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release/4.3a0
dellaert 2016-01-28 01:32:20 -08:00
parent 659caa58c1
commit c4494ba969
2 changed files with 13 additions and 12 deletions
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18
python/handwritten/slam/BetweenFactor.cpp
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@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -11,7 +11,7 @@
/** /**
* @brief wraps BetweenFactor for several values to python * @brief wraps BetweenFactor for several values to python
* @author Andrew Melim * @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS) * @author Ellon Paiva Mendes (LAAS-CNRS)
**/ **/
@ -33,17 +33,17 @@ using namespace gtsam;
using namespace std; using namespace std;
// template<class VALUE> // template<class T>
// void exportBetweenFactor(const std::string& name){ // void exportBetweenFactor(const std::string& name){
// class_<VALUE>(name, init<>()) // class_<T>(name, init<>())
// .def(init<Key, Key, VALUE, SharedNoiseModel>()) // .def(init<Key, Key, T, SharedNoiseModel>())
// ; // ;
// } // }
#define BETWEENFACTOR(VALUE) \ #define BETWEENFACTOR(T) \
class_< BetweenFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<VALUE> > >("BetweenFactor"#VALUE) \ class_< BetweenFactor<T>, bases<NonlinearFactor>, boost::shared_ptr< BetweenFactor<T> > >("BetweenFactor"#T) \
.def(init<Key,Key,VALUE,noiseModel::Base::shared_ptr>()) \ .def(init<Key,Key,T,noiseModel::Base::shared_ptr>()) \
.def("measured", &BetweenFactor<VALUE>::measured, return_internal_reference<>()) \ .def("measured", &BetweenFactor<T>::measured, return_internal_reference<>()) \
; ;
void exportBetweenFactors() void exportBetweenFactors()

7
python/handwritten/slam/PriorFactor.cpp
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@ -1,6 +1,6 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -11,7 +11,7 @@
/** /**
* @brief wraps PriorFactor for several values to python * @brief wraps PriorFactor for several values to python
* @author Andrew Melim * @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS) * @author Ellon Paiva Mendes (LAAS-CNRS)
**/ **/
@ -54,4 +54,5 @@ void exportPriorFactors()
PRIORFACTOR(Point3) PRIORFACTOR(Point3)
PRIORFACTOR(Rot3) PRIORFACTOR(Rot3)
PRIORFACTOR(Pose3) PRIORFACTOR(Pose3)
} PRIORFACTOR(Vector3)
}