12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
gtsam/python/handwritten/geometry/Pose3.cpp

92 lines
4.1 KiB
C++
Raw Normal View History

Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @brief wraps Pose3 class to python
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
#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>
Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
#include "gtsam/geometry/Pose3.h"
#include "gtsam/geometry/Pose2.h"
#include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Rot3.h"
using namespace boost::python;
using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Pose3::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose3::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose3::transform_to, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose3::transform_from, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(translation_overloads, Pose3::translation, 0, 1)
Wrap more methods of Pose3 to python
2015-11-24 05:42:19 +08:00
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose3::compose, 2, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose3::between, 2, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose3::bearing, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose3::range, 1, 3)
Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
void exportPose3(){
Wrap more methods of Pose3 to python
2015-11-24 05:42:19 +08:00
// function pointers to desambiguate transform_to() calls
Point3 (Pose3::*transform_to1)(const Point3&, OptionalJacobian< 3, 6 >, OptionalJacobian< 3, 3 > ) const = &Pose3::transform_to;
Pose3 (Pose3::*transform_to2)(const Pose3&) const = &Pose3::transform_to;
// function pointers to desambiguate compose() calls
Pose3 (Pose3::*compose1)(const Pose3 &g) const = &Pose3::compose;
Pose3 (Pose3::*compose2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::compose;
// function pointers to desambiguate between() calls
Pose3 (Pose3::*between1)(const Pose3 &g) const = &Pose3::between;
Pose3 (Pose3::*between2)(const Pose3 &g, typename Pose3::ChartJacobian, typename Pose3::ChartJacobian) const = &Pose3::between;
// function pointers to desambiguate range() calls
double (Pose3::*range1)(const Point3 &, OptionalJacobian<1,6>, OptionalJacobian<1,3>) const = &Pose3::range;
double (Pose3::*range2)(const Pose3 &, OptionalJacobian<1,6>, OptionalJacobian<1,6>) const = &Pose3::range;
Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
class_<Pose3>("Pose3")
.def(init<>())
Add constness to matrices and vectors
2015-11-20 23:05:42 +08:00
.def(init<const Pose3 &>())
.def(init<const Rot3 &,const Point3 &>())
.def(init<const Rot3 &,const Vector3 &>())
.def(init<const Pose2 &>())
.def(init<const Matrix &>())
Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
.def("print", &Pose3::print, print_overloads(args("s")))
.def("equals", &Pose3::equals, equals_overloads(args("pose","tol")))
.def("identity", &Pose3::identity)
.staticmethod("identity")
.def("bearing", &Pose3::bearing)
.def("matrix", &Pose3::matrix)
.def("transform_from", &Pose3::transform_from,
transform_from_overloads(args("point", "H1", "H2")))
.def("transform_to", transform_to1,
transform_to_overloads(args("point", "H1", "H2")))
.def("transform_to", transform_to2)
.def("x", &Pose3::x)
.def("y", &Pose3::y)
.def("z", &Pose3::z)
.def("translation", &Pose3::translation,
translation_overloads()[return_value_policy<copy_const_reference>()])
.def("rotation", &Pose3::rotation, return_value_policy<copy_const_reference>())
.def(self * self) // __mult__
.def(self * other<Point3>()) // __mult__
.def(self_ns::str(self)) // __str__
.def(repr(self)) // __repr__
Wrap more methods of Pose3 to python
2015-11-24 05:42:19 +08:00
.def("compose", compose1)
.def("compose", compose2, compose_overloads())
.def("between", between1)
.def("between", between2, between_overloads())
.def("range", range1, range_overloads())
.def("range", range2, range_overloads())
.def("bearing", &Pose3::bearing, bearing_overloads())
Move my developments to the handwritten structure of files that existed before There's a problem with numpy_eigen causing a segmentation fault.
2015-11-20 01:31:38 +08:00
;
}