144 lines
5.9 KiB
C++
144 lines
5.9 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 the noise model classes into the noiseModel module
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* @author Ellon Paiva Mendes (LAAS-CNRS)
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**/
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/** TODOs Summary:
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*
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* TODO(Ellon): Don't know yet it it's worth/needed to add 'Wrap structs' for each of the noise models.
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* I think it's only worthy if we want to access virtual the virtual functions from python.
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* TODO(Ellon): Wrap non-pure virtual methods of Base on BaseWrap
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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/linear/NoiseModel.h"
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#include "python/handwritten/common.h"
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using namespace boost::python;
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using namespace gtsam;
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using namespace gtsam::noiseModel;
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// Wrap around pure virtual class Base.
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// All pure virtual methods should be wrapped. Non-pure may be wrapped if we want to mimic the
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// overloading through inheritance in Python.
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// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/exposing.html#python.class_virtual_functions
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struct BaseCallback : Base, wrapper<Base>
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{
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void print (const std::string & name="") const {
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this->get_override("print")();
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}
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bool equals (const Base & expected, double tol=1e-9) const {
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return this->get_override("equals")();
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}
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Vector whiten (const Vector & v) const {
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return this->get_override("whiten")();
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}
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Matrix Whiten (const Matrix & v) const {
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return this->get_override("Whiten")();
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}
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Vector unwhiten (const Vector & v) const {
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return this->get_override("unwhiten")();
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}
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double distance (const Vector & v) const {
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return this->get_override("distance")();
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}
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void WhitenSystem (std::vector< Matrix > &A, Vector &b) const {
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this->get_override("WhitenSystem")();
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}
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void WhitenSystem (Matrix &A, Vector &b) const {
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this->get_override("WhitenSystem")();
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}
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void WhitenSystem (Matrix &A1, Matrix &A2, Vector &b) const {
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this->get_override("WhitenSystem")();
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}
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void WhitenSystem (Matrix &A1, Matrix &A2, Matrix &A3, Vector &b) const {
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this->get_override("WhitenSystem")();
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}
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// TODO(Ellon): Wrap non-pure virtual methods should go here.
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// 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
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};
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// Overloads for named constructors. Named constructors are static, so we declare them
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// using BOOST_PYTHON_FUNCTION_OVERLOADS instead of BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS
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// See: http://www.boost.org/doc/libs/1_59_0/libs/python/doc/tutorial/doc/html/python/functions.html#python.default_arguments
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BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_SqrtInformation_overloads, Gaussian::SqrtInformation, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Information_overloads, Gaussian::Information, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Gaussian_Covariance_overloads, Gaussian::Covariance, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Sigmas_overloads, Diagonal::Sigmas, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Variances_overloads, Diagonal::Variances, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Diagonal_Precisions_overloads, Diagonal::Precisions, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Sigma_overloads, Isotropic::Sigma, 2, 3)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Variance_overloads, Isotropic::Variance, 2, 3)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Isotropic_Precision_overloads, Isotropic::Precision, 2, 3)
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void exportNoiseModels(){
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// Create a scope "noiseModel". See: http://isolation-nation.blogspot.fr/2008/09/packages-in-python-extension-modules.html
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std::string noiseModel_name = extract<std::string>(scope().attr("__name__") + ".noiseModel");
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object noiseModel_module(handle<>(borrowed(PyImport_AddModule(noiseModel_name.c_str()))));
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scope().attr("noiseModel") = noiseModel_module;
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scope noiseModel_scope = noiseModel_module;
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// Then export our classes in the noiseModel scope
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class_<BaseCallback,boost::noncopyable>("Base")
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.def("print", pure_virtual(&Base::print))
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;
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// NOTE: We should use "Base" in "bases<...>", and not "BaseCallback" (it was not clear at the begining)
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class_<Gaussian, boost::shared_ptr<Gaussian>, bases<Base> >("Gaussian", no_init)
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.def("SqrtInformation",&Gaussian::SqrtInformation, Gaussian_SqrtInformation_overloads())
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.staticmethod("SqrtInformation")
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.def("Information",&Gaussian::Information, Gaussian_Information_overloads())
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.staticmethod("Information")
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.def("Covariance",&Gaussian::Covariance, Gaussian_Covariance_overloads())
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.staticmethod("Covariance")
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;
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REGISTER_SHARED_PTR_TO_PYTHON(Gaussian);
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class_<Diagonal, boost::shared_ptr<Diagonal>, bases<Gaussian> >("Diagonal", no_init)
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.def("Sigmas",&Diagonal::Sigmas, Diagonal_Sigmas_overloads())
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.staticmethod("Sigmas")
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.def("Variances",&Diagonal::Variances, Diagonal_Variances_overloads())
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.staticmethod("Variances")
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.def("Precisions",&Diagonal::Precisions, Diagonal_Precisions_overloads())
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.staticmethod("Precisions")
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;
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REGISTER_SHARED_PTR_TO_PYTHON(Diagonal);
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class_<Isotropic, boost::shared_ptr<Isotropic>, bases<Diagonal> >("Isotropic", no_init)
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.def("Sigma",&Isotropic::Sigma, Isotropic_Sigma_overloads())
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.staticmethod("Sigma")
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.def("Variance",&Isotropic::Variance, Isotropic_Variance_overloads())
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.staticmethod("Variance")
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.def("Precision",&Isotropic::Precision, Isotropic_Precision_overloads())
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.staticmethod("Precision")
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;
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REGISTER_SHARED_PTR_TO_PYTHON(Isotropic);
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class_<Unit, boost::shared_ptr<Unit>, bases<Isotropic> >("Unit", no_init)
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.def("Create",&Unit::Create)
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.staticmethod("Create")
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;
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REGISTER_SHARED_PTR_TO_PYTHON(Unit);
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}
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