93 lines
3.4 KiB
C++
93 lines
3.4 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 Pose2 class to python
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* @author Andrew Melim
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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/geometry/Pose2.h"
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using namespace boost::python;
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using namespace gtsam;
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Pose2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Pose2::equals, 1, 2)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Pose2::compose, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Pose2::between, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_to_overloads, Pose2::transform_to, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(transform_from_overloads, Pose2::transform_from, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(bearing_overloads, Pose2::bearing, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, Pose2::range, 1, 3)
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// Manually wrap
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void exportPose2(){
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// double (Pose2::*range1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::range;
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// double (Pose2::*range2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::range;
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// Rot2 (Pose2::*bearing1)(const Pose2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::bearing;
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// Rot2 (Pose2::*bearing2)(const Point2&, boost::optional<Matrix&>, boost::optional<Matrix&>) const
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// = &Pose2::bearing;
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class_<Pose2>("Pose2", init<>())
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.def(init<Pose2>())
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.def(init<double, double, double>())
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.def(init<double, Point2>())
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.def("print", &Pose2::print, print_overloads(args("s")))
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.def("equals", &Pose2::equals, equals_overloads(args("pose","tol")))
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// .def("inverse", &Pose2::inverse)
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// .def("compose", &Pose2::compose, compose_overloads(args("p2", "H1", "H2")))
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// .def("between", &Pose2::between, between_overloads(args("p2", "H1", "H2")))
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// .def("dim", &Pose2::dim)
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// .def("retract", &Pose2::retract)
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.def("transform_to", &Pose2::transform_to,
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transform_to_overloads(args("point", "H1", "H2")))
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.def("transform_from", &Pose2::transform_from,
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transform_to_overloads(args("point", "H1", "H2")))
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.def("x", &Pose2::x)
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.def("y", &Pose2::y)
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.def("theta", &Pose2::theta)
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// See documentation on call policy for more information
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// https://wiki.python.org/moin/boost.python/CallPolicy
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.def("t", &Pose2::t, return_value_policy<copy_const_reference>())
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.def("r", &Pose2::r, return_value_policy<copy_const_reference>())
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.def("translation", &Pose2::translation, return_value_policy<copy_const_reference>())
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.def("rotation", &Pose2::rotation, return_value_policy<copy_const_reference>())
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// .def("bearing", bearing1, bearing_overloads())
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// .def("bearing", bearing2, bearing_overloads())
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// Function overload example
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// .def("range", range1, range_overloads())
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// .def("range", range2, range_overloads())
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.def("Expmap", &Pose2::Expmap)
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.staticmethod("Expmap")
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.def(self * self) // __mult__
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;
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} |