84 lines
2.8 KiB
C++
84 lines
2.8 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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#include "gtsam/navigation/ImuBias.h"
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#include "gtsam/navigation/NavState.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, Values::print, 0, 1);
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void exportValues(){
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typedef imuBias::ConstantBias Bias;
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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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void (Values::*insert_bias) (Key, const Bias&) = &Values::insert;
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void (Values::*insert_navstate) (Key, const NavState&) = &Values::insert;
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void (Values::*insert_vector3) (Key, const gtsam::Vector3&) = &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("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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.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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.def("insert", insert_bias)
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.def("insert", insert_navstate)
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.def("insert", insert_vector3)
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.def("atPoint2", &Values::at<Point2>)
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.def("atRot2", &Values::at<Rot2>)
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.def("atPose2", &Values::at<Pose2>)
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.def("atPoint3", &Values::at<Point3>)
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.def("atRot3", &Values::at<Rot3>)
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.def("atPose3", &Values::at<Pose3>)
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.def("atConstantBias", &Values::at<Bias>)
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.def("atNavState", &Values::at<NavState>)
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.def("atVector3", &Values::at<Vector3>)
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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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