125 lines
4.9 KiB
C++
125 lines
4.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @brief wraps Values class to python
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* @author Ellon Paiva Mendes (LAAS-CNRS)
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**/
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#include <boost/python.hpp>
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#define NO_IMPORT_ARRAY
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#include <numpy_eigen/NumpyEigenConverter.hpp>
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#include "gtsam/nonlinear/Values.h"
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#include "gtsam/geometry/Point2.h"
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#include "gtsam/geometry/Rot2.h"
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#include "gtsam/geometry/Pose2.h"
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#include "gtsam/geometry/Point3.h"
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#include "gtsam/geometry/Rot3.h"
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#include "gtsam/geometry/Pose3.h"
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using namespace boost::python;
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using namespace gtsam;
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/** The function ValuesAt is a workaround to be able to call the correct templated version
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* of Values::at. Without it, python would only try to match the last 'at' metho defined
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* below. With this wrapper function we can call 'at' in python passing an extra type,
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* which will define the type to be returned. Example:
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*
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* >>> import gtsam
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* >>> v = gtsam.nonlinear.Values()
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* >>> v.insert(1,gtsam.geometry.Point3())
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* >>> v.insert(2,gtsam.geometry.Rot3())
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* >>> v.insert(3,gtsam.geometry.Pose3())
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* >>> v.at(1,gtsam.geometry.Point3())
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* >>> v.at(2,gtsam.geometry.Rot3())
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* >>> v.at(3,gtsam.geometry.Pose3())
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*
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* A more 'pythonic' way I think would be to not use this function and define different
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* 'at' methods below using the name of the type in the function name, like:
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*
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* .def("point3_at", &Values::at<Point3>, return_internal_reference<>())
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* .def("rot3_at", &Values::at<Rot3>, return_internal_reference<>())
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* .def("pose3_at", &Values::at<Pose3>, return_internal_reference<>())
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*
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* and then they could be accessed from python as
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*
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* >>> import gtsam
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* >>> v = gtsam.nonlinear.Values()
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* >>> v.insert(1,gtsam.geometry.Point3())
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* >>> v.insert(2,gtsam.geometry.Rot3())
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* >>> v.insert(3,gtsam.geometry.Pose3())
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* >>> v.point3_at(1)
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* >>> v.rot3_at(2)
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* >>> v.pose3_at(3)
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*
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* In fact, I just saw the pythonic way sounds more clear, so I'm sticking with this and
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* leaving the comments here for future reference. I'm using the PEP0008 for method naming.
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* See: https://www.python.org/dev/peps/pep-0008/#function-and-method-arguments
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*/
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// template<typename T>
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// const T & ValuesAt( const Values & v, Key j, T /*type*/)
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// {
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// return v.at<T>(j);
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// }
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Values::print, 0, 1);
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void exportValues(){
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// NOTE: Apparently the class 'Value'' is deprecated, so the commented lines below
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// will compile, but are useless in the python wrapper. We need to use specific
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// 'at' and 'insert' methods for each type.
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// const Value& (Values::*at1)(Key) const = &Values::at;
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// void (Values::*insert1)(Key, const Value&) = &Values::insert;
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bool (Values::*exists1)(Key) const = &Values::exists;
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void (Values::*insert_point2)(Key, const gtsam::Point2&) = &Values::insert;
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void (Values::*insert_rot2) (Key, const gtsam::Rot2&) = &Values::insert;
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void (Values::*insert_pose2) (Key, const gtsam::Pose2&) = &Values::insert;
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void (Values::*insert_point3)(Key, const gtsam::Point3&) = &Values::insert;
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void (Values::*insert_rot3) (Key, const gtsam::Rot3&) = &Values::insert;
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void (Values::*insert_pose3) (Key, const gtsam::Pose3&) = &Values::insert;
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class_<Values>("Values", init<>())
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.def(init<Values>())
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.def("clear", &Values::clear)
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.def("dim", &Values::dim)
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.def("empty", &Values::empty)
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.def("equals", &Values::equals)
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.def("erase", &Values::erase)
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.def("insert_fixed", &Values::insertFixed)
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.def("print", &Values::print, print_overloads(args("s")))
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.def("size", &Values::size)
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.def("swap", &Values::swap)
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// NOTE: Following commented lines add useless methods on Values
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// .def("insert", insert1)
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// .def("at", at1, return_value_policy<copy_const_reference>())
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.def("insert", insert_point2)
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.def("insert", insert_rot2)
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.def("insert", insert_pose2)
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.def("insert", insert_point3)
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.def("insert", insert_rot3)
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.def("insert", insert_pose3)
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// NOTE: The following commented lines are another way of specializing the return type.
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// See long comment above.
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// .def("at", &ValuesAt<Point3>, return_internal_reference<>())
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// .def("at", &ValuesAt<Rot3>, return_internal_reference<>())
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// .def("at", &ValuesAt<Pose3>, return_internal_reference<>())
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.def("point3_at", &Values::at<Point3>, return_value_policy<copy_const_reference>())
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.def("rot3_at", &Values::at<Rot3>, return_value_policy<copy_const_reference>())
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.def("pose3_at", &Values::at<Pose3>, return_value_policy<copy_const_reference>())
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.def("exists", exists1)
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.def("keys", &Values::keys)
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;
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}
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