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Wrap basic functions of NonlinearFactorGraph and ISAM2 

While here, change method names for python convention on PEP0008
release/4.3a0
Ellon Mendes 2015-11-19 11:03:35 +01:00
parent b10f7386c5
commit 7680b533ac
1 changed files with 39 additions and 6 deletions
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45
python/handwritten/nonlinear_python.cpp
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@ -22,17 +22,19 @@
#include <boost/python.hpp>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/geometry/Pose3.h>
using namespace boost::python;
using namespace gtsam;
// Prototypes used to perform overloading
// Overloading macros
// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html
void (Values::*insert_0)(const gtsam::Values&) = &Values::insert;
void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert;
void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert;
void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert;
// ISAM2
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(ISAM2_update_overloads, ISAM2::update, 0, 7)
/** The function ValuesAt is a workaround to be able to call the correct templated version
* of Values::at. Without it, python would only try to match the last 'at' metho defined
@ -79,6 +81,12 @@ void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert;
BOOST_PYTHON_MODULE(libnonlinear_python)
{
// Function pointers for overloads in Values
void (Values::*insert_0)(const gtsam::Values&) = &Values::insert;
void (Values::*insert_1)(Key, const gtsam::Point3&) = &Values::insert;
void (Values::*insert_2)(Key, const gtsam::Rot3&) = &Values::insert;
void (Values::*insert_3)(Key, const gtsam::Pose3&) = &Values::insert;
class_<Values>("Values")
.def(init<>())
.def(init<const Values&>())
@ -87,7 +95,7 @@ class_<Values>("Values")
.def("empty", &Values::empty)
.def("equals", &Values::equals)
.def("erase", &Values::erase)
.def("insertFixed", &Values::insertFixed)
.def("insert_fixed", &Values::insertFixed)
.def("print", &Values::print)
.def("size", &Values::size)
.def("swap", &Values::swap)
@ -103,4 +111,29 @@ class_<Values>("Values")
.def("pose3_at", &Values::at<Pose3>, return_internal_reference<>())
;
// Function pointers for overloads in NonlinearFactorGraph
void (NonlinearFactorGraph::*add_0)(const NonlinearFactorGraph::sharedFactor&) = &NonlinearFactorGraph::add;
class_<NonlinearFactorGraph>("NonlinearFactorGraph")
.def("size",&NonlinearFactorGraph::size)
.def("add", add_0)
;
// TODO(Ellon): Export all properties of ISAM2Params
class_<ISAM2Params>("ISAM2Params")
;
// TODO(Ellon): Export useful methods/properties of ISAM2Result
class_<ISAM2Result>("ISAM2Result")
;
// Function pointers for overloads in ISAM2
Values (ISAM2::*calculateEstimate_0)() const = &ISAM2::calculateEstimate;
class_<ISAM2>("ISAM2")
// TODO(Ellon): wrap all optional values of update
.def("update",&ISAM2::update, ISAM2_update_overloads())
.def("calculate_estimate", calculateEstimate_0)
;
}