/types.h" // for Key definition
+
+using namespace boost::python;
+using namespace gtsam;
+
+void exportFastVectors(){
+
+  typedef FastVector<Key> KeyVector;
+
+  class_<KeyVector>("KeyVector")
+  	.def(vector_indexing_suite<KeyVector>())
+  ;
+
+}

python/handwritten/exportgtsam.cpp

@@ -20,12 +20,8 @@
 
 #include <numpy_eigen/NumpyEigenConverter.hpp>
 
-#include <gtsam/base/Matrix.h>
-#include <gtsam/base/Vector.h>
-
-using namespace boost::python;
-using namespace gtsam;
-using namespace std;
+// Base
+void exportFastVectors();
 
 // Geometry
 void exportPoint2();
@@ -68,6 +64,8 @@ BOOST_PYTHON_MODULE(libgtsam_python){
   
   registerNumpyEigenConversions();
 
+  exportFastVectors();
+
   exportPoint2();
   exportPoint3();
   exportRot2();

python/handwritten/nonlinear/Values.cpp

@@ -107,5 +107,6 @@ void exportValues(){
   .def("rot3_at", &Values::at<Rot3>, return_value_policy<copy_const_reference>())
   .def("pose3_at", &Values::at<Pose3>, return_value_policy<copy_const_reference>())  
   .def("exists", exists1)
+  .def("keys", &Values::keys)
   ;
 }