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Wrap Cayley methods to python only if not using Quaternions

release/4.3a0
Ellon Mendes 2015-12-01 16:06:47 +01:00
parent dfc15a2f17
commit 57373c8c47
1 changed files with 3 additions and 1 deletions
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4
python/handwritten/geometry/Rot3.cpp
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@ -74,13 +74,15 @@ void exportRot3(){
.def("column", &Rot3::column)
.def("conjugate", &Rot3::conjugate)
.def("equals", &Rot3::equals, equals_overloads(args("q","tol")))
#ifndef GTSAM_USE_QUATERNIONS
.def("localCayley", &Rot3::localCayley)
.def("retractCayley", &Rot3::retractCayley)
#endif
.def("matrix", &Rot3::matrix)
.def("print", &Rot3::print, print_overloads(args("s")))
.def("r1", &Rot3::r1)
.def("r2", &Rot3::r2)
.def("r3", &Rot3::r3)
.def("retractCayley", &Rot3::retractCayley)
.def("rpy", &Rot3::rpy)
.def("slerp", &Rot3::slerp)
.def("transpose", &Rot3::transpose)