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break up preamble and specializations so there are no duplicate includes

release/4.3a0
Varun Agrawal 2021-07-11 08:10:05 -07:00
parent 9bafebb521
commit f33e6a801f
22 changed files with 304 additions and 65 deletions
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30
python/gtsam/preamble.h
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/* Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 automatic STL binding,
* such that the raw objects can be accessed in Python. Without this they will be automatically
* converted to a Python object, and all mutations on Python side will not be reflected on C++.
*/
#ifdef GTSAM_ALLOCATOR_TBB
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
#else
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
#endif
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> >);
PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs);
PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> >);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>); // JacobianVector
// TODO(fan): This is to fix the Argument-dependent lookup (ADL) of std::pair. We should find a way to NOT do this.
namespace std {
using gtsam::operator<<;
}

16
python/gtsam/preamble/base.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>); // JacobianVector

21
python/gtsam/preamble/geometry.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>);
PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs);
PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(
gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>);

17
python/gtsam/preamble/gtsam.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
#ifdef GTSAM_ALLOCATOR_TBB
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key>>);
#else
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>);
#endif

12
python/gtsam/preamble/linear.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

18
python/gtsam/preamble/navigation.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
// TODO(fan): This is to fix the Argument-dependent lookup (ADL) of std::pair.
// We should find a way to NOT do this.
namespace std {
using gtsam::operator<<;
}

12
python/gtsam/preamble/nonlinear.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

12
python/gtsam/preamble/sam.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

12
python/gtsam/preamble/sfm.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

17
python/gtsam/preamble/slam.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
PYBIND11_MAKE_OPAQUE(
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);

12
python/gtsam/preamble/symbolic.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11
* automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/

35
python/gtsam/specializations.h
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@ -1,35 +0,0 @@
/* Please refer to: https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `PYBIND11_MAKE_OPAQUE` will mark the type as "opaque" for the pybind11 automatic STL binding,
* such that the raw objects can be accessed in Python. Without this they will be automatically
* converted to a Python object, and all mutations on Python side will not be reflected on C++.
*
* `py::bind_vector` and similar machinery gives the std container a Python-like interface, but
* without the `<pybind11/stl.h>` copying mechanism. Combined with `PYBIND11_MAKE_OPAQUE` this
* allows the types to be modified with Python, and saves one copy operation.
*/
#ifdef GTSAM_ALLOCATOR_TBB
py::bind_vector<std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >();
#else
py::bind_vector<std::vector<gtsam::Key> >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key> >();
#endif
py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2> > >(m_, "Point2Vector");
py::bind_vector<std::vector<gtsam::Point3Pair> >(m_, "Point3Pairs");
py::bind_vector<std::vector<gtsam::Pose3Pair> >(m_, "Pose3Pairs");
py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s");
py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "BinaryMeasurementsUnit3");
py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");
py::bind_vector<std::vector<gtsam::Matrix> >(m_, "JacobianVector");

17
python/gtsam/specializations/base.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_vector<std::vector<gtsam::Matrix> >(m_, "JacobianVector");

23
python/gtsam/specializations/geometry.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_vector<
std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>>(
m_, "Point2Vector");
py::bind_vector<std::vector<gtsam::Point3Pair>>(m_, "Point3Pairs");
py::bind_vector<std::vector<gtsam::Pose3Pair>>(m_, "Pose3Pairs");
py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(
m_, "CameraSetCal3Bundler");

20
python/gtsam/specializations/gtsam.h Normal file
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/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
#ifdef GTSAM_ALLOCATOR_TBB
py::bind_vector<std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key, tbb::tbb_allocator<gtsam::Key> > >();
#else
py::bind_vector<std::vector<gtsam::Key> >(m_, "KeyVector");
py::implicitly_convertible<py::list, std::vector<gtsam::Key> >();
#endif

12
python/gtsam/specializations/linear.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/

12
python/gtsam/specializations/navigation.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/

12
python/gtsam/specializations/nonlinear.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/

12
python/gtsam/specializations/sam.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/

16
python/gtsam/specializations/sfm.h Normal file
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@ -0,0 +1,16 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
m_, "BinaryMeasurementsUnit3");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");

19
python/gtsam/specializations/slam.h Normal file
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@ -0,0 +1,19 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_vector<
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(
m_, "BetweenFactorPose3s");
py::bind_vector<
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(
m_, "BetweenFactorPose2s");

12
python/gtsam/specializations/symbolic.h Normal file
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@ -0,0 +1,12 @@
/* Please refer to:
* https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
* These are required to save one copy operation on Python calls.
*
* NOTES
* =================
*
* `py::bind_vector` and similar machinery gives the std container a Python-like
* interface, but without the `<pybind11/stl.h>` copying mechanism. Combined
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/