501 lines
21 KiB
Cython
501 lines
21 KiB
Cython
cimport numpy as np
|
|
import numpy as npp
|
|
cimport geometry
|
|
from geometry cimport shared_ptr
|
|
from geometry cimport dynamic_pointer_cast
|
|
from geometry cimport make_shared
|
|
from eigency.core cimport *
|
|
from libcpp cimport bool
|
|
|
|
from libcpp.pair cimport pair
|
|
from libcpp.string cimport string
|
|
from cython.operator cimport dereference as deref
|
|
|
|
|
|
cdef class Point2:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CPoint2_ = shared_ptr[CPoint2]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.Point2_0(*args, **kwargs):
|
|
pass
|
|
elif self.Point2_1(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('Point2 construction failed!')
|
|
|
|
def Point2_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CPoint2_ = shared_ptr[CPoint2](new CPoint2())
|
|
return True
|
|
|
|
def Point2_1(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=2:
|
|
return False
|
|
__params = kwargs.copy()
|
|
__names = ['x', 'y']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
try:
|
|
x = <double>(__params['x'])
|
|
y = <double>(__params['y'])
|
|
except:
|
|
return False
|
|
self.shared_CPoint2_ = shared_ptr[CPoint2](new CPoint2(x, y))
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other):
|
|
cdef Point2 ret = Point2(cyCreateFromShared=True)
|
|
ret.shared_CPoint2_ = other
|
|
return ret
|
|
def argChar(self, char a):
|
|
self.shared_CPoint2_.get().argChar(a)
|
|
def argUChar(self, unsigned char a):
|
|
self.shared_CPoint2_.get().argUChar(a)
|
|
def dim(self):
|
|
cdef int ret = self.shared_CPoint2_.get().dim()
|
|
return ret
|
|
def eigenArguments(self, np.ndarray v, np.ndarray m):
|
|
v = v.astype(float, order='F', copy=False)
|
|
m = m.astype(float, order='F', copy=False)
|
|
self.shared_CPoint2_.get().eigenArguments(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](m)))
|
|
def returnChar(self):
|
|
cdef char ret = self.shared_CPoint2_.get().returnChar()
|
|
return ret
|
|
def vectorConfusion(self):
|
|
cdef shared_ptr[CVectorNotEigen] ret = make_shared[CVectorNotEigen](self.shared_CPoint2_.get().vectorConfusion())
|
|
return VectorNotEigen.cyCreateFromShared(ret)
|
|
def x(self):
|
|
cdef double ret = self.shared_CPoint2_.get().x()
|
|
return ret
|
|
def y(self):
|
|
cdef double ret = self.shared_CPoint2_.get().y()
|
|
return ret
|
|
|
|
|
|
cdef class Point3:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CPoint3_ = shared_ptr[CPoint3]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.Point3_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('Point3 construction failed!')
|
|
|
|
def Point3_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=3:
|
|
return False
|
|
__params = kwargs.copy()
|
|
__names = ['x', 'y', 'z']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
try:
|
|
x = <double>(__params['x'])
|
|
y = <double>(__params['y'])
|
|
z = <double>(__params['z'])
|
|
except:
|
|
return False
|
|
self.shared_CPoint3_ = shared_ptr[CPoint3](new CPoint3(x, y, z))
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other):
|
|
cdef Point3 ret = Point3(cyCreateFromShared=True)
|
|
ret.shared_CPoint3_ = other
|
|
return ret
|
|
@staticmethod
|
|
def StaticFunctionRet(double z):
|
|
return Point3.cyCreateFromShared(make_shared[CPoint3](CPoint3.StaticFunctionRet(z)))
|
|
|
|
@staticmethod
|
|
def staticFunction():
|
|
return CPoint3.staticFunction()
|
|
|
|
|
|
def norm(self):
|
|
cdef double ret = self.shared_CPoint3_.get().norm()
|
|
return ret
|
|
|
|
|
|
cdef class Test:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CTest_ = shared_ptr[CTest]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.Test_0(*args, **kwargs):
|
|
pass
|
|
elif self.Test_1(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('Test construction failed!')
|
|
|
|
def Test_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CTest_ = shared_ptr[CTest](new CTest())
|
|
return True
|
|
|
|
def Test_1(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=2:
|
|
return False
|
|
__params = kwargs.copy()
|
|
__names = ['a', 'b']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
if not isinstance(__params[__names[1]], np.ndarray) or not __params[__names[1]].ndim == 2:
|
|
return False
|
|
try:
|
|
a = <double>(__params['a'])
|
|
b = <np.ndarray>(__params['b'])
|
|
except:
|
|
return False
|
|
b = b.astype(float, order='F', copy=False)
|
|
self.shared_CTest_ = shared_ptr[CTest](new CTest(a, <MatrixXd>(Map[MatrixXd](b))))
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef Test cyCreateFromShared(const shared_ptr[CTest]& other):
|
|
cdef Test ret = Test(cyCreateFromShared=True)
|
|
ret.shared_CTest_ = other
|
|
return ret
|
|
def arg_EigenConstRef(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
self.shared_CTest_.get().arg_EigenConstRef(<MatrixXd>(Map[MatrixXd](value)))
|
|
def create_MixedPtrs(self):
|
|
cdef pair [CTest,shared_ptr[CTest]] ret = self.shared_CTest_.get().create_MixedPtrs()
|
|
return (Test.cyCreateFromShared(make_shared[CTest](ret.first)),Test.cyCreateFromShared(ret.second))
|
|
def create_ptrs(self):
|
|
cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.shared_CTest_.get().create_ptrs()
|
|
return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
|
|
def __str__(self):
|
|
self.print_('')
|
|
return ''
|
|
def print_(self):
|
|
self.shared_CTest_.get().print_()
|
|
def return_Point2Ptr(self, bool value):
|
|
cdef shared_ptr[CPoint2] ret = self.shared_CTest_.get().return_Point2Ptr(value)
|
|
return Point2.cyCreateFromShared(ret)
|
|
def return_Test(self, Test value):
|
|
cdef shared_ptr[CTest] ret = make_shared[CTest](self.shared_CTest_.get().return_Test(value.shared_CTest_))
|
|
return Test.cyCreateFromShared(ret)
|
|
def return_TestPtr(self, Test value):
|
|
cdef shared_ptr[CTest] ret = self.shared_CTest_.get().return_TestPtr(value.shared_CTest_)
|
|
return Test.cyCreateFromShared(ret)
|
|
def return_bool(self, bool value):
|
|
cdef bool ret = self.shared_CTest_.get().return_bool(value)
|
|
return ret
|
|
def return_double(self, double value):
|
|
cdef double ret = self.shared_CTest_.get().return_double(value)
|
|
return ret
|
|
def return_field(self, Test t):
|
|
cdef bool ret = self.shared_CTest_.get().return_field(deref(t.shared_CTest_))
|
|
return ret
|
|
def return_int(self, int value):
|
|
cdef int ret = self.shared_CTest_.get().return_int(value)
|
|
return ret
|
|
def return_matrix1(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef MatrixXd ret = self.shared_CTest_.get().return_matrix1(<MatrixXd>(Map[MatrixXd](value)))
|
|
return ndarray_copy(ret)
|
|
def return_matrix2(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef MatrixXd ret = self.shared_CTest_.get().return_matrix2(<MatrixXd>(Map[MatrixXd](value)))
|
|
return ndarray_copy(ret)
|
|
def return_pair(self, np.ndarray v, np.ndarray A):
|
|
v = v.astype(float, order='F', copy=False)
|
|
A = A.astype(float, order='F', copy=False)
|
|
cdef pair [VectorXd,MatrixXd] ret = self.shared_CTest_.get().return_pair(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](A)))
|
|
return (ndarray_copy(ret.first).squeeze(),ndarray_copy(ret.second))
|
|
def return_ptrs(self, Test p1, Test p2):
|
|
cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.shared_CTest_.get().return_ptrs(p1.shared_CTest_, p2.shared_CTest_)
|
|
return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
|
|
def return_size_t(self, size_t value):
|
|
cdef size_t ret = self.shared_CTest_.get().return_size_t(value)
|
|
return ret
|
|
def return_string(self, string value):
|
|
cdef string ret = self.shared_CTest_.get().return_string(value)
|
|
return ret
|
|
def return_vector1(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef VectorXd ret = self.shared_CTest_.get().return_vector1(<VectorXd>(Map[VectorXd](value)))
|
|
return ndarray_copy(ret).squeeze()
|
|
def return_vector2(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef VectorXd ret = self.shared_CTest_.get().return_vector2(<VectorXd>(Map[VectorXd](value)))
|
|
return ndarray_copy(ret).squeeze()
|
|
|
|
|
|
cdef class MyBase:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyBase_ = shared_ptr[CMyBase]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
else:
|
|
raise TypeError('MyBase construction failed!')
|
|
|
|
@staticmethod
|
|
cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other):
|
|
cdef MyBase ret = MyBase(cyCreateFromShared=True)
|
|
ret.shared_CMyBase_ = other
|
|
return ret
|
|
|
|
|
|
cdef class MyTemplatePoint2(MyBase):
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.MyTemplatePoint2_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('MyTemplatePoint2 construction failed!')
|
|
self.shared_CMyBase_ = <shared_ptr[CMyBase]>(self.shared_CMyTemplatePoint2_)
|
|
|
|
def MyTemplatePoint2_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2](new CMyTemplatePoint2())
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other):
|
|
cdef MyTemplatePoint2 ret = MyTemplatePoint2(cyCreateFromShared=True)
|
|
ret.shared_CMyTemplatePoint2_ = other
|
|
ret.shared_CMyBase_ = <shared_ptr[CMyBase]>(other)
|
|
return ret
|
|
def accept_T(self, Point2 value):
|
|
self.shared_CMyTemplatePoint2_.get().accept_T(deref(value.shared_CPoint2_))
|
|
def accept_Tptr(self, Point2 value):
|
|
self.shared_CMyTemplatePoint2_.get().accept_Tptr(value.shared_CPoint2_)
|
|
def create_MixedPtrs(self):
|
|
cdef pair [CPoint2,shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().create_MixedPtrs()
|
|
return (Point2.cyCreateFromShared(make_shared[CPoint2](ret.first)),Point2.cyCreateFromShared(ret.second))
|
|
def create_ptrs(self):
|
|
cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().create_ptrs()
|
|
return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
|
|
def return_T(self, Point2 value):
|
|
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplatePoint2_.get().return_T(value.shared_CPoint2_))
|
|
return Point2.cyCreateFromShared(ret)
|
|
def return_Tptr(self, Point2 value):
|
|
cdef shared_ptr[CPoint2] ret = self.shared_CMyTemplatePoint2_.get().return_Tptr(value.shared_CPoint2_)
|
|
return Point2.cyCreateFromShared(ret)
|
|
def return_ptrs(self, Point2 p1, Point2 p2):
|
|
cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().return_ptrs(p1.shared_CPoint2_, p2.shared_CPoint2_)
|
|
return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
|
|
def templatedMethodMatrix(self, np.ndarray t):
|
|
t = t.astype(float, order='F', copy=False)
|
|
cdef MatrixXd ret = self.shared_CMyTemplatePoint2_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
|
|
return ndarray_copy(ret)
|
|
def templatedMethodPoint2(self, Point2 t):
|
|
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplatePoint2_.get().templatedMethod[CPoint2](deref(t.shared_CPoint2_)))
|
|
return Point2.cyCreateFromShared(ret)
|
|
def templatedMethodPoint3(self, Point3 t):
|
|
cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.shared_CMyTemplatePoint2_.get().templatedMethod[CPoint3](deref(t.shared_CPoint3_)))
|
|
return Point3.cyCreateFromShared(ret)
|
|
def templatedMethodVector(self, np.ndarray t):
|
|
t = t.astype(float, order='F', copy=False)
|
|
cdef VectorXd ret = self.shared_CMyTemplatePoint2_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
|
|
return ndarray_copy(ret).squeeze()
|
|
def dynamic_cast_MyTemplatePoint2_MyBase(MyBase parent):
|
|
return MyTemplatePoint2.cyCreateFromShared(<shared_ptr[CMyTemplatePoint2]>dynamic_pointer_cast[CMyTemplatePoint2,CMyBase](parent.shared_CMyBase_))
|
|
|
|
|
|
cdef class MyTemplateMatrix(MyBase):
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.MyTemplateMatrix_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('MyTemplateMatrix construction failed!')
|
|
self.shared_CMyBase_ = <shared_ptr[CMyBase]>(self.shared_CMyTemplateMatrix_)
|
|
|
|
def MyTemplateMatrix_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix](new CMyTemplateMatrix())
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other):
|
|
cdef MyTemplateMatrix ret = MyTemplateMatrix(cyCreateFromShared=True)
|
|
ret.shared_CMyTemplateMatrix_ = other
|
|
ret.shared_CMyBase_ = <shared_ptr[CMyBase]>(other)
|
|
return ret
|
|
def accept_T(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
self.shared_CMyTemplateMatrix_.get().accept_T(<MatrixXd>(Map[MatrixXd](value)))
|
|
def accept_Tptr(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
self.shared_CMyTemplateMatrix_.get().accept_Tptr(<MatrixXd>(Map[MatrixXd](value)))
|
|
def create_MixedPtrs(self):
|
|
cdef pair [MatrixXd,shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().create_MixedPtrs()
|
|
return (ndarray_copy(ret.first),ndarray_copy(ret.second))
|
|
def create_ptrs(self):
|
|
cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().create_ptrs()
|
|
return (ndarray_copy(ret.first),ndarray_copy(ret.second))
|
|
def return_T(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef MatrixXd ret = self.shared_CMyTemplateMatrix_.get().return_T(<MatrixXd>(Map[MatrixXd](value)))
|
|
return ndarray_copy(ret)
|
|
def return_Tptr(self, np.ndarray value):
|
|
value = value.astype(float, order='F', copy=False)
|
|
cdef shared_ptr[MatrixXd] ret = self.shared_CMyTemplateMatrix_.get().return_Tptr(<MatrixXd>(Map[MatrixXd](value)))
|
|
return ndarray_copy(ret)
|
|
def return_ptrs(self, np.ndarray p1, np.ndarray p2):
|
|
p1 = p1.astype(float, order='F', copy=False)
|
|
p2 = p2.astype(float, order='F', copy=False)
|
|
cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().return_ptrs(<MatrixXd>(Map[MatrixXd](p1)), <MatrixXd>(Map[MatrixXd](p2)))
|
|
return (ndarray_copy(ret.first),ndarray_copy(ret.second))
|
|
def templatedMethodMatrix(self, np.ndarray t):
|
|
t = t.astype(float, order='F', copy=False)
|
|
cdef MatrixXd ret = self.shared_CMyTemplateMatrix_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
|
|
return ndarray_copy(ret)
|
|
def templatedMethodPoint2(self, Point2 t):
|
|
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplateMatrix_.get().templatedMethod[CPoint2](deref(t.shared_CPoint2_)))
|
|
return Point2.cyCreateFromShared(ret)
|
|
def templatedMethodPoint3(self, Point3 t):
|
|
cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.shared_CMyTemplateMatrix_.get().templatedMethod[CPoint3](deref(t.shared_CPoint3_)))
|
|
return Point3.cyCreateFromShared(ret)
|
|
def templatedMethodVector(self, np.ndarray t):
|
|
t = t.astype(float, order='F', copy=False)
|
|
cdef VectorXd ret = self.shared_CMyTemplateMatrix_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
|
|
return ndarray_copy(ret).squeeze()
|
|
def dynamic_cast_MyTemplateMatrix_MyBase(MyBase parent):
|
|
return MyTemplateMatrix.cyCreateFromShared(<shared_ptr[CMyTemplateMatrix]>dynamic_pointer_cast[CMyTemplateMatrix,CMyBase](parent.shared_CMyBase_))
|
|
|
|
|
|
cdef class MyVector3:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyVector3_ = shared_ptr[CMyVector3]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.MyVector3_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('MyVector3 construction failed!')
|
|
|
|
def MyVector3_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CMyVector3_ = shared_ptr[CMyVector3](new CMyVector3())
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef MyVector3 cyCreateFromShared(const shared_ptr[CMyVector3]& other):
|
|
cdef MyVector3 ret = MyVector3(cyCreateFromShared=True)
|
|
ret.shared_CMyVector3_ = other
|
|
return ret
|
|
|
|
|
|
cdef class MyVector12:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyVector12_ = shared_ptr[CMyVector12]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.MyVector12_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('MyVector12 construction failed!')
|
|
|
|
def MyVector12_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=0:
|
|
return False
|
|
self.shared_CMyVector12_ = shared_ptr[CMyVector12](new CMyVector12())
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef MyVector12 cyCreateFromShared(const shared_ptr[CMyVector12]& other):
|
|
cdef MyVector12 ret = MyVector12(cyCreateFromShared=True)
|
|
ret.shared_CMyVector12_ = other
|
|
return ret
|
|
|
|
|
|
cdef class MyFactorPosePoint2:
|
|
def __init__(self, *args, **kwargs):
|
|
self.shared_CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
elif self.MyFactorPosePoint2_0(*args, **kwargs):
|
|
pass
|
|
else:
|
|
raise TypeError('MyFactorPosePoint2 construction failed!')
|
|
|
|
def MyFactorPosePoint2_0(self, *args, **kwargs):
|
|
if len(args)+len(kwargs) !=4:
|
|
return False
|
|
__params = kwargs.copy()
|
|
__names = ['key1', 'key2', 'measured', 'noiseModel']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
if not isinstance(__params[__names[3]], noiseModel_Base):
|
|
return False
|
|
try:
|
|
key1 = <size_t>(__params['key1'])
|
|
key2 = <size_t>(__params['key2'])
|
|
measured = <double>(__params['measured'])
|
|
noiseModel = <noiseModel_Base>(__params['noiseModel'])
|
|
except:
|
|
return False
|
|
self.shared_CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2](new CMyFactorPosePoint2(key1, key2, measured, noiseModel.shared_CnoiseModel_Base_))
|
|
return True
|
|
|
|
|
|
@staticmethod
|
|
cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other):
|
|
cdef MyFactorPosePoint2 ret = MyFactorPosePoint2(cyCreateFromShared=True)
|
|
ret.shared_CMyFactorPosePoint2_ = other
|
|
return ret
|
|
|
|
|
|
|
|
def aGlobalFunction():
|
|
cdef VectorXd ret = pxd_aGlobalFunction()
|
|
return ndarray_copy(ret).squeeze()
|
|
def overloadedGlobalFunction(*args, **kwargs):
|
|
success, results = overloadedGlobalFunction_0(*args, **kwargs)
|
|
if success:
|
|
return results
|
|
success, results = overloadedGlobalFunction_1(*args, **kwargs)
|
|
if success:
|
|
return results
|
|
raise TypeError('Could not find the correct overload')
|
|
def overloadedGlobalFunction_0(*args, **kwargs):
|
|
if len(args)+len(kwargs) !=1:
|
|
return False, None
|
|
__params = kwargs.copy()
|
|
__names = ['a']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
try:
|
|
a = <int>(__params['a'])
|
|
except:
|
|
return False, None
|
|
cdef VectorXd ret = pxd_overloadedGlobalFunction(a)
|
|
return True, ndarray_copy(ret).squeeze()
|
|
def overloadedGlobalFunction_1(*args, **kwargs):
|
|
if len(args)+len(kwargs) !=2:
|
|
return False, None
|
|
__params = kwargs.copy()
|
|
__names = ['a', 'b']
|
|
for i in range(len(args)):
|
|
__params[__names[i]] = args[i]
|
|
try:
|
|
a = <int>(__params['a'])
|
|
b = <double>(__params['b'])
|
|
except:
|
|
return False, None
|
|
cdef VectorXd ret = pxd_overloadedGlobalFunction(a, b)
|
|
return True, ndarray_copy(ret).squeeze()
|