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Wrap prior factors

release/4.3a0
Ellon Mendes 2015-11-19 11:02:51 +01:00
parent 72a800f70f
commit b10f7386c5
1 changed files with 14 additions and 1 deletions
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15
python/handwritten/slam_python.cpp
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@ -21,6 +21,7 @@
#include <boost/python.hpp> #include <boost/python.hpp>
#include <gtsam/slam/PriorFactor.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Rot3.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) \ #define BETWEENFACTOR(VALUE) \
class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \ class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \
.def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \ .def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \
.def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \ .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) BOOST_PYTHON_MODULE(libslam_python)
{ {
@ -70,4 +77,10 @@ BOOST_PYTHON_MODULE(libslam_python)
BETWEENFACTOR(Pose3) BETWEENFACTOR(Pose3)
PRIORFACTOR(Point3)
PRIORFACTOR(Rot3)
PRIORFACTOR(Pose3)
} }