Add nonlinear submodule of gtsam python module

python/gtsam/__init__.py

@@ -1,3 +1,5 @@
 import registernumpyeigen
 import noiseModel
 import geometry
+import nonlinear
+

python/gtsam/nonlinear/.gitignore

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

python/gtsam/nonlinear/__init__.py

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

python/handwritten/nonlinear_python.cpp

@@ -0,0 +1,54 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 nonlinear_python.cpp
+ * @brief wraps nonlinear classes into the nonlinear submodule of gtsam python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+ /** TODOs Summary:
+  *
+  */
+
+#include <boost/python.hpp>
+
+#include <gtsam/nonlinear/Values.h>
+#include <gtsam/geometry/Pose3.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
+void  (Values::*insert_0)(const gtsam::Values&) = &Values::insert;
+void  (Values::*insert_1)(Key, const gtsam::Pose3&) = &Values::insert;
+
+BOOST_PYTHON_MODULE(libnonlinear_python)
+{
+
+class_<Values>("Values")
+  .def(init<>())
+  .def(init<const Values&>())
+  .def("clear", &Values::clear)
+  .def("dim", &Values::dim)
+  .def("empty", &Values::empty)
+  .def("equals", &Values::equals)
+  .def("erase", &Values::erase)
+  .def("insertFixed", &Values::insertFixed)
+  .def("print", &Values::print)
+  .def("size", &Values::size)
+  .def("swap", &Values::swap)
+  .def("insert", insert_0)
+  .def("insert", insert_1)
+;
+
+}