35 lines
970 B
C++
35 lines
970 B
C++
|
#include <pybind11/eigen.h>
|
||
|
|
#include <pybind11/stl_bind.h>
|
||
|
|
#include <pybind11/pybind11.h>
|
||
|
|
#include <pybind11/operators.h>
|
||
|
|
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
|
||
|
|
|
||
|
|
#include "gtsam/geometry/Pose3.h"
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
|
||
|
|
namespace py = pybind11;
|
||
|
|
|
||
|
|
PYBIND11_MODULE(operator_py, m_) {
|
||
|
|
m_.doc() = "pybind11 wrapper of operator_py";
|
||
|
|
|
||
|
|
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
|
||
|
|
|
||
|
|
py::class_<gtsam::Pose3, std::shared_ptr<gtsam::Pose3>>(m_gtsam, "Pose3")
|
||
|
|
.def(py::init<>())
|
||
|
|
.def(py::init<gtsam::Rot3, gtsam::Point3>(), py::arg("R"), py::arg("t"))
|
||
|
|
.def(py::self * py::self);
|
||
|
|
|
||
|
|
py::class_<gtsam::Container<gtsam::Matrix>, std::shared_ptr<gtsam::Container<gtsam::Matrix>>>(m_gtsam, "ContainerMatrix")
|
||
|
|
.def("__call__", >sam::Container<gtsam::Matrix>::operator())
|
||
|
|
.def("__getitem__", >sam::Container<gtsam::Matrix>::operator[]);
|
||
|
|
|
||
|
|
|
||
|
|
#include "python/specializations.h"
|
||
|
|
|
||
|
|
}
|
||
|
|
|