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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
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9
python/handwritten/nonlinear/NonlinearFactorGraph.cpp
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@ -28,6 +28,13 @@ using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, NonlinearFactorGraph::print, 0, 1); 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(){ void exportNonlinearFactorGraph(){
typedef NonlinearFactorGraph::sharedFactor sharedFactor; typedef NonlinearFactorGraph::sharedFactor sharedFactor;
@ -44,4 +51,6 @@ void exportNonlinearFactorGraph(){
.def("print", &NonlinearFactorGraph::print, print_overloads(args("s"))) .def("print", &NonlinearFactorGraph::print, print_overloads(args("s")))
; ;
def("getNonlinearFactor", getNonlinearFactor);
} }