48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
#include <boost/python.hpp>
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#include "gtsam/geometry/Rot2.h"
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using namespace boost::python;
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using namespace gtsam;
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot2::equals, 1, 2)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Rot2::compose, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(relativeBearing_overloads, Rot2::relativeBearing, 1, 3)
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void exportRot2(){
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class_<Rot2>("Rot2", init<>())
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.def(init<double>())
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.def("fromAngle", &Rot2::fromAngle)
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.staticmethod("fromAngle")
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.def("fromDegrees", &Rot2::fromDegrees)
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.staticmethod("fromDegrees")
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.def("fromCosSin", &Rot2::fromCosSin)
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.staticmethod("fromCosSin")
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.def("atan2", &Rot2::atan2)
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.staticmethod("atan2")
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.def("print", &Rot2::print, print_overloads(args("s")))
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.def("equals", &Rot2::equals, equals_overloads(args("q","tol")))
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.def("inverse", &Rot2::inverse)
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.def("compose", &Rot2::compose, compose_overloads(args("q", "H1", "H2")))
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.def("between", &Rot2::between)
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.def("dim", &Rot2::dim)
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.def("retract", &Rot2::retract)
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.def("Expmap", &Rot2::Expmap)
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.staticmethod("Expmap")
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.def("theta", &Rot2::theta)
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.def("degrees", &Rot2::degrees)
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.def("c", &Rot2::c)
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.def("s", &Rot2::s)
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.def(self * self) // __mult__
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;
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} |