69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @brief wraps Point3 class to python
|
|
* @author Andrew Melim
|
|
* @author Ellon Paiva Mendes (LAAS-CNRS)
|
|
**/
|
|
|
|
#include <boost/python.hpp>
|
|
|
|
#define NO_IMPORT_ARRAY
|
|
#include <numpy_eigen/NumpyEigenConverter.hpp>
|
|
|
|
#include "gtsam/geometry/Point3.h"
|
|
|
|
using namespace boost::python;
|
|
using namespace gtsam;
|
|
|
|
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point3::print, 0, 1)
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point3::equals, 1, 2)
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(norm_overloads, Point3::norm, 0, 1)
|
|
#endif
|
|
|
|
void exportPoint3(){
|
|
|
|
#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
|
|
class_<Point3>("Point3")
|
|
.def(init<>())
|
|
.def(init<double,double,double>())
|
|
.def(init<const Vector3 &>())
|
|
.def("vector", &Point3::vector, return_value_policy<copy_const_reference>())
|
|
.def("x", &Point3::x)
|
|
.def("y", &Point3::y)
|
|
.def("z", &Point3::z)
|
|
.def("print", &Point3::print, print_overloads(args("s")))
|
|
.def("equals", &Point3::equals, equals_overloads(args("q","tol")))
|
|
.def("distance", &Point3::distance)
|
|
.def("cross", &Point3::cross)
|
|
.def("dot", &Point3::dot)
|
|
.def("norm", &Point3::norm, norm_overloads(args("OptionalJacobian<1,3>")))
|
|
.def("normalized", &Point3::normalized)
|
|
.def("identity", &Point3::identity)
|
|
.staticmethod("identity")
|
|
.def(self * other<double>())
|
|
.def(other<double>() * self)
|
|
.def(self + self)
|
|
.def(-self)
|
|
.def(self - self)
|
|
.def(self / other<double>())
|
|
.def(self_ns::str(self))
|
|
.def(repr(self))
|
|
.def(self == self);
|
|
#endif
|
|
|
|
class_<Point3Pair>("Point3Pair", init<Point3, Point3>())
|
|
.def_readwrite("first", &Point3Pair::first)
|
|
.def_readwrite("second", &Point3Pair::second);
|
|
}
|