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Wrap more methods of Pose3 to python

release/4.3a0
Ellon Mendes 2015-11-23 22:42:19 +01:00
parent 8ae3dda6a6
commit 7576dc359d
1 changed files with 24 additions and 10 deletions
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34
python/handwritten/geometry/Pose3.cpp
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@ -21,7 +21,6 @@
#include <numpy_eigen/NumpyEigenConverter.hpp>
#include "gtsam/geometry/Pose3.h"
#include "gtsam/geometry/Pose2.h"
#include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Rot3.h"
@ -34,18 +33,26 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose3::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose3::transform_to, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose3::transform_from, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(translation_overloads, Pose3::translation, 0, 1)
// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3)
// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3)
// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 1, 3)
// BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 2, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 2, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3)
void exportPose3(){
Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const
= &Pose3::transform_to;
Pose3 (Pose3::*transform_to2)(const Pose3&) const
= &Pose3::transform_to;
// function pointers to desambiguate transform_to() calls
Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const = &Pose3::transform_to;
Pose3 (Pose3::*transform_to2)(const Pose3&) const = &Pose3::transform_to;
// function pointers to desambiguate compose() calls
Pose3 (Pose3::*compose1)(const Pose3 &g) const = &Pose3::compose;
Pose3 (Pose3::*compose2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::compose;
// function pointers to desambiguate between() calls
Pose3 (Pose3::*between1)(const Pose3 &g) const = &Pose3::between;
Pose3 (Pose3::*between2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::between;
// function pointers to desambiguate range() calls
double (Pose3::*range1)(const Point3 &, OptionalJacobian<1,6>, OptionalJacobian<1,3>) const = &Pose3::range;
double (Pose3::*range2)(const Pose3 &, OptionalJacobian<1,6>, OptionalJacobian<1,6>) const = &Pose3::range;
class_<Pose3>("Pose3")
.def(init<>())
.def(init<const Pose3 &>())
@ -74,5 +81,12 @@ void exportPose3(){
.def(self * other<Point3>()) // __mult__
.def(self_ns::str(self)) // __str__
.def(repr(self)) // __repr__
.def("compose", compose1)
.def("compose", compose2, compose_overloads())
.def("between", between1)
.def("between", between2, between_overloads())
.def("range", range1, range_overloads())
.def("range", range2, range_overloads())
.def("bearing", &Pose3::bearing, bearing_overloads())
;
}