12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
gtsam/python/handwritten/slam/BearingFactor.cpp

17 lines
326 B
C++
Raw Normal View History

Example on how to wrap templated classes such as factors
2013-11-19 12:28:38 +08:00
#include <boost/python.hpp>
Define NO_IMPORT_ARRAY in all cpp files before including NumpyEigenConverter.hpp This fixes the segmentation fault when converting numpy and Eigen. The reason is that NumpyEigenConverter.hpp includes numpy/arrayobject.h, and for the numpy's C-API to work in multiple files we need to define NO_IMPORT_ARRAY before including numpy/arrayobject.h in all the source files but the one that defines the module initialization (exportgtsam.cpp in out case), as explained here: http://docs.scipy.org/doc/numpy/reference/c-api.array.html#importing-the-api Note that PY_ARRAY_UNIQUE_SYMBOL, also needed to work multifile, is already defined on NumpyEigenConverter.hpp.
2015-11-21 04:40:40 +08:00
#define NO_IMPORT_ARRAY
#include <numpy_eigen/NumpyEigenConverter.hpp>
Moved numpy_eigen headers to a more logical place
2016-01-29 08:47:12 +08:00
#include <gtsam/sam/BearingFactor.h>
Example on how to wrap templated classes such as factors
2013-11-19 12:28:38 +08:00
using namespace boost::python;
using namespace gtsam;
using namespace std;
Moved numpy_eigen headers to a more logical place
2016-01-29 08:47:12 +08:00
template <class VALUE>
void exportBearingFactor(const std::string& name) {
class_<VALUE>(name, init<>());
}