From b10f7386c518aaeb44af00f2b5fff464a2404444 Mon Sep 17 00:00:00 2001
From: Ellon Mendes <ellon.mendes@laas.fr>
Date: Thu, 19 Nov 2015 11:02:51 +0100
Subject: [PATCH] Wrap prior factors

---
 python/handwritten/slam_python.cpp | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/python/handwritten/slam_python.cpp b/python/handwritten/slam_python.cpp
index 67aaf50c6..c3c86661a 100644
--- a/python/handwritten/slam_python.cpp
+++ b/python/handwritten/slam_python.cpp
@@ -21,6 +21,7 @@
 
 #include <boost/python.hpp>
 
+#include <gtsam/slam/PriorFactor.h>
 #include <gtsam/slam/BetweenFactor.h>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/geometry/Rot3.h>
@@ -51,13 +52,19 @@ struct NonlinearFactorCallback : NonlinearFactor, wrapper<NonlinearFactor>
   }
 };
 
-// Macro used to define a BetweenFactor given the type.
+// Macro used to define templated factors
 #define BETWEENFACTOR(VALUE) \
   class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \
   .def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \
   .def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \
 ;
 
+#define PRIORFACTOR(VALUE) \
+  class_< PriorFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< PriorFactor<VALUE> > >("PriorFactor"#VALUE) \
+  .def(init<Key,VALUE,noiseModel::Base::shared_ptr>()) \
+  .def("prior", &PriorFactor<VALUE>::prior, return_internal_reference<>()) \
+;
+
 BOOST_PYTHON_MODULE(libslam_python)
 {
 
@@ -70,4 +77,10 @@ BOOST_PYTHON_MODULE(libslam_python)
 
   BETWEENFACTOR(Pose3)
 
+  PRIORFACTOR(Point3)
+
+  PRIORFACTOR(Rot3)
+
+  PRIORFACTOR(Pose3)
+
 }
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