12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

getNonlinearFactor

release/4.3a0
dellaert 2016-01-28 01:32:02 -08:00
parent 1b9b90803a
commit 659caa58c1
1 changed files with 12 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
python/handwritten/nonlinear/NonlinearFactorGraph.cpp
View File

@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* 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)
@ -11,7 +11,7 @@
/**
* @brief exports NonlinearFactorGraph class to python
* @author Andrew Melim
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
@ -28,6 +28,13 @@ using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, NonlinearFactorGraph::print, 0, 1);
boost::shared_ptr<NonlinearFactor> getNonlinearFactor(
const NonlinearFactorGraph& graph, size_t idx) {
auto p = boost::dynamic_pointer_cast<NonlinearFactor>(graph.at(idx));
if (!p) throw std::runtime_error("No NonlinearFactor at requested index");
return p;
};
void exportNonlinearFactorGraph(){
typedef NonlinearFactorGraph::sharedFactor sharedFactor;
@ -36,7 +43,7 @@ void exportNonlinearFactorGraph(){
void (NonlinearFactorGraph::*add1)(const sharedFactor&) = &NonlinearFactorGraph::add;
class_<NonlinearFactorGraph>("NonlinearFactorGraph", init<>())
.def("size",&NonlinearFactorGraph::size)
.def("size",&NonlinearFactorGraph::size)
.def("push_back", push_back1)
.def("add", add1)
.def("resize", &NonlinearFactorGraph::resize)
@ -44,4 +51,6 @@ void exportNonlinearFactorGraph(){
.def("print", &NonlinearFactorGraph::print, print_overloads(args("s")))
;
def("getNonlinearFactor", getNonlinearFactor);
}