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Allow KeyVector to just be lists

release/4.3a0
Fan Jiang 2021-05-17 14:36:14 -04:00
parent 3638b3745f
commit 66e397cb38
3 changed files with 5 additions and 1 deletions
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1
gtsam/gtsam.i
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@ -2168,6 +2168,7 @@ virtual class NoiseModelFactor: gtsam::NonlinearFactor {
#include <gtsam/nonlinear/CustomFactor.h> #include <gtsam/nonlinear/CustomFactor.h>
virtual class CustomFactor: gtsam::NoiseModelFactor { virtual class CustomFactor: gtsam::NoiseModelFactor {
// Note CustomFactor will not be wrapped for MATLAB, as there is no supporting machinery there.
CustomFactor(); CustomFactor();
CustomFactor(const gtsam::SharedNoiseModel& noiseModel, const gtsam::KeyVector& keys, const gtsam::CustomErrorFunction& errorFunction); CustomFactor(const gtsam::SharedNoiseModel& noiseModel, const gtsam::KeyVector& keys, const gtsam::CustomErrorFunction& errorFunction);
}; };

3
python/gtsam/specializations.h
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@ -2,9 +2,12 @@
// These are required to save one copy operation on Python calls // These are required to save one copy operation on Python calls
#ifdef GTSAM_ALLOCATOR_TBB #ifdef GTSAM_ALLOCATOR_TBB
py::bind_vector<std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >(m_, "KeyVector"); py::bind_vector<std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >();
#else #else
py::bind_vector<std::vector<gtsam::Key> >(m_, "KeyVector"); py::bind_vector<std::vector<gtsam::Key> >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key> >();
#endif #endif
py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> > >(m_, "Point2Vector"); py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> > >(m_, "Point2Vector");
py::bind_vector<std::vector<gtsam::Point3Pair> >(m_, "Point3Pairs"); py::bind_vector<std::vector<gtsam::Point3Pair> >(m_, "Point3Pairs");
py::bind_vector<std::vector<gtsam::Pose3Pair> >(m_, "Pose3Pairs"); py::bind_vector<std::vector<gtsam::Pose3Pair> >(m_, "Pose3Pairs");

2
python/gtsam/tests/test_custom_factor.py
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@ -36,7 +36,7 @@ class TestCustomFactor(GtsamTestCase):
return error return error
noise_model = gtsam.noiseModel.Unit.Create(3) noise_model = gtsam.noiseModel.Unit.Create(3)
cf = CustomFactor(noise_model, gtsam.KeyVector([0]), error_func) cf = CustomFactor(noise_model, [0], error_func)
v = Values() v = Values()
v.insert(0, Pose2(1, 0, 0)) v.insert(0, Pose2(1, 0, 0))
e = cf.error(v) e = cf.error(v)