61 lines
1.6 KiB
C++
61 lines
1.6 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 PriorFactor for several values 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/slam/PriorFactor.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/NavState.h"
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using namespace boost::python;
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using namespace gtsam;
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using namespace std;
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// template< class FACTOR, class VALUE >
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// void exportPriorFactor(const std::string& name){
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// class_< FACTOR >(name.c_str(), init<>())
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// .def(init< Key, VALUE&, SharedNoiseModel >())
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// ;
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// }
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#define PRIORFACTOR(VALUE) \
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class_< PriorFactor<VALUE>, bases<NonlinearFactor>, boost::shared_ptr< PriorFactor<VALUE> > >("PriorFactor"#VALUE) \
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.def(init<Key,VALUE,noiseModel::Base::shared_ptr>()) \
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.def("prior", &PriorFactor<VALUE>::prior, return_internal_reference<>()) \
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;
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void exportPriorFactors()
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{
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PRIORFACTOR(Point2)
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PRIORFACTOR(Rot2)
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PRIORFACTOR(Pose2)
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PRIORFACTOR(Point3)
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PRIORFACTOR(Rot3)
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PRIORFACTOR(Pose3)
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PRIORFACTOR(Vector3)
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PRIORFACTOR(NavState)
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}
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