63 lines
3.5 KiB
C++
63 lines
3.5 KiB
C++
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#include <pybind11/eigen.h>
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#include <pybind11/stl_bind.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/operators.h>
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#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
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#include "gtsam/geometry/Point2.h"
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#include "gtsam/geometry/Point3.h"
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#include <boost/serialization/export.hpp>
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BOOST_CLASS_EXPORT(gtsam::Point2)
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BOOST_CLASS_EXPORT(gtsam::Point3)
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using namespace std;
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namespace py = pybind11;
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PYBIND11_MODULE(geometry_py, m_) {
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m_.doc() = "pybind11 wrapper of geometry_py";
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pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
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py::class_<gtsam::Point2, std::shared_ptr<gtsam::Point2>>(m_gtsam, "Point2")
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.def(py::init<>())
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.def(py::init<double, double>(), py::arg("x"), py::arg("y"))
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.def("x",[](gtsam::Point2* self){return self->x();})
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.def("y",[](gtsam::Point2* self){return self->y();})
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.def("dim",[](gtsam::Point2* self){return self->dim();})
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.def("returnChar",[](gtsam::Point2* self){return self->returnChar();})
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.def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, char& a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, char* a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, const std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, const char& a){ self->argChar(a);}, py::arg("a"))
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.def("argChar",[](gtsam::Point2* self, const char* a){ self->argChar(a);}, py::arg("a"))
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.def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a"))
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.def("eigenArguments",[](gtsam::Point2* self, const gtsam::Vector& v, const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m"))
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.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
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.def("serialize", [](gtsam::Point2* self){ return gtsam::serialize(*self); })
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.def("deserialize", [](gtsam::Point2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized"))
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.def(py::pickle(
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[](const gtsam::Point2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); },
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[](py::tuple t){ /* __setstate__ */ gtsam::Point2 obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }));
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py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
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.def(py::init<double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z"))
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.def("norm",[](gtsam::Point3* self){return self->norm();})
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.def("serialize", [](gtsam::Point3* self){ return gtsam::serialize(*self); })
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.def("deserialize", [](gtsam::Point3* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized"))
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.def(py::pickle(
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[](const gtsam::Point3 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); },
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[](py::tuple t){ /* __setstate__ */ gtsam::Point3 obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }))
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.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
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.def_static("StaticFunctionRet",[](double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));
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#include "python/specializations.h"
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}
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