86 lines
3.5 KiB
C++
86 lines
3.5 KiB
C++
#include <pybind11/eigen.h>
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#include <pybind11/stl_bind.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/operators.h>
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#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
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using namespace std;
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namespace py = pybind11;
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PYBIND11_MODULE(enum_py, m_) {
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m_.doc() = "pybind11 wrapper of enum_py";
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py::enum_<Color>(m_, "Color", py::arithmetic())
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.value("Red", Color::Red)
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.value("Green", Color::Green)
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.value("Blue", Color::Blue);
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py::class_<Pet, std::shared_ptr<Pet>> pet(m_, "Pet");
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pet
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.def(py::init<const string&, Pet::Kind>(), py::arg("name"), py::arg("type"))
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.def("setColor",[](Pet* self, const Color& color){ self->setColor(color);}, py::arg("color"))
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.def("getColor",[](Pet* self){return self->getColor();})
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.def_readwrite("name", &Pet::name)
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.def_readwrite("type", &Pet::type);
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py::enum_<Pet::Kind>(pet, "Kind", py::arithmetic())
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.value("Dog", Pet::Kind::Dog)
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.value("Cat", Pet::Kind::Cat);
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pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
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py::enum_<gtsam::VerbosityLM>(m_gtsam, "VerbosityLM", py::arithmetic())
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.value("SILENT", gtsam::VerbosityLM::SILENT)
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.value("SUMMARY", gtsam::VerbosityLM::SUMMARY)
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.value("TERMINATION", gtsam::VerbosityLM::TERMINATION)
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.value("LAMBDA", gtsam::VerbosityLM::LAMBDA)
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.value("TRYLAMBDA", gtsam::VerbosityLM::TRYLAMBDA)
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.value("TRYCONFIG", gtsam::VerbosityLM::TRYCONFIG)
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.value("DAMPED", gtsam::VerbosityLM::DAMPED)
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.value("TRYDELTA", gtsam::VerbosityLM::TRYDELTA);
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py::class_<gtsam::MCU, std::shared_ptr<gtsam::MCU>> mcu(m_gtsam, "MCU");
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mcu
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.def(py::init<>());
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py::enum_<gtsam::MCU::Avengers>(mcu, "Avengers", py::arithmetic())
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.value("CaptainAmerica", gtsam::MCU::Avengers::CaptainAmerica)
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.value("IronMan", gtsam::MCU::Avengers::IronMan)
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.value("Hulk", gtsam::MCU::Avengers::Hulk)
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.value("Hawkeye", gtsam::MCU::Avengers::Hawkeye)
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.value("Thor", gtsam::MCU::Avengers::Thor);
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py::enum_<gtsam::MCU::GotG>(mcu, "GotG", py::arithmetic())
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.value("Starlord", gtsam::MCU::GotG::Starlord)
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.value("Gamorra", gtsam::MCU::GotG::Gamorra)
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.value("Rocket", gtsam::MCU::GotG::Rocket)
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.value("Drax", gtsam::MCU::GotG::Drax)
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.value("Groot", gtsam::MCU::GotG::Groot);
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py::class_<gtsam::Optimizer<gtsam::GaussNewtonParams>, std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>> optimizergaussnewtonparams(m_gtsam, "OptimizerGaussNewtonParams");
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optimizergaussnewtonparams
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.def(py::init<const Optimizer<gtsam::GaussNewtonParams>::Verbosity&>(), py::arg("verbosity"))
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.def("setVerbosity",[](gtsam::Optimizer<gtsam::GaussNewtonParams>* self, const Optimizer<gtsam::GaussNewtonParams>::Verbosity value){ self->setVerbosity(value);}, py::arg("value"))
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.def("getVerbosity",[](gtsam::Optimizer<gtsam::GaussNewtonParams>* self){return self->getVerbosity();})
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.def("getVerbosity",[](gtsam::Optimizer<gtsam::GaussNewtonParams>* self){return self->getVerbosity();});
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py::enum_<gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity>(optimizergaussnewtonparams, "Verbosity", py::arithmetic())
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.value("SILENT", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::SILENT)
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.value("SUMMARY", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::SUMMARY)
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.value("VERBOSE", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::VERBOSE);
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#include "python/specializations.h"
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}
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