69 lines
3.6 KiB
C++
69 lines
3.6 KiB
C++
|
|
|
|
#include <pybind11/eigen.h>
|
|
#include <pybind11/stl_bind.h>
|
|
#include <pybind11/pybind11.h>
|
|
#include <pybind11/operators.h>
|
|
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
|
|
|
|
#include "gtsam/geometry/Point2.h"
|
|
#include "gtsam/geometry/Point3.h"
|
|
|
|
#include "wrap/serialization.h"
|
|
#include <boost/serialization/export.hpp>
|
|
|
|
BOOST_CLASS_EXPORT(gtsam::Point2)
|
|
BOOST_CLASS_EXPORT(gtsam::Point3)
|
|
|
|
|
|
|
|
|
|
using namespace std;
|
|
|
|
namespace py = pybind11;
|
|
|
|
PYBIND11_MODULE(geometry_py, m_) {
|
|
m_.doc() = "pybind11 wrapper of geometry_py";
|
|
|
|
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
|
|
|
|
py::class_<gtsam::Point2, std::shared_ptr<gtsam::Point2>>(m_gtsam, "Point2")
|
|
.def(py::init<>())
|
|
.def(py::init<double, double>(), py::arg("x"), py::arg("y"))
|
|
.def("x",[](gtsam::Point2* self){return self->x();})
|
|
.def("y",[](gtsam::Point2* self){return self->y();})
|
|
.def("dim",[](gtsam::Point2* self){return self->dim();})
|
|
.def("returnChar",[](gtsam::Point2* self){return self->returnChar();})
|
|
.def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, char& a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, char* a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, const std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, const char& a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argChar",[](gtsam::Point2* self, const char* a){ self->argChar(a);}, py::arg("a"))
|
|
.def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a"))
|
|
.def("eigenArguments",[](gtsam::Point2* self, const gtsam::Vector& v, const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m"))
|
|
.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
|
|
.def("serialize", [](gtsam::Point2* self){ return gtsam::serialize(*self); })
|
|
.def("deserialize", [](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")
|
|
.def(py::init<double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z"))
|
|
.def("norm",[](gtsam::Point3* self){return self->norm();})
|
|
.def("serialize", [](gtsam::Point3* self){ return gtsam::serialize(*self); })
|
|
.def("deserialize", [](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"));
|
|
|
|
|
|
#include "python/specializations.h"
|
|
|
|
}
|
|
|