Update python wrapper

MRPT · Dec 16, 2023 · d3d44f9 · d3d44f9
1 parent 2cb1185
commit d3d44f9
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Showing 42 changed files with 380 additions and 252 deletions.
diff --git a/python/all_mrpt_maps3.cpp b/python/all_mrpt_maps3.cpp
@@ -4,6 +4,7 @@
 #include "src/mrpt/maps/CRandomFieldGridMap2D.cpp"
 #include "src/mrpt/maps/CRandomFieldGridMap3D.cpp"
 #include "src/mrpt/maps/CReflectivityGridMap2D.cpp"
+#include "src/mrpt/maps/CSimpleMap.cpp"
 #include "src/mrpt/maps/CSimplePointsMap.cpp"
 #include "src/mrpt/maps/CWeightedPointsMap.cpp"
 #include "src/mrpt/maps/CWirelessPowerGridMap2D.cpp"

diff --git a/python/src/mrpt/core/format.cpp b/python/src/mrpt/core/format.cpp
@@ -21,12 +21,12 @@ void bind_mrpt_core_format(std::function< pybind11::module &(std::string const &
 	// mrpt::to_string(double) file:mrpt/core/format.h line:31
 	M("mrpt").def("to_string", (std::string (*)(double)) &mrpt::to_string<double>, "C++: mrpt::to_string(double) --> std::string", pybind11::arg("v"));
 
-	// mrpt::to_string(unsigned long) file:mrpt/core/format.h line:31
-	M("mrpt").def("to_string", (std::string (*)(unsigned long)) &mrpt::to_string<unsigned long>, "C++: mrpt::to_string(unsigned long) --> std::string", pybind11::arg("v"));
-
 	// mrpt::to_string(int) file:mrpt/core/format.h line:31
 	M("mrpt").def("to_string", (std::string (*)(int)) &mrpt::to_string<int>, "C++: mrpt::to_string(int) --> std::string", pybind11::arg("v"));
 
+	// mrpt::to_string(unsigned long) file:mrpt/core/format.h line:31
+	M("mrpt").def("to_string", (std::string (*)(unsigned long)) &mrpt::to_string<unsigned long>, "C++: mrpt::to_string(unsigned long) --> std::string", pybind11::arg("v"));
+
 	// mrpt::to_string(unsigned int) file:mrpt/core/format.h line:31
 	M("mrpt").def("to_string", (std::string (*)(unsigned int)) &mrpt::to_string<unsigned int>, "C++: mrpt::to_string(unsigned int) --> std::string", pybind11::arg("v"));
 

diff --git a/python/src/mrpt/maps/CBeacon.cpp b/python/src/mrpt/maps/CBeacon.cpp
@@ -35,6 +35,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>

diff --git a/python/src/mrpt/maps/CColouredOctoMap.cpp b/python/src/mrpt/maps/CColouredOctoMap.cpp
@@ -39,6 +39,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -79,7 +80,6 @@
 #include <streambuf>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>

diff --git a/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp b/python/src/mrpt/maps/CGasConcentrationGridMap2D.cpp
@@ -39,6 +39,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -73,7 +74,6 @@
 #include <streambuf>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>

diff --git a/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp b/python/src/mrpt/maps/CHeightGridMap2D_Base.cpp
@@ -43,6 +43,7 @@
 #include <mrpt/math/TPose3DQuat.h>
 #include <mrpt/math/TSegment2D.h>
 #include <mrpt/math/TSegment3D.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -77,7 +78,6 @@
 #include <streambuf>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>

diff --git a/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp b/python/src/mrpt/maps/CHeightGridMap2D_MRF.cpp
@@ -40,6 +40,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -74,7 +75,6 @@
 #include <streambuf>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>

diff --git a/python/src/mrpt/maps/CLandmarksMap.cpp b/python/src/mrpt/maps/CLandmarksMap.cpp
@@ -37,6 +37,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -79,7 +80,6 @@
 #include <streambuf>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <type_traits>
 #include <typeinfo>
 #include <utility>

diff --git a/python/src/mrpt/maps/CMetricMap.cpp b/python/src/mrpt/maps/CMetricMap.cpp
@@ -19,6 +19,7 @@
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
 #include <mrpt/math/TPose3DQuat.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/math/math_frwds.h>
 #include <mrpt/math/matrix_size_t.h>
 #include <mrpt/obs/CObservation.h>
@@ -32,15 +33,13 @@
 #include <mrpt/poses/CPose3DPDF.h>
 #include <mrpt/poses/CPose3DQuat.h>
 #include <mrpt/poses/CPoseOrPoint.h>
-#include <mrpt/poses/CPosePDF.h>
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/tfest/TMatchingPair.h>
 #include <mrpt/typemeta/static_string.h>
 #include <optional>
 #include <ostream>
 #include <ratio>
 #include <string>
-#include <tuple>
 #include <vector>
 
 #include <functional>

diff --git a/python/src/mrpt/maps/CMetricMap_1.cpp b/python/src/mrpt/maps/CMetricMap_1.cpp
@@ -17,6 +17,7 @@
 #include <mrpt/math/TPoint3D.h>
 #include <mrpt/math/TPose2D.h>
 #include <mrpt/math/TPose3D.h>
+#include <mrpt/math/TTwist3D.h>
 #include <mrpt/obs/CObservation.h>
 #include <mrpt/obs/CObservation2DRangeScan.h>
 #include <mrpt/obs/CObservation3DRangeScan.h>
@@ -28,7 +29,6 @@
 #include <mrpt/poses/CPose3DPDF.h>
 #include <mrpt/poses/CPose3DQuat.h>
 #include <mrpt/poses/CPoseOrPoint.h>
-#include <mrpt/poses/CPosePDF.h>
 #include <mrpt/rtti/CObject.h>
 #include <mrpt/tfest/TMatchingPair.h>
 #include <mrpt/typemeta/static_string.h>
@@ -37,7 +37,6 @@
 #include <ratio>
 #include <sstream> // __str__
 #include <string>
-#include <tuple>
 #include <vector>
 
 #include <functional>
@@ -63,8 +62,7 @@ void bind_mrpt_maps_CMetricMap_1(std::function< pybind11::module &(std::string c
 		cl.def("clear", (void (mrpt::maps::CMetricMap::*)()) &mrpt::maps::CMetricMap::clear, "Erase all the contents of the map \n\nC++: mrpt::maps::CMetricMap::clear() --> void");
 		cl.def("isEmpty", (bool (mrpt::maps::CMetricMap::*)() const) &mrpt::maps::CMetricMap::isEmpty, "Returns true if the map is empty/no observation has been inserted.\n\nC++: mrpt::maps::CMetricMap::isEmpty() const --> bool");
 		cl.def("boundingBox", (struct mrpt::math::TBoundingBox_<float> (mrpt::maps::CMetricMap::*)() const) &mrpt::maps::CMetricMap::boundingBox, "Returns the bounding box of the metric map, or (0,0,0)-(0,0,0) (the\n default value of mrpt::math::TBoundingBoxf() if not implemented in the\n derived class or the map is empty.\n\nC++: mrpt::maps::CMetricMap::boundingBox() const --> struct mrpt::math::TBoundingBox_<float>");
-		cl.def("loadFromProbabilisticPosesAndObservations", (void (mrpt::maps::CMetricMap::*)(const class mrpt::maps::CSimpleMap &)) &mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations, "Load the map contents from a CSimpleMap object, erasing all previous\n content of the map. This is done invoking `insertObservation()` for each\n observation at the mean 3D robot pose of each pose-observations pair in\n the CSimpleMap object.\n\n \n insertObservation, CSimpleMap\n \n\n std::exception Some internal steps in invoked methods can\n raise exceptions on invalid parameters, etc...\n\nC++: mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(const class mrpt::maps::CSimpleMap &) --> void", pybind11::arg("Map"));
-		cl.def("loadFromSimpleMap", (void (mrpt::maps::CMetricMap::*)(const class mrpt::maps::CSimpleMap &)) &mrpt::maps::CMetricMap::loadFromSimpleMap, "! \n\nC++: mrpt::maps::CMetricMap::loadFromSimpleMap(const class mrpt::maps::CSimpleMap &) --> void", pybind11::arg("Map"));
+		cl.def("loadFromSimpleMap", (void (mrpt::maps::CMetricMap::*)(const class mrpt::maps::CSimpleMap &)) &mrpt::maps::CMetricMap::loadFromSimpleMap, "Load the map contents from a CSimpleMap object, erasing all previous\n content of the map. This is done invoking `insertObservation()` for each\n observation at the mean 3D robot pose of each pose-observations pair in\n the CSimpleMap object.\n\n \n insertObservation, CSimpleMap\n \n\n std::exception Some internal steps in invoked methods can\n raise exceptions on invalid parameters, etc...\n\nC++: mrpt::maps::CMetricMap::loadFromSimpleMap(const class mrpt::maps::CSimpleMap &) --> void", pybind11::arg("Map"));
 		cl.def("insertObs", [](mrpt::maps::CMetricMap &o, const class mrpt::obs::CObservation & a0) -> bool { return o.insertObs(a0); }, "", pybind11::arg("obs"));
 		cl.def("insertObs", (bool (mrpt::maps::CMetricMap::*)(const class mrpt::obs::CObservation &, const class mrpt::poses::CPose3D *)) &mrpt::maps::CMetricMap::insertObs, "C++: mrpt::maps::CMetricMap::insertObs(const class mrpt::obs::CObservation &, const class mrpt::poses::CPose3D *) --> bool", pybind11::arg("obs"), pybind11::arg("robotPose"));
 		cl.def("insertObs", [](mrpt::maps::CMetricMap &o, const class mrpt::obs::CSensoryFrame & a0) -> bool { return o.insertObs(a0); }, "", pybind11::arg("sf"));