484 lines
21 KiB
Cython
484 lines
21 KiB
Cython
# cython: c_string_type=str, c_string_encoding=ascii
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cimport numpy as np
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import numpy as npp
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cimport geometry
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from .geometry cimport shared_ptr
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from .geometry cimport dynamic_pointer_cast
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from .geometry cimport make_shared
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# C helper function that copies all arguments into a positional list.
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cdef list process_args(list keywords, tuple args, dict kwargs):
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cdef str keyword
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cdef int n = len(args), m = len(keywords)
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cdef list params = list(args)
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assert len(args)+len(kwargs) == m, 'Expected {} arguments'.format(m)
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try:
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return params + [kwargs[keyword] for keyword in keywords[n:]]
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except:
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raise ValueError('Epected arguments ' + str(keywords))
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from gtsam_eigency.core cimport *
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from libcpp cimport bool
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from libcpp.pair cimport pair
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from libcpp.string cimport string
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from cython.operator cimport dereference as deref
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cdef class Point2:
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CPoint2_ = shared_ptr[CPoint2]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args([], args, kwargs)
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self.CPoint2_ = shared_ptr[CPoint2](new CPoint2())
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except (AssertionError, ValueError):
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pass
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try:
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__params = process_args(['x', 'y'], args, kwargs)
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x = <double>(__params[0])
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y = <double>(__params[1])
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self.CPoint2_ = shared_ptr[CPoint2](new CPoint2(x, y))
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except (AssertionError, ValueError):
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pass
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if (self.CPoint2_.use_count()==0):
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raise TypeError('Point2 construction failed!')
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@staticmethod
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cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef Point2 return_value = Point2(cyCreateFromShared=True)
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return_value.CPoint2_ = other
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return return_value
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def argChar(self, char a):
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self.CPoint2_.get().argChar(a)
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def argUChar(self, unsigned char a):
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self.CPoint2_.get().argUChar(a)
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def dim(self):
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cdef int ret = self.CPoint2_.get().dim()
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return ret
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def eigenArguments(self, np.ndarray v, np.ndarray m):
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v = v.astype(float, order='F', copy=False)
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m = m.astype(float, order='F', copy=False)
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self.CPoint2_.get().eigenArguments(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](m)))
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def returnChar(self):
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cdef char ret = self.CPoint2_.get().returnChar()
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return ret
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def vectorConfusion(self):
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cdef shared_ptr[CVectorNotEigen] ret = make_shared[CVectorNotEigen](self.CPoint2_.get().vectorConfusion())
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return VectorNotEigen.cyCreateFromShared(ret)
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def x(self):
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cdef double ret = self.CPoint2_.get().x()
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return ret
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def y(self):
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cdef double ret = self.CPoint2_.get().y()
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return ret
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cdef class Point3:
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CPoint3_ = shared_ptr[CPoint3]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args(['x', 'y', 'z'], args, kwargs)
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x = <double>(__params[0])
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y = <double>(__params[1])
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z = <double>(__params[2])
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self.CPoint3_ = shared_ptr[CPoint3](new CPoint3(x, y, z))
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except (AssertionError, ValueError):
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pass
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if (self.CPoint3_.use_count()==0):
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raise TypeError('Point3 construction failed!')
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@staticmethod
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cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef Point3 return_value = Point3(cyCreateFromShared=True)
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return_value.CPoint3_ = other
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return return_value
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@staticmethod
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def StaticFunctionRet(double z):
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return Point3.cyCreateFromShared(make_shared[CPoint3](CPoint3.StaticFunctionRet(z)))
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@staticmethod
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def staticFunction():
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return CPoint3.staticFunction()
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def norm(self):
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cdef double ret = self.CPoint3_.get().norm()
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return ret
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cdef class Test:
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CTest_ = shared_ptr[CTest]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args([], args, kwargs)
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self.CTest_ = shared_ptr[CTest](new CTest())
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except (AssertionError, ValueError):
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pass
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try:
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__params = process_args(['a', 'b'], args, kwargs)
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a = <double>(__params[0])
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b = <np.ndarray>(__params[1])
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assert isinstance(b, np.ndarray) and b.ndim == 2
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b = b.astype(float, order='F', copy=False)
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self.CTest_ = shared_ptr[CTest](new CTest(a, <MatrixXd>(Map[MatrixXd](b))))
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except (AssertionError, ValueError):
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pass
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if (self.CTest_.use_count()==0):
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raise TypeError('Test construction failed!')
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@staticmethod
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cdef Test cyCreateFromShared(const shared_ptr[CTest]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef Test return_value = Test(cyCreateFromShared=True)
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return_value.CTest_ = other
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return return_value
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def arg_EigenConstRef(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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self.CTest_.get().arg_EigenConstRef(<MatrixXd>(Map[MatrixXd](value)))
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def create_MixedPtrs(self):
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cdef pair [CTest,shared_ptr[CTest]] ret = self.CTest_.get().create_MixedPtrs()
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return (Test.cyCreateFromShared(make_shared[CTest](ret.first)),Test.cyCreateFromShared(ret.second))
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def create_ptrs(self):
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cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.CTest_.get().create_ptrs()
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return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
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def __repr__(self):
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strBuf = RedirectCout()
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self.print_('')
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return strBuf.str()
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def print_(self):
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self.CTest_.get().print_()
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def return_Point2Ptr(self, bool value):
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cdef shared_ptr[CPoint2] ret = self.CTest_.get().return_Point2Ptr(value)
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return Point2.cyCreateFromShared(ret)
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def return_Test(self, Test value):
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cdef shared_ptr[CTest] ret = make_shared[CTest](self.CTest_.get().return_Test(value.CTest_))
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return Test.cyCreateFromShared(ret)
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def return_TestPtr(self, Test value):
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cdef shared_ptr[CTest] ret = self.CTest_.get().return_TestPtr(value.CTest_)
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return Test.cyCreateFromShared(ret)
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def return_bool(self, bool value):
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cdef bool ret = self.CTest_.get().return_bool(value)
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return ret
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def return_double(self, double value):
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cdef double ret = self.CTest_.get().return_double(value)
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return ret
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def return_field(self, Test t):
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cdef bool ret = self.CTest_.get().return_field(deref(t.CTest_))
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return ret
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def return_int(self, int value):
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cdef int ret = self.CTest_.get().return_int(value)
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return ret
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def return_matrix1(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef MatrixXd ret = self.CTest_.get().return_matrix1(<MatrixXd>(Map[MatrixXd](value)))
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return ndarray_copy(ret)
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def return_matrix2(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef MatrixXd ret = self.CTest_.get().return_matrix2(<MatrixXd>(Map[MatrixXd](value)))
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return ndarray_copy(ret)
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def return_pair(self, np.ndarray v, np.ndarray A):
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v = v.astype(float, order='F', copy=False)
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A = A.astype(float, order='F', copy=False)
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cdef pair [VectorXd,MatrixXd] ret = self.CTest_.get().return_pair(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](A)))
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return (ndarray_copy(ret.first).squeeze(),ndarray_copy(ret.second))
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def return_ptrs(self, Test p1, Test p2):
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cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.CTest_.get().return_ptrs(p1.CTest_, p2.CTest_)
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return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
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def return_size_t(self, size_t value):
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cdef size_t ret = self.CTest_.get().return_size_t(value)
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return ret
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def return_string(self, string value):
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cdef string ret = self.CTest_.get().return_string(value)
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return ret
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def return_vector1(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef VectorXd ret = self.CTest_.get().return_vector1(<VectorXd>(Map[VectorXd](value)))
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return ndarray_copy(ret).squeeze()
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def return_vector2(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef VectorXd ret = self.CTest_.get().return_vector2(<VectorXd>(Map[VectorXd](value)))
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return ndarray_copy(ret).squeeze()
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cdef class MyBase:
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CMyBase_ = shared_ptr[CMyBase]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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if (self.CMyBase_.use_count()==0):
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raise TypeError('MyBase construction failed!')
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@staticmethod
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cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef MyBase return_value = MyBase(cyCreateFromShared=True)
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return_value.CMyBase_ = other
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return return_value
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cdef class MyTemplatePoint2(MyBase):
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args([], args, kwargs)
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self.CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2](new CMyTemplatePoint2())
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except (AssertionError, ValueError):
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pass
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if (self.CMyTemplatePoint2_.use_count()==0):
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raise TypeError('MyTemplatePoint2 construction failed!')
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self.CMyBase_ = <shared_ptr[CMyBase]>(self.CMyTemplatePoint2_)
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@staticmethod
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cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef MyTemplatePoint2 return_value = MyTemplatePoint2(cyCreateFromShared=True)
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return_value.CMyTemplatePoint2_ = other
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return_value.CMyBase_ = <shared_ptr[CMyBase]>(other)
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return return_value
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def accept_T(self, Point2 value):
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self.CMyTemplatePoint2_.get().accept_T(deref(value.CPoint2_))
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def accept_Tptr(self, Point2 value):
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self.CMyTemplatePoint2_.get().accept_Tptr(value.CPoint2_)
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def create_MixedPtrs(self):
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cdef pair [CPoint2,shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().create_MixedPtrs()
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return (Point2.cyCreateFromShared(make_shared[CPoint2](ret.first)),Point2.cyCreateFromShared(ret.second))
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def create_ptrs(self):
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cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().create_ptrs()
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return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
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def return_T(self, Point2 value):
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cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplatePoint2_.get().return_T(value.CPoint2_))
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return Point2.cyCreateFromShared(ret)
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def return_Tptr(self, Point2 value):
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cdef shared_ptr[CPoint2] ret = self.CMyTemplatePoint2_.get().return_Tptr(value.CPoint2_)
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return Point2.cyCreateFromShared(ret)
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def return_ptrs(self, Point2 p1, Point2 p2):
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cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().return_ptrs(p1.CPoint2_, p2.CPoint2_)
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return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
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def templatedMethodMatrix(self, np.ndarray t):
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t = t.astype(float, order='F', copy=False)
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cdef MatrixXd ret = self.CMyTemplatePoint2_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
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return ndarray_copy(ret)
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def templatedMethodPoint2(self, Point2 t):
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cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplatePoint2_.get().templatedMethod[CPoint2](deref(t.CPoint2_)))
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return Point2.cyCreateFromShared(ret)
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def templatedMethodPoint3(self, Point3 t):
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cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.CMyTemplatePoint2_.get().templatedMethod[CPoint3](deref(t.CPoint3_)))
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return Point3.cyCreateFromShared(ret)
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def templatedMethodVector(self, np.ndarray t):
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t = t.astype(float, order='F', copy=False)
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cdef VectorXd ret = self.CMyTemplatePoint2_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
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return ndarray_copy(ret).squeeze()
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def dynamic_cast_MyTemplatePoint2_MyBase(MyBase parent):
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try:
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return MyTemplatePoint2.cyCreateFromShared(<shared_ptr[CMyTemplatePoint2]>dynamic_pointer_cast[CMyTemplatePoint2,CMyBase](parent.CMyBase_))
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except:
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raise TypeError('dynamic cast failed!')
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cdef class MyTemplateMatrix(MyBase):
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args([], args, kwargs)
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self.CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix](new CMyTemplateMatrix())
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except (AssertionError, ValueError):
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pass
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if (self.CMyTemplateMatrix_.use_count()==0):
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raise TypeError('MyTemplateMatrix construction failed!')
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self.CMyBase_ = <shared_ptr[CMyBase]>(self.CMyTemplateMatrix_)
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@staticmethod
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cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other):
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if other.get() == NULL:
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raise RuntimeError('Cannot create object from a nullptr!')
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cdef MyTemplateMatrix return_value = MyTemplateMatrix(cyCreateFromShared=True)
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return_value.CMyTemplateMatrix_ = other
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return_value.CMyBase_ = <shared_ptr[CMyBase]>(other)
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return return_value
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def accept_T(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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self.CMyTemplateMatrix_.get().accept_T(<MatrixXd>(Map[MatrixXd](value)))
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def accept_Tptr(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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self.CMyTemplateMatrix_.get().accept_Tptr(<MatrixXd>(Map[MatrixXd](value)))
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def create_MixedPtrs(self):
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cdef pair [MatrixXd,shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().create_MixedPtrs()
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return (ndarray_copy(ret.first),ndarray_copy(ret.second))
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def create_ptrs(self):
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cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().create_ptrs()
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return (ndarray_copy(ret.first),ndarray_copy(ret.second))
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def return_T(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef MatrixXd ret = self.CMyTemplateMatrix_.get().return_T(<MatrixXd>(Map[MatrixXd](value)))
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return ndarray_copy(ret)
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def return_Tptr(self, np.ndarray value):
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value = value.astype(float, order='F', copy=False)
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cdef shared_ptr[MatrixXd] ret = self.CMyTemplateMatrix_.get().return_Tptr(<MatrixXd>(Map[MatrixXd](value)))
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return ndarray_copy(ret)
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def return_ptrs(self, np.ndarray p1, np.ndarray p2):
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p1 = p1.astype(float, order='F', copy=False)
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p2 = p2.astype(float, order='F', copy=False)
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cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().return_ptrs(<MatrixXd>(Map[MatrixXd](p1)), <MatrixXd>(Map[MatrixXd](p2)))
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return (ndarray_copy(ret.first),ndarray_copy(ret.second))
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def templatedMethodMatrix(self, np.ndarray t):
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t = t.astype(float, order='F', copy=False)
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cdef MatrixXd ret = self.CMyTemplateMatrix_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
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return ndarray_copy(ret)
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def templatedMethodPoint2(self, Point2 t):
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cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplateMatrix_.get().templatedMethod[CPoint2](deref(t.CPoint2_)))
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return Point2.cyCreateFromShared(ret)
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def templatedMethodPoint3(self, Point3 t):
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cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.CMyTemplateMatrix_.get().templatedMethod[CPoint3](deref(t.CPoint3_)))
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return Point3.cyCreateFromShared(ret)
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def templatedMethodVector(self, np.ndarray t):
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t = t.astype(float, order='F', copy=False)
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cdef VectorXd ret = self.CMyTemplateMatrix_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
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return ndarray_copy(ret).squeeze()
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def dynamic_cast_MyTemplateMatrix_MyBase(MyBase parent):
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try:
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return MyTemplateMatrix.cyCreateFromShared(<shared_ptr[CMyTemplateMatrix]>dynamic_pointer_cast[CMyTemplateMatrix,CMyBase](parent.CMyBase_))
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except:
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raise TypeError('dynamic cast failed!')
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cdef class MyVector3:
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def __init__(self, *args, **kwargs):
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cdef list __params
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self.CMyVector3_ = shared_ptr[CMyVector3]()
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if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
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return
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try:
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__params = process_args([], args, kwargs)
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self.CMyVector3_ = shared_ptr[CMyVector3](new CMyVector3())
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except (AssertionError, ValueError):
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pass
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if (self.CMyVector3_.use_count()==0):
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raise TypeError('MyVector3 construction failed!')
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@staticmethod
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cdef MyVector3 cyCreateFromShared(const shared_ptr[CMyVector3]& other):
|
|
if other.get() == NULL:
|
|
raise RuntimeError('Cannot create object from a nullptr!')
|
|
cdef MyVector3 return_value = MyVector3(cyCreateFromShared=True)
|
|
return_value.CMyVector3_ = other
|
|
return return_value
|
|
|
|
|
|
|
|
cdef class MyVector12:
|
|
def __init__(self, *args, **kwargs):
|
|
cdef list __params
|
|
self.CMyVector12_ = shared_ptr[CMyVector12]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
try:
|
|
__params = process_args([], args, kwargs)
|
|
self.CMyVector12_ = shared_ptr[CMyVector12](new CMyVector12())
|
|
except (AssertionError, ValueError):
|
|
pass
|
|
if (self.CMyVector12_.use_count()==0):
|
|
raise TypeError('MyVector12 construction failed!')
|
|
|
|
@staticmethod
|
|
cdef MyVector12 cyCreateFromShared(const shared_ptr[CMyVector12]& other):
|
|
if other.get() == NULL:
|
|
raise RuntimeError('Cannot create object from a nullptr!')
|
|
cdef MyVector12 return_value = MyVector12(cyCreateFromShared=True)
|
|
return_value.CMyVector12_ = other
|
|
return return_value
|
|
|
|
|
|
|
|
cdef class MyFactorPosePoint2:
|
|
def __init__(self, *args, **kwargs):
|
|
cdef list __params
|
|
self.CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2]()
|
|
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
|
|
return
|
|
try:
|
|
__params = process_args(['key1', 'key2', 'measured', 'noiseModel'], args, kwargs)
|
|
key1 = <size_t>(__params[0])
|
|
key2 = <size_t>(__params[1])
|
|
measured = <double>(__params[2])
|
|
noiseModel = <noiseModel_Base>(__params[3])
|
|
assert isinstance(noiseModel, noiseModel_Base)
|
|
self.CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2](new CMyFactorPosePoint2(key1, key2, measured, noiseModel.CnoiseModel_Base_))
|
|
except (AssertionError, ValueError):
|
|
pass
|
|
if (self.CMyFactorPosePoint2_.use_count()==0):
|
|
raise TypeError('MyFactorPosePoint2 construction failed!')
|
|
|
|
@staticmethod
|
|
cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other):
|
|
if other.get() == NULL:
|
|
raise RuntimeError('Cannot create object from a nullptr!')
|
|
cdef MyFactorPosePoint2 return_value = MyFactorPosePoint2(cyCreateFromShared=True)
|
|
return_value.CMyFactorPosePoint2_ = other
|
|
return return_value
|
|
|
|
|
|
|
|
|
|
def aGlobalFunction():
|
|
cdef VectorXd ret = pxd_aGlobalFunction()
|
|
return ndarray_copy(ret).squeeze()
|
|
def overloadedGlobalFunction(*args, **kwargs):
|
|
success, results = overloadedGlobalFunction_0(args, kwargs)
|
|
if success:
|
|
return results
|
|
success, results = overloadedGlobalFunction_1(args, kwargs)
|
|
if success:
|
|
return results
|
|
raise TypeError('Could not find the correct overload')
|
|
def overloadedGlobalFunction_0(args, kwargs):
|
|
cdef list __params
|
|
cdef VectorXd return_value
|
|
try:
|
|
__params = process_args(['a'], args, kwargs)
|
|
a = <int>(__params[0])
|
|
return_value = pxd_overloadedGlobalFunction(a)
|
|
return True, ndarray_copy(return_value).squeeze()
|
|
except:
|
|
return False, None
|
|
|
|
def overloadedGlobalFunction_1(args, kwargs):
|
|
cdef list __params
|
|
cdef VectorXd return_value
|
|
try:
|
|
__params = process_args(['a', 'b'], args, kwargs)
|
|
a = <int>(__params[0])
|
|
b = <double>(__params[1])
|
|
return_value = pxd_overloadedGlobalFunction(a, b)
|
|
return True, ndarray_copy(return_value).squeeze()
|
|
except:
|
|
return False, None
|
|
|