76 lines
2.8 KiB
C++
76 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 exports virtual class NonlinearFactor 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/NonlinearFactor.h"
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using namespace boost::python;
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using namespace gtsam;
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// Wrap around pure virtual class NonlinearFactor.
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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 NonlinearFactorWrap : NonlinearFactor, wrapper<NonlinearFactor>
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{
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double error (const Values & values) const {
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return this->get_override("error")(values);
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}
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size_t dim () const {
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return this->get_override("dim")();
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}
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boost::shared_ptr<GaussianFactor> linearize(const Values & values) const {
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return this->get_override("linearize")(values);
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}
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};
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// Similarly for NoiseModelFactor:
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struct NoiseModelFactorWrap : NoiseModelFactor, wrapper<NoiseModelFactor> {
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// NOTE(frank): Add all these again as I can't figure out how to derive
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double error (const Values & values) const {
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return this->get_override("error")(values);
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}
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size_t dim () const {
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return this->get_override("dim")();
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}
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boost::shared_ptr<GaussianFactor> linearize(const Values & values) const {
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return this->get_override("linearize")(values);
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}
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Vector unwhitenedError(const Values& x,
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boost::optional<std::vector<Matrix>&> H = boost::none) const {
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return this->get_override("unwhitenedError")(x, H);
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}
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};
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void exportNonlinearFactor() {
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class_<NonlinearFactorWrap, boost::noncopyable>("NonlinearFactor")
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.def("error", pure_virtual(&NonlinearFactor::error))
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.def("dim", pure_virtual(&NonlinearFactor::dim))
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.def("linearize", pure_virtual(&NonlinearFactor::linearize));
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register_ptr_to_python<boost::shared_ptr<NonlinearFactor> >();
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class_<NoiseModelFactorWrap, boost::noncopyable>("NoiseModelFactor")
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.def("error", pure_virtual(&NoiseModelFactor::error))
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.def("dim", pure_virtual(&NoiseModelFactor::dim))
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.def("linearize", pure_virtual(&NoiseModelFactor::linearize))
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.def("unwhitenedError", pure_virtual(&NoiseModelFactor::unwhitenedError));
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register_ptr_to_python<boost::shared_ptr<NoiseModelFactor> >();
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}
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