From 818db173929f04a047121a394eab1f513378d5de Mon Sep 17 00:00:00 2001
From: Ellon Mendes <ellon.mendes@laas.fr>
Date: Mon, 23 Nov 2015 15:41:17 +0100
Subject: [PATCH] Wrap symbol to python

---
 python/handwritten/exportgtsam.cpp      |  5 ++
 python/handwritten/inference/Symbol.cpp | 66 +++++++++++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 python/handwritten/inference/Symbol.cpp

diff --git a/python/handwritten/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp
index 6afc1f85e..a0ba634e2 100644
--- a/python/handwritten/exportgtsam.cpp
+++ b/python/handwritten/exportgtsam.cpp
@@ -36,6 +36,9 @@ void exportPose2();
 void exportPose3();
 void exportPinholeCamera();
 
+// Inference
+void exportSymbol();
+
 // Linear
 void exportNoiseModels();
 
@@ -70,6 +73,8 @@ BOOST_PYTHON_MODULE(libgtsam_python){
   exportPose3();
   exportPinholeCamera();
 
+  exportSymbol();
+
   exportNoiseModels();
 
   exportValues();
diff --git a/python/handwritten/inference/Symbol.cpp b/python/handwritten/inference/Symbol.cpp
new file mode 100644
index 000000000..ace26c67d
--- /dev/null
+++ b/python/handwritten/inference/Symbol.cpp
@@ -0,0 +1,66 @@
+ /* ----------------------------------------------------------------------------
+
+ * 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
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @brief wraps Symbol class to python
+ * @author Ellon Paiva Mendes (LAAS-CNRS)
+ **/
+
+#include <boost/python.hpp>
+#include <boost/make_shared.hpp>
+
+#define NO_IMPORT_ARRAY
+#include <numpy_eigen/NumpyEigenConverter.hpp>
+
+#include "gtsam/inference/Symbol.h"
+
+using namespace boost::python;
+using namespace gtsam;
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Symbol::print, 0, 1)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Symbol::equals, 1, 2)
+
+// Helper function to allow building a symbol from a python string and a index.
+static boost::shared_ptr<Symbol> makeSymbol(const std::string &str, size_t j)
+{
+  if(str.size() > 1)
+  	throw std::runtime_error("string argument must have one character only");
+
+  return boost::make_shared<Symbol>(str.at(0),j);
+}
+
+// Helper function to print the symbol as "char-and-index" in python
+std::string selfToString(const Symbol & self)
+{
+	return (std::string)self;
+}
+
+void exportSymbol(){
+
+class_<Symbol, boost::shared_ptr<Symbol> >("Symbol")
+  .def(init<>())
+  .def(init<const Symbol &>())
+  .def("__init__", make_constructor(makeSymbol))
+  .def(init<Key>())
+  .def("print", &Symbol::print, print_overloads(args("s")))
+  .def("equals", &Symbol::equals, equals_overloads(args("q","tol")))
+  .def("key", &Symbol::key)
+  .def("chr", &Symbol::chr)
+  .def("index", &Symbol::index)
+  .def(self < self)
+  .def(self == self)
+  .def(self == other<Key>())
+  .def(self != self)
+  .def(self != other<Key>())
+  .def("__repr__", &selfToString)
+;
+
+}
\ No newline at end of file