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Add 'bases' for noiseModel classes 

While here, add comments and TODOs
release/4.3a0
Ellon Mendes 2015-11-17 16:29:16 +01:00
parent 96d6b79f5e
commit 977d4aa54f
1 changed files with 30 additions and 4 deletions
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34
python/handwritten/noiseModel_python.cpp
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@ -1,3 +1,27 @@
/* ----------------------------------------------------------------------------
* 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
* -------------------------------------------------------------------------- */
/**
* @file noiseModel_python.cpp
* @brief wraps the noise model classes into the noiseModel module
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
/** TODOs Summary:
*
* TODO(Ellon): Don't know yet it it's worth/needed to add 'Wrap structs' for each of the noise models.
* I think it's only worthy if we want to access virtual the virtual functions from python.
* TODO(Ellon): Wrap non-pure virtual methods of Base on BaseWrap
*/
#include <boost/python.hpp>
#include <numpy_eigen/NumpyEigenConverter.hpp>
@ -43,6 +67,8 @@ struct BaseWrap : Base, wrapper<Base>
this->get_override("WhitenSystem")();
}
// TODO(Ellon) Wrap non-pure virtual methods here. See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.virtual_functions_with_default_implementations
};
BOOST_PYTHON_MODULE(libnoiseModel_python)
@ -76,7 +102,7 @@ class_<BaseWrap,boost::noncopyable>("Base")
.def("print", pure_virtual(&Base::print))
;
class_<Gaussian, boost::shared_ptr<Gaussian>, bases<Base> >("Gaussian", no_init)
class_<Gaussian, boost::shared_ptr<Gaussian>, bases<BaseWrap> >("Gaussian", no_init)
.def("SqrtInformation",&Gaussian::SqrtInformation)
.staticmethod("SqrtInformation")
.def("Information",&Gaussian::Information)
@ -85,7 +111,7 @@ class_<Gaussian, boost::shared_ptr<Gaussian>, bases<Base> >("Gaussian", no_init)
.staticmethod("Covariance")
;
class_<Diagonal, boost::shared_ptr<Diagonal> >("Diagonal", no_init)
class_<Diagonal, boost::shared_ptr<Diagonal>, bases<Gaussian> >("Diagonal", no_init)
.def("Sigmas",&Diagonal::Sigmas)
.staticmethod("Sigmas")
.def("Variances",&Diagonal::Variances)
@ -94,7 +120,7 @@ class_<Diagonal, boost::shared_ptr<Diagonal> >("Diagonal", no_init)
.staticmethod("Precisions")
;
class_<Isotropic, boost::shared_ptr<Isotropic> >("Isotropic", no_init)
class_<Isotropic, boost::shared_ptr<Isotropic>, bases<Diagonal> >("Isotropic", no_init)
.def("Sigma",&Isotropic::Sigma)
.staticmethod("Sigma")
.def("Variance",&Isotropic::Variance)
@ -103,7 +129,7 @@ class_<Isotropic, boost::shared_ptr<Isotropic> >("Isotropic", no_init)
.staticmethod("Precision")
;
class_<Unit, boost::shared_ptr<Unit> >("Unit", no_init)
class_<Unit, boost::shared_ptr<Unit>, bases<Isotropic> >("Unit", no_init)
.def("Create",&Unit::Create)
.staticmethod("Create")
;