58 lines
1.8 KiB
C++
58 lines
1.8 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @brief exports NonlinearFactorGraph class to python
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* @author Andrew Melim
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* @author Ellon Paiva Mendes (LAAS-CNRS)
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**/
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#include <boost/python.hpp>
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#define NO_IMPORT_ARRAY
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#include <numpy_eigen/NumpyEigenConverter.hpp>
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#include "gtsam/nonlinear/NonlinearFactorGraph.h"
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#include "gtsam/nonlinear/NonlinearFactor.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, NonlinearFactorGraph::print, 0, 1);
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boost::shared_ptr<NonlinearFactor> getNonlinearFactor(
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const NonlinearFactorGraph& graph, size_t idx) {
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auto p = boost::dynamic_pointer_cast<NonlinearFactor>(graph.at(idx));
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if (!p) throw std::runtime_error("No NonlinearFactor at requested index");
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return p;
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};
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void exportNonlinearFactorGraph(){
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typedef NonlinearFactorGraph::sharedFactor sharedFactor;
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void (NonlinearFactorGraph::*push_back1)(const sharedFactor&) = &NonlinearFactorGraph::push_back;
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void (NonlinearFactorGraph::*add1)(const sharedFactor&) = &NonlinearFactorGraph::add;
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class_<NonlinearFactorGraph>("NonlinearFactorGraph", init<>())
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.def("size",&NonlinearFactorGraph::size)
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.def("push_back", push_back1)
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.def("add", add1)
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.def("resize", &NonlinearFactorGraph::resize)
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.def("empty", &NonlinearFactorGraph::empty)
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.def("print", &NonlinearFactorGraph::print, print_overloads(args("s")))
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.def("clone", &NonlinearFactorGraph::clone)
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;
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def("getNonlinearFactor", getNonlinearFactor);
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}
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