62 lines
1.9 KiB
C++
62 lines
1.9 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 Point2 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/Point2.h"
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using namespace boost::python;
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using namespace gtsam;
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#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Point2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Point2::equals, 1, 2)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(compose_overloads, Point2::compose, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(distance_overloads, Point2::distance, 1, 3)
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#endif
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void exportPoint2(){
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#ifndef GTSAM_TYPEDEF_POINTS_TO_VECTORS
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class_<Point2>("Point2", init<>())
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.def(init<double, double>())
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.def(init<const Vector2 &>())
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.def("identity", &Point2::identity)
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.def("distance", &Point2::distance, distance_overloads(args("q","H1","H2")))
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.def("equals", &Point2::equals, equals_overloads(args("q","tol")))
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.def("norm", &Point2::norm)
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.def("print", &Point2::print, print_overloads(args("s")))
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.def("unit", &Point2::unit)
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.def("vector", &Point2::vector, return_value_policy<copy_const_reference>())
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.def("x", &Point2::x)
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.def("y", &Point2::y)
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.def(self * other<double>()) // __mult__
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.def(other<double>() * self) // __mult__
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.def(self + self)
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.def(-self)
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.def(self - self)
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.def(self / other<double>())
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.def(self_ns::str(self))
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.def(repr(self))
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.def(self == self)
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;
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#endif
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}
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