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Merging 'master' into 'wrap'

release/4.3a0
Ayush Baid 2021-03-08 14:58:50 -05:00
parent 48232a3357 c5eb449e08
commit f13ffc482c
2 changed files with 32 additions and 1 deletions
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13
wrap/gtwrap/pybind_wrapper.py
View File

@ -75,7 +75,17 @@ class PybindWrapper(object):
[]({class_inst} self, string serialized){{
gtsam::deserialize(serialized, *self);
}}, py::arg("serialized"))
'''.format(class_inst=cpp_class + '*'))
.def(py::pickle(
[](const {cpp_class} &a){{ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
}},
[](py::tuple t){{ // __setstate__
{cpp_class} obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}}))
'''.format(class_inst=cpp_class + '*', cpp_class=cpp_class))
is_method = isinstance(method, instantiator.InstantiatedMethod)
is_static = isinstance(method, parser.StaticMethod)
@ -318,3 +328,4 @@ class PybindWrapper(object):
wrapped_namespace=wrapped_namespace,
boost_class_export=boost_class_export,
)

20
wrap/tests/expected-python/geometry_pybind.cpp
View File

@ -47,6 +47,16 @@ PYBIND11_MODULE(geometry_py, m_) {
[](gtsam::Point2* self, string serialized){
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point2 &a){ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
},
[](py::tuple t){ // __setstate__
gtsam::Point2 obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}))
;
py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
@ -61,6 +71,16 @@ PYBIND11_MODULE(geometry_py, m_) {
[](gtsam::Point3* self, string serialized){
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point3 &a){ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
},
[](py::tuple t){ // __setstate__
gtsam::Point3 obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}))
.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
.def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));