59 lines
1.6 KiB
C++
59 lines
1.6 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* 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)
|
|
**/
|
|
|
|
#include <boost/python.hpp>
|
|
|
|
#define NO_IMPORT_ARRAY
|
|
#include <numpy_eigen/NumpyEigenConverter.hpp>
|
|
|
|
#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"
|
|
|
|
using namespace boost::python;
|
|
using namespace gtsam;
|
|
|
|
using namespace std;
|
|
|
|
// 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)
|
|
PRIORFACTOR(Vector3)
|
|
}
|