78 lines
3.0 KiB
C++
78 lines
3.0 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 wraps ConstantTwistScenario class to python
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* @author Frank Dellaert
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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/navigation/ScenarioRunner.h"
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using namespace boost::python;
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using namespace gtsam;
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// Create const Scenario pointer from ConstantTwistScenario
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static const Scenario* ScenarioPointer(const ConstantTwistScenario& scenario) {
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return static_cast<const Scenario*>(&scenario);
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}
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void exportScenario() {
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// NOTE(frank): Abstract classes need boost::noncopyable
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class_<Scenario, boost::noncopyable>("Scenario", no_init);
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// TODO(frank): figure out how to do inheritance
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class_<ConstantTwistScenario>("ConstantTwistScenario",
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init<const Vector3&, const Vector3&>())
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.def("pose", &Scenario::pose)
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.def("omega_b", &Scenario::omega_b)
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.def("velocity_n", &Scenario::velocity_n)
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.def("acceleration_n", &Scenario::acceleration_n)
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.def("rotation", &Scenario::rotation)
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.def("velocity_b", &Scenario::velocity_b)
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.def("acceleration_b", &Scenario::acceleration_b);
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// NOTE(frank): https://wiki.python.org/moin/boost.python/CallPolicy
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def("ScenarioPointer", &ScenarioPointer,
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return_value_policy<reference_existing_object>());
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class_<PreintegrationParams, boost::shared_ptr<PreintegrationParams> >(
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"PreintegrationParams", init<const Vector3&>())
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.def_readwrite("gyroscopeCovariance",
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&PreintegrationParams::gyroscopeCovariance)
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.def_readwrite("omegaCoriolis", &PreintegrationParams::omegaCoriolis)
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.def_readwrite("body_P_sensor", &PreintegrationParams::body_P_sensor)
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.def_readwrite("accelerometerCovariance",
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&PreintegrationParams::accelerometerCovariance)
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.def_readwrite("integrationCovariance",
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&PreintegrationParams::integrationCovariance)
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.def_readwrite("use2ndOrderCoriolis",
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&PreintegrationParams::use2ndOrderCoriolis)
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.def_readwrite("n_gravity", &PreintegrationParams::n_gravity)
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.def("MakeSharedD", &PreintegrationParams::MakeSharedD)
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.staticmethod("MakeSharedD")
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.def("MakeSharedU", &PreintegrationParams::MakeSharedU)
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.staticmethod("MakeSharedU");
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class_<ScenarioRunner>(
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"ScenarioRunner",
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init<const Scenario*, const boost::shared_ptr<PreintegrationParams>&,
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double>())
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.def("actualSpecificForce", &ScenarioRunner::actualSpecificForce)
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.def("measuredAngularVelocity", &ScenarioRunner::measuredAngularVelocity)
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.def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce);
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}
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