Add slam as submodule of gtsam python module

python/gtsam/__init__.py

@@ -2,4 +2,4 @@ import registernumpyeigen
 import noiseModel
 import geometry
 import nonlinear
-
+import slam

python/gtsam/slam/.gitignore

@@ -0,0 +1 @@
+/libslam_python.so

python/gtsam/slam/__init__.py

@@ -0,0 +1 @@
+from libslam_python import *

python/handwritten/slam_python.cpp

@@ -0,0 +1,52 @@
+/* ----------------------------------------------------------------------------
+
+ * 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
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file slam_python.cpp
+ * @brief wraps slam classes into the slam submodule of gtsam python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+ /** TODOs Summary:
+  *
+  */
+
+#include <boost/python.hpp>
+
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/geometry/Point3.h>
+#include <gtsam/geometry/Rot3.h>
+#include <gtsam/geometry/Pose3.h>
+#include <gtsam/linear/NoiseModel.h>
+
+using namespace boost::python;
+using namespace gtsam;
+
+// Prototypes used to perform overloading
+// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html
+
+// Macro used to define a BetweenFactor given the type.
+#define BETWEENFACTOR(VALUE) \
+  class_< BetweenFactor<VALUE> >("BetweenFactor"#VALUE) \
+  .def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \
+  .def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \
+;
+
+BOOST_PYTHON_MODULE(libslam_python)
+{
+
+  BETWEENFACTOR(Point3)
+
+  BETWEENFACTOR(Rot3)
+
+  BETWEENFACTOR(Pose3)
+
+}