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gtsam/python/handwritten/geometry/Rot2.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 Rot2 class to python
* @author Andrew Melim
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +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>
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +08:00
#include "gtsam/geometry/Rot2.h"
using namespace boost::python;
using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Rot2::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Rot2::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Rot2::compose, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(relativeBearing_overloads, Rot2::relativeBearing, 1, 3)
void exportRot2(){
class_<Rot2>("Rot2", init<>())
.def(init<double>())
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("Expmap", &Rot2::Expmap)
.staticmethod("Expmap")
.def("Logmap", &Rot2::Logmap)
.staticmethod("Logmap")
.def("atan2", &Rot2::atan2)
.staticmethod("atan2")
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +08:00
.def("fromAngle", &Rot2::fromAngle)
.staticmethod("fromAngle")
.def("fromCosSin", &Rot2::fromCosSin)
.staticmethod("fromCosSin")
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("fromDegrees", &Rot2::fromDegrees)
.staticmethod("fromDegrees")
.def("identity", &Rot2::identity)
.staticmethod("identity")
.def("relativeBearing", &Rot2::relativeBearing)
.staticmethod("relativeBearing")
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +08:00
.def("c", &Rot2::c)
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("degrees", &Rot2::degrees)
.def("equals", &Rot2::equals, equals_overloads(args("q","tol")))
.def("matrix", &Rot2::matrix)
.def("print", &Rot2::print, print_overloads(args("s")))
.def("rotate", &Rot2::rotate)
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +08:00
.def("s", &Rot2::s)
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("theta", &Rot2::theta)
.def("unrotate", &Rot2::unrotate)
Rot2, Pose2, Point2 now all work fairly well in Python. See Pose2.cpp for examples on method overloading and auto-declarations
2013-11-16 06:59:36 +08:00
.def(self * self) // __mult__
;
}