add setup scripts, fix tests

cython/build.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+# exit if any command returns non-zero
+set -e
+# print out each command for debugging
+set -x
+
+#usage: wrap [--matlab|--cython] absoluteInterfacePath moduleName toolboxPath headerPath
+wrap --cython $PWD gtsam $PWD ../
+
+python setup.py build_ext --inplace

cython/install.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+virtualenv venv
+source venv/bin/activate
+pip install -r requirements.txt
+pip install eigency

cython/requirements.txt

@@ -1,3 +1,2 @@
-numpy>=1.11.1
+Cython==0.24.1
-eigency>=1.66
+numpy==1.11.1
-Cython>=0.24.1

cython/setup.py

@@ -3,6 +3,8 @@ from distutils.extension import Extension
 from Cython.Build import cythonize
 import eigency
 
+
+
 setup(
   ext_modules = cythonize(Extension(
     "gtsam",
@@ -13,5 +15,6 @@ setup(
 
     libraries = ['gtsam'],
     library_dirs = ["/Users/dta-huynh/install/lib"],
-    language="c++")),
+    language="c++",
+    extra_compile_args=["-std=c++11"])),
 )

cython/tests.py

@@ -23,24 +23,25 @@ Rmat = np.array([
     [0.104218,  0.990074, -0.0942928], 
     [-0.0942928, 0.104218, 0.990074]
     ])
-r5 = Rot3.ctor(Rmat)
+r5 = Rot3.ctor1(Rmat)
 r5._print(b"r5: ")
 
 l = Rot3.Logmap(r5)
 print("l = ", l)
 
 
-noise = Gaussian.Covariance(Rmat)
+noise = noiseModel_Gaussian.Covariance(Rmat)
 noise._print(b"noise:")
 
 D = np.array([1.,2.,3.])
-diag = Diagonal.Variances(D)
+diag = noiseModel_Diagonal.Variances(D)
 print("diag:", diag)
 diag._print(b"diag:")
 print("diag R:", diag.R())
 
 p = Point3()
-factor = BetweenFactorPoint3(1,2,p, noise)
+p._print("p:")
+factor = BetweenFactorPoint3.ctor(1,2,p, noise)
 factor._print(b"factor:")
 
 vv = VectorValues()
@@ -50,7 +51,7 @@ vv.insert(2, np.array([3.,4.]))
 vv.insert(3, np.array([5.,6.,7.,8.]))
 vv._print(b"vv:")
 
-vv2 = VectorValues.ctor2(vv)
+vv2 = VectorValues.ctor1(vv)
 vv2.insert(4, np.array([4.,2.,1]))
 vv2._print(b"vv2:")
 vv._print(b"vv:")