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Add Quaternion named constructor to Rot3 in the python module

release/4.3a0
Ellon Mendes 2015-12-08 14:31:24 +01:00
parent 2754613072
commit 868f1511fc
1 changed files with 13 additions and 1 deletions
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14
python/handwritten/geometry/Rot3.cpp
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@ -25,6 +25,16 @@
using namespace boost::python;
using namespace gtsam;
static Rot3 Quaternion_0(const Vector4& q)
{
return Rot3(Quaternion(q[0],q[1],q[2],q[3]));
}
static Rot3 Quaternion_1(double w, double x, double y, double z)
{
return Rot3(Quaternion(w,x,y,z));
}
// Prototypes used to perform overloading
// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html
gtsam::Rot3 (*AxisAngle_0)(const Vector3&, double) = &Rot3::AxisAngle;
@ -40,11 +50,13 @@ BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot3::equals, 1, 2)
void exportRot3(){
class_<Rot3>("Rot3")
.def(init<>())
.def(init<Point3,Point3,Point3>())
.def(init<double,double,double,double,double,double,double,double,double>())
.def(init<const Matrix3 &>())
.def(init<const Matrix &>())
.def("Quaternion", Quaternion_0, arg("q"), "Creates a Rot3 from an array [w,x,y,z] representing a quaternion")
.def("Quaternion", Quaternion_1, (arg("w"),arg("x"),arg("y"),arg("z")) )
.staticmethod("Quaternion")
.def("AxisAngle", AxisAngle_0)
.def("AxisAngle", AxisAngle_1)
.staticmethod("AxisAngle")