152 lines
5.4 KiB
Cython
152 lines
5.4 KiB
Cython
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from gtsam_eigency.core cimport *
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from libcpp.string cimport string
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from libcpp.vector cimport vector
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from libcpp.pair cimport pair
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from libcpp.set cimport set
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from libcpp.map cimport map
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from libcpp cimport bool
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cdef extern from "boost/shared_ptr.hpp" namespace "boost":
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cppclass shared_ptr[T]:
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shared_ptr()
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shared_ptr(T*)
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T* get()
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long use_count() const
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T& operator*()
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cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)
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cdef shared_ptr[T] make_shared[T](const T& r)
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cdef extern from "gtsam/geometry/Point2.h" namespace "gtsam":
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cdef cppclass CPoint2 "gtsam::Point2":
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CPoint2() except +
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CPoint2(double x, double y) except +
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void argChar(char a) except +
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void argUChar(unsigned char a) except +
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int dim() except +
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void eigenArguments(const VectorXd& v, const MatrixXd& m) except +
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char returnChar() except +
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CVectorNotEigen vectorConfusion() except +
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double x() except +
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double y() except +
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cdef class Point2:
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cdef shared_ptr[CPoint2] CPoint2_
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@staticmethod
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cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other)
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cdef extern from "gtsam/geometry/Point3.h" namespace "gtsam":
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cdef cppclass CPoint3 "gtsam::Point3":
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CPoint3(double x, double y, double z) except +
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@staticmethod
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CPoint3 StaticFunctionRet "StaticFunctionRet"(double z) except +
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@staticmethod
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double staticFunction "staticFunction"() except +
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double norm() except +
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cdef class Point3:
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cdef shared_ptr[CPoint3] CPoint3_
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@staticmethod
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cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other)
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cdef extern from "folder/path/to/Test.h":
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cdef cppclass CTest "Test":
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CTest() except +
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CTest(double a, const MatrixXd& b) except +
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void arg_EigenConstRef(const MatrixXd& value) except +
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pair[CTest,shared_ptr[CTest]] create_MixedPtrs() except +
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pair[shared_ptr[CTest],shared_ptr[CTest]] create_ptrs() except +
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void print_ "print"() except +
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shared_ptr[CPoint2] return_Point2Ptr(bool value) except +
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CTest return_Test(shared_ptr[CTest]& value) except +
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shared_ptr[CTest] return_TestPtr(shared_ptr[CTest]& value) except +
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bool return_bool(bool value) except +
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double return_double(double value) except +
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bool return_field(const CTest& t) except +
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int return_int(int value) except +
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MatrixXd return_matrix1(const MatrixXd& value) except +
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MatrixXd return_matrix2(const MatrixXd& value) except +
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pair[VectorXd,MatrixXd] return_pair(const VectorXd& v, const MatrixXd& A) except +
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pair[shared_ptr[CTest],shared_ptr[CTest]] return_ptrs(shared_ptr[CTest]& p1, shared_ptr[CTest]& p2) except +
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size_t return_size_t(size_t value) except +
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string return_string(string value) except +
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VectorXd return_vector1(const VectorXd& value) except +
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VectorXd return_vector2(const VectorXd& value) except +
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cdef class Test:
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cdef shared_ptr[CTest] CTest_
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@staticmethod
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cdef Test cyCreateFromShared(const shared_ptr[CTest]& other)
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cdef extern from "folder/path/to/Test.h":
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cdef cppclass CMyBase "MyBase":
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pass
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cdef class MyBase:
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cdef shared_ptr[CMyBase] CMyBase_
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@staticmethod
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cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other)
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cdef extern from "folder/path/to/Test.h":
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cdef cppclass CMyTemplate "MyTemplate"[T](CMyBase):
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CMyTemplate() except +
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void accept_T(const T& value) except +
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void accept_Tptr(shared_ptr[T]& value) except +
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pair[T,shared_ptr[T]] create_MixedPtrs() except +
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pair[shared_ptr[T],shared_ptr[T]] create_ptrs() except +
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T return_T(shared_ptr[T]& value) except +
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shared_ptr[T] return_Tptr(shared_ptr[T]& value) except +
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pair[shared_ptr[T],shared_ptr[T]] return_ptrs(shared_ptr[T]& p1, shared_ptr[T]& p2) except +
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ARG templatedMethod[ARG](const ARG& t) except +
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ctypedef CMyTemplate[CPoint2] CMyTemplatePoint2
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cdef class MyTemplatePoint2(MyBase):
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cdef shared_ptr[CMyTemplatePoint2] CMyTemplatePoint2_
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@staticmethod
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cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other)
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ctypedef CMyTemplate[MatrixXd] CMyTemplateMatrix
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cdef class MyTemplateMatrix(MyBase):
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cdef shared_ptr[CMyTemplateMatrix] CMyTemplateMatrix_
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@staticmethod
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cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other)
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cdef extern from "folder/path/to/Test.h":
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cdef cppclass CMyFactor "MyFactor"[POSE,POINT]:
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CMyFactor(size_t key1, size_t key2, double measured, const shared_ptr[CnoiseModel_Base]& noiseModel) except +
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ctypedef CMyFactor[CPose2, MatrixXd] CMyFactorPosePoint2
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cdef class MyFactorPosePoint2:
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cdef shared_ptr[CMyFactorPosePoint2] CMyFactorPosePoint2_
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@staticmethod
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cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other)
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cdef extern from "folder/path/to/Test.h":
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cdef cppclass CMyVector "MyVector"[N]:
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CMyVector() except +
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cdef extern from "folder/path/to/Test.h" namespace "":
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VectorXd pxd_aGlobalFunction "aGlobalFunction"() except +
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cdef extern from "folder/path/to/Test.h" namespace "":
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VectorXd pxd_overloadedGlobalFunction "overloadedGlobalFunction"(int a) except +
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VectorXd pxd_overloadedGlobalFunction "overloadedGlobalFunction"(int a, double b) except +
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