Initial stages of python wrapping. Issues with method overloading, boost optionals. Testing with Point2 only now

CMakeLists.txt

@@ -30,6 +30,7 @@ message(STATUS "GTSAM_SOURCE_ROOT_DIR: [${GTSAM_SOURCE_ROOT_DIR}]")
 
 # Load build type flags and default to Debug mode
 include(GtsamBuildTypes)
+include(GtsamPythonWrap)
 
 # Use macros for creating tests/timing scripts
 include(GtsamTesting)
@@ -344,6 +345,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
 	add_subdirectory(matlab)
 endif()
 
+if(GTSAM_BUILD_PYTHON)
+  add_subdirectory(python)
+endif()
+
 # Build gtsam_unstable
 if (GTSAM_BUILD_UNSTABLE)
     add_subdirectory(gtsam_unstable)

python/CMakeLists.txt

@@ -0,0 +1,25 @@
+include_directories("${PROJECT_SOURCE_DIR}/gtsam")
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../cmake)
+
+#include_directories(${EIGEN_INCLUDE_DIRS})
+
+file(GLOB base_src "base/*.cpp")
+file(GLOB geometry_src "geometry/*.cpp")
+file(GLOB inference_src "inference/*.cpp")
+file(GLOB linear_src "linear/*.cpp")
+file(GLOB nonlinear_src "nonlinear/*.cpp")
+file(GLOB slam_src "slam/*.cpp")
+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 ${geometry_src})
+
+#add_python_export_library(${PROJECT_NAME}_test ${PROJECT_SOURCE_DIR}/python/${PROJECT_NAME}
+#  ${AUTOGEN_TEST_FILES}
+#)

python/base/DerivedValue.cpp

@@ -0,0 +1,9 @@
+#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

@@ -0,0 +1,10 @@
+#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/geometry/Point2.cpp

@@ -0,0 +1,23 @@
+#include <boost/python.hpp>
+#include "gtsam/geometry/Point2.h"
+
+using namespace boost::python;
+using namespace gtsam;
+
+BOOST_PYTHON_FUNCTION_OVERLOADS(equals_overloads, &Point2::equals, 1, 2)
+
+void exportPoint2(){
+
+  class_<Point2>("Point2", init<>())
+    .def(init<double, double>())
+    .def("print", &Point2::print)
+    .def("equals", &Point2::equals)
+    .def("inverse", &Point2::inverse)
+    .def("compose", &Point2::compose)
+    .def("between", &Point2::between)
+    .def("dim", &Point2::dim)
+    .def("retract", &Point2::retract)
+    .def("x", &Point2::x)
+    .def("y", &Point2::y)
+  ;
+}

python/geometry/exportGeometry.cpp

@@ -0,0 +1,10 @@
+#include <boost/python.hpp>
+#include <boost/cstdint.hpp>
+
+void exportPoint2();
+
+BOOST_PYTHON_MODULE(libgeometry){
+  using namespace boost::python;
+
+  exportPoint2();
+}