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gtsam/python/handwritten/slam/PriorFactor.cpp

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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 PriorFactor for several values to python
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
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>
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/slam/PriorFactor.h"
#include "gtsam/geometry/Point2.h"
#include "gtsam/geometry/Rot2.h"
#include "gtsam/geometry/Pose2.h"
#include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Rot3.h"
#include "gtsam/geometry/Pose3.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;
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
// template< class FACTOR, class VALUE >
// void exportPriorFactor(const std::string& name){
// class_< FACTOR >(name.c_str(), init<>())
// .def(init< Key, VALUE&, SharedNoiseModel >())
// ;
// }
#define PRIORFACTOR(VALUE) \
class_< PriorFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< PriorFactor<VALUE> > >("PriorFactor"#VALUE) \
.def(init<Key,VALUE,noiseModel::Base::shared_ptr>()) \
.def("prior", &PriorFactor<VALUE>::prior, return_internal_reference<>()) \
;
void exportPriorFactors()
{
PRIORFACTOR(Point2)
PRIORFACTOR(Rot2)
PRIORFACTOR(Pose2)
PRIORFACTOR(Point3)
PRIORFACTOR(Rot3)
PRIORFACTOR(Pose3)
Example on how to wrap templated classes such as factors
2013-11-19 12:28:38 +08:00
}