Example on how to wrap templated classes such as factors

python/CMakeLists.txt

@@ -19,7 +19,7 @@ file(GLOB symbolic_src "symbolic/*.cpp")
 
 #wrap_python("base" ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME} ${base_src})
 wrap_python("geometry" ${PROJECT_SOURCE_DIR}/python/gtsam ${geometry_src})
-
+wrap_python("slam" ${PROJECT_SOURCE_DIR}/python/gtsam ${slam_src})
 #add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME}
 #  ${AUTOGEN_TEST_FILES}
 #)

python/base/DerivedValue.cpp

@@ -1,9 +0,0 @@
-#include <boost/python.hpp>
-#include "gtsam/base/DerivedValue.h"
-
-using namespace boost::python;
-using namespace gtsam;
-
-/*void exportDerivedValue(){
-  class_<DerivedValue, bases<Value> >("DerivedValue", no_init);
-}*/

python/base/Value.cpp

@@ -1,10 +0,0 @@
-#include <boost/python.hpp>
-#include "gtsam/base/Value.h"
-
-using namespace boost::python;
-using namespace gtsam;
-
-// Virtual class, no init
-void exportValue(){
-  class_<Value>("Value", no_init);
-} 

python/slam/BearingFactor.cpp

@@ -0,0 +1,13 @@
+#include <boost/python.hpp>
+#include <gtsam/slam/BearingFactor.h>
+
+using namespace boost::python;
+using namespace gtsam;
+
+using namespace std;
+
+template<class VALUE>
+void exposeBearingFactor(const std::string& name){
+  class_<VALUE>(name, init<>())
+  ;
+}

python/slam/BetweenFactor.cpp

@@ -0,0 +1,14 @@
+#include <boost/python.hpp>
+#include <gtsam/slam/BetweenFactor.h>
+
+using namespace boost::python;
+using namespace gtsam;
+
+using namespace std;
+
+template<class VALUE>
+void exposeBetweenFactor(const std::string& name){
+  class_<VALUE>(name, init<>())
+  .def(init<Key, Key, VALUE, SharedNoiseModel>())
+  ;
+}

python/slam/PriorFactor.cpp

@@ -0,0 +1,14 @@
+#include <boost/python.hpp>
+#include <gtsam/slam/PriorFactor.h>
+
+using namespace boost::python;
+using namespace gtsam;
+
+using namespace std;
+
+template<class VALUE>
+void exposePriorFactor(const std::string& name){
+  class_<VALUE>(name, init<>())
+  .def(init<Key, VALUE, SharedNoiseModel>())
+  ;
+}

python/slam/exportSlam.cpp

@@ -0,0 +1,24 @@
+#include <boost/python.hpp>
+#include <boost/cstdint.hpp>
+
+#include <gtsam/geometry/Point2.h>
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+
+template<class VALUE> void exportPriorFactor(const std::string& name);
+template<class VALUE> void exportBetweenFactor(const std::string& name);
+
+BOOST_PYTHON_MODULE(libgeometry){
+  using namespace boost::python;
+
+  typedef gtsam::PriorFactor<gtsam::Point2> Point2PriorFactor;
+  typedef gtsam::PriorFactor<gtsam::Pose2> Pose2PriorFactor;
+
+  exportPriorFactor<Point2PriorFactor>("Point2PriorFactor");
+  exportPriorFactor<Pose2PriorFactor>("Pose2PriorFactor");
+
+  typedef gtsam::BetweenFactor<gtsam::Pose2> Pose2BetweenFactor;
+
+  exportBetweenFactor<Pose2BetweenFactor>("Pose2BetweenFactor");
+}