Merge pull request #1283 from MRPT/fix/missing-pymrpt-ops

Fix: missing pymrpt ops

doc/source/doxygen-docs/changelog.md

@@ -2,7 +2,8 @@
 
 # Version 2.10.2: UNRELEASED
 - BUG FIXES:
-  - Fix CSparse "C" linkage build error (OSX Clang)
+  - Fix CSparse "C" linkage build error (OSX Clang). PR [#1280](https://github.com/MRPT/mrpt/pull/1280)
+  - Fix missing Python wrapping of poses PDF (poses with uncertainty) composition (\oplus and \ominus) operators. (Closes [#1281](https://github.com/MRPT/mrpt/issues/1281)). PR [#1283](https://github.com/MRPT/mrpt/pull/1283)
 
 # Version 2.10.1: Released August 10th, 2023
 - Build system:

python-examples/ros-poses-convert.py

@@ -66,3 +66,9 @@
 print('mrpt PDF mr3       : ' + str(mr3))
 print('mrpt PDF mr3b      : ' + str(mr3b))
 print('ros PDF r3b        : ' + str(r3b))
+
+a = mr3
+b = mr3
+c = a+b
+
+print('r3b (+) rb3        : ' + str(c))

python/generate-python-stubs.sh

@@ -16,4 +16,4 @@ stubgen -p mrpt -p mrpt.pymrpt -o stubs-out
 
 # applying manual patches to stubs:
 echo "Applying manual patches to stubs..."
-find . -name "patch-stubs*.diff" | xargs -I FIL bash -c "echo FIL && git apply FIL"
+find . -name "patch-stubs*.diff" | xargs -I FIL bash -c "echo FIL && git apply FIL --ignore-whitespace"

python/generate-python.sh

@@ -4,7 +4,7 @@
 # Based on https://github.com/RosettaCommons/binder
 #
 # binder config: llvm-14
-# 
+#
 
 
 PYBIND11_VERSION=$(dpkg -s pybind11-dev | grep '^Version:' | cut -d " " -f2)
@@ -94,5 +94,5 @@ find $WRAP_OUT_DIR -name "*.cpp" | 	xargs -I FIL \
 
 # applying manual patches:
 echo "Applying manual patches to pybind11 code..."
-find . -name "patch-0*.diff" | xargs -I FIL bash -c "echo FIL && git apply FIL"
+find . -name "patch-0*.diff" | xargs -I FIL bash -c "echo \"Applying patch: FIL\" && git apply FIL --ignore-whitespace"
 

python/patch-001.diff

@@ -24,7 +24,7 @@ index cabe86ec7..302018560 100644
 +
  void bind_std_stl_deque(std::function< pybind11::module &(std::string const &namespace_) > &M)
  {
- 	{ // std::deque file:bits/stl_deque.h line:766
+ 	{ // std::deque file:bits/stl_deque.h line:767
 diff --git a/python/src/std/stl_deque_1.cpp b/python/src/std/stl_deque_1.cpp
 index d974577d3..a80326114 100644
 --- a/python/src/std/stl_deque_1.cpp
@@ -38,7 +38,7 @@ index d974577d3..a80326114 100644
 +
  void bind_std_stl_deque_1(std::function< pybind11::module &(std::string const &namespace_) > &M)
  {
- 	{ // std::deque file:bits/stl_deque.h line:766
+ 	{ // std::deque file:bits/stl_deque.h line:767
 diff --git a/python/src/std/stl_deque_2.cpp b/python/src/std/stl_deque_2.cpp
 index ca96e381d..54e7eaaf4 100644
 --- a/python/src/std/stl_deque_2.cpp
@@ -51,7 +51,7 @@ index ca96e381d..54e7eaaf4 100644
 +
  void bind_std_stl_deque_2(std::function< pybind11::module &(std::string const &namespace_) > &M)
  {
- 	{ // std::deque file:bits/stl_deque.h line:766
+ 	{ // std::deque file:bits/stl_deque.h line:767
 diff --git a/python/src/std/stl_map.cpp b/python/src/std/stl_map.cpp
 index db3f49fde..793bf72f3 100644
 --- a/python/src/std/stl_map.cpp

python/patch-007.diff

@@ -12,7 +12,7 @@ index 1638b4d29..4c5984034 100644
 +			}, pybind11::keep_alive<0, 1>());
 +
  	}
- 	{ // std::deque file:bits/stl_deque.h line:766
+ 	{ // std::deque file:bits/stl_deque.h line:767
  		pybind11::class_<std::deque<mrpt::bayes::CProbabilityParticle<mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE>>, std::shared_ptr<std::deque<mrpt::bayes::CProbabilityParticle<mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE>>>> cl(M("std"), "deque_mrpt_bayes_CProbabilityParticle_mrpt_math_TPose2D_mrpt_bayes_particle_storage_mode_VALUE_t", "");
 @@ -90,5 +95,10 @@ void bind_std_stl_deque(std::function< pybind11::module &(std::string const &nam
  		cl.def("pop_back", (void (std::deque<mrpt::bayes::CProbabilityParticle<mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE>>::*)()) &std::deque<mrpt::bayes::CProbabilityParticle<mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE>>::pop_back, "C++: std::deque<mrpt::bayes::CProbabilityParticle<mrpt::math::TPose2D, mrpt::bayes::particle_storage_mode::VALUE>>::pop_back() --> void");
@@ -39,7 +39,7 @@ index b16449336..69668158e 100644
 +			}, pybind11::keep_alive<0, 1>());
 +
  	}
- 	{ // std::deque file:bits/stl_deque.h line:766
+ 	{ // std::deque file:bits/stl_deque.h line:767
  		pybind11::class_<std::deque<mrpt::bayes::CProbabilityParticle<mrpt::maps::CRBPFParticleData, mrpt::bayes::particle_storage_mode::POINTER>>, std::shared_ptr<std::deque<mrpt::bayes::CProbabilityParticle<mrpt::maps::CRBPFParticleData, mrpt::bayes::particle_storage_mode::POINTER>>>> cl(M("std"), "deque_mrpt_bayes_CProbabilityParticle_mrpt_maps_CRBPFParticleData_mrpt_bayes_particle_storage_mode_POINTER_t", "");
 @@ -91,5 +96,10 @@ void bind_std_stl_deque_1(std::function< pybind11::module &(std::string const &n
  		cl.def("pop_back", (void (std::deque<mrpt::bayes::CProbabilityParticle<mrpt::maps::CRBPFParticleData, mrpt::bayes::particle_storage_mode::POINTER>>::*)()) &std::deque<mrpt::bayes::CProbabilityParticle<mrpt::maps::CRBPFParticleData, mrpt::bayes::particle_storage_mode::POINTER>>::pop_back, "C++: std::deque<mrpt::bayes::CProbabilityParticle<mrpt::maps::CRBPFParticleData, mrpt::bayes::particle_storage_mode::POINTER>>::pop_back() --> void");

python/patch-009.diff

@@ -0,0 +1,63 @@
+diff --git a/python/src/mrpt/poses/CPose3DPDF.cpp b/python/src/mrpt/poses/CPose3DPDF.cpp
+index 73668b4fd..472022c93 100644
+--- a/python/src/mrpt/poses/CPose3DPDF.cpp
++++ b/python/src/mrpt/poses/CPose3DPDF.cpp
+@@ -533,5 +533,8 @@ void bind_mrpt_poses_CPose3DPDF(std::function< pybind11::module &(std::string co
+ 		cl.def("assign", (class mrpt::poses::CPose3DPDFGaussian & (mrpt::poses::CPose3DPDFGaussian::*)(const class mrpt::poses::CPose3DPDFGaussian &)) &mrpt::poses::CPose3DPDFGaussian::operator=, "C++: mrpt::poses::CPose3DPDFGaussian::operator=(const class mrpt::poses::CPose3DPDFGaussian &) --> class mrpt::poses::CPose3DPDFGaussian &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+ 		cl.def("__str__", [](mrpt::poses::CPose3DPDFGaussian const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
++
++		cl.def("__add__", [](const mrpt::poses::CPose3DPDFGaussian&a, const mrpt::poses::CPose3DPDFGaussian& b) -> mrpt::poses::CPose3DPDFGaussian { return a+b; });
++		cl.def("__sub__", [](const mrpt::poses::CPose3DPDFGaussian&a, const mrpt::poses::CPose3DPDFGaussian& b) -> mrpt::poses::CPose3DPDFGaussian { return a-b; });
+ 	}
+ }
+diff --git a/python/src/mrpt/poses/CPose3DPDFGaussianInf.cpp b/python/src/mrpt/poses/CPose3DPDFGaussianInf.cpp
+index 6655851d9..3f249106b 100644
+--- a/python/src/mrpt/poses/CPose3DPDFGaussianInf.cpp
++++ b/python/src/mrpt/poses/CPose3DPDFGaussianInf.cpp
+@@ -504,6 +504,9 @@ void bind_mrpt_poses_CPose3DPDFGaussianInf(std::function< pybind11::module &(std
+ 		cl.def("assign", (class mrpt::poses::CPose3DPDFGaussianInf & (mrpt::poses::CPose3DPDFGaussianInf::*)(const class mrpt::poses::CPose3DPDFGaussianInf &)) &mrpt::poses::CPose3DPDFGaussianInf::operator=, "C++: mrpt::poses::CPose3DPDFGaussianInf::operator=(const class mrpt::poses::CPose3DPDFGaussianInf &) --> class mrpt::poses::CPose3DPDFGaussianInf &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+ 		cl.def("__str__", [](mrpt::poses::CPose3DPDFGaussianInf const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
++
++		cl.def("__add__", [](const mrpt::poses::CPose3DPDFGaussianInf&a, const mrpt::poses::CPose3DPDFGaussianInf& b) -> mrpt::poses::CPose3DPDFGaussianInf { return a+b; });
++		cl.def("__sub__", [](const mrpt::poses::CPose3DPDFGaussianInf&a, const mrpt::poses::CPose3DPDFGaussianInf& b) -> mrpt::poses::CPose3DPDFGaussianInf { return a-b; });
+ 	}
+ 	{ // mrpt::poses::CPose3DPDFGrid file:mrpt/poses/CPose3DPDFGrid.h line:25
+ 		pybind11::class_<mrpt::poses::CPose3DPDFGrid, std::shared_ptr<mrpt::poses::CPose3DPDFGrid>, PyCallBack_mrpt_poses_CPose3DPDFGrid, mrpt::poses::CPose3DPDF, mrpt::poses::CPose3DGridTemplate<double>> cl(M("mrpt::poses"), "CPose3DPDFGrid", "Declares a class that represents a Probability Distribution\n  function (PDF) of a SE(3) pose (x,y,z, yaw, pitch, roll), in\n the form of a 6-dimensional grid of \"voxels\".\n\n \n CPose3D, CPose3DPDF, CPose3DGridTemplate\n \n\n\n ");
+diff --git a/python/src/mrpt/poses/CPose3DQuatPDFGaussianInf.cpp b/python/src/mrpt/poses/CPose3DQuatPDFGaussianInf.cpp
+index d0b98b04a..c3d2a6001 100644
+--- a/python/src/mrpt/poses/CPose3DQuatPDFGaussianInf.cpp
++++ b/python/src/mrpt/poses/CPose3DQuatPDFGaussianInf.cpp
+@@ -483,6 +483,9 @@ void bind_mrpt_poses_CPose3DQuatPDFGaussianInf(std::function< pybind11::module &
+ 		cl.def("assign", (class mrpt::poses::CPose3DQuatPDFGaussianInf & (mrpt::poses::CPose3DQuatPDFGaussianInf::*)(const class mrpt::poses::CPose3DQuatPDFGaussianInf &)) &mrpt::poses::CPose3DQuatPDFGaussianInf::operator=, "C++: mrpt::poses::CPose3DQuatPDFGaussianInf::operator=(const class mrpt::poses::CPose3DQuatPDFGaussianInf &) --> class mrpt::poses::CPose3DQuatPDFGaussianInf &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+ 		cl.def("__str__", [](mrpt::poses::CPose3DQuatPDFGaussianInf const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
++
++		cl.def("__add__", [](const mrpt::poses::CPose3DQuatPDFGaussianInf&a, const mrpt::poses::CPose3DQuatPDFGaussianInf& b) -> mrpt::poses::CPose3DQuatPDFGaussianInf { return a+b; });
++		cl.def("__sub__", [](const mrpt::poses::CPose3DQuatPDFGaussianInf&a, const mrpt::poses::CPose3DQuatPDFGaussianInf& b) -> mrpt::poses::CPose3DQuatPDFGaussianInf { return a-b; });
+ 	}
+ 	{ // mrpt::poses::CPosePDFGaussianInf file:mrpt/poses/CPosePDFGaussianInf.h line:33
+ 		pybind11::class_<mrpt::poses::CPosePDFGaussianInf, std::shared_ptr<mrpt::poses::CPosePDFGaussianInf>, PyCallBack_mrpt_poses_CPosePDFGaussianInf, mrpt::poses::CPosePDF> cl(M("mrpt::poses"), "CPosePDFGaussianInf", "A Probability Density  function (PDF) of a 2D pose \n\n\n as a Gaussian with a mean and the inverse of the covariance.\n\n   This class implements a PDF as a mono-modal Gaussian distribution in its\n information form, that is,\n     keeping the inverse of the covariance matrix instead of the covariance\n matrix itself.\n\n  This class is the dual of CPosePDFGaussian.\n\n \n CPose2D, CPosePDF, CPosePDFParticles\n \n\n\n ");
+@@ -529,5 +532,8 @@ void bind_mrpt_poses_CPose3DQuatPDFGaussianInf(std::function< pybind11::module &
+ 		cl.def("assign", (class mrpt::poses::CPosePDFGaussianInf & (mrpt::poses::CPosePDFGaussianInf::*)(const class mrpt::poses::CPosePDFGaussianInf &)) &mrpt::poses::CPosePDFGaussianInf::operator=, "C++: mrpt::poses::CPosePDFGaussianInf::operator=(const class mrpt::poses::CPosePDFGaussianInf &) --> class mrpt::poses::CPosePDFGaussianInf &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+ 		cl.def("__str__", [](mrpt::poses::CPosePDFGaussianInf const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
++
++		cl.def("__add__", [](const mrpt::poses::CPosePDFGaussianInf&a, const mrpt::poses::CPosePDFGaussianInf& b) -> mrpt::poses::CPosePDFGaussianInf { return a+b; });
++		cl.def("__sub__", [](const mrpt::poses::CPosePDFGaussianInf&a, const mrpt::poses::CPosePDFGaussianInf& b) -> mrpt::poses::CPosePDFGaussianInf { return a-b; });
+ 	}
+ }
+diff --git a/python/src/mrpt/poses/CPosePDFGaussian.cpp b/python/src/mrpt/poses/CPosePDFGaussian.cpp
+index c50d72dee..4671c88a6 100644
+--- a/python/src/mrpt/poses/CPosePDFGaussian.cpp
++++ b/python/src/mrpt/poses/CPosePDFGaussian.cpp
+@@ -301,5 +301,8 @@ void bind_mrpt_poses_CPosePDFGaussian(std::function< pybind11::module &(std::str
+ 		cl.def("assign", (class mrpt::poses::CPosePDFGaussian & (mrpt::poses::CPosePDFGaussian::*)(const class mrpt::poses::CPosePDFGaussian &)) &mrpt::poses::CPosePDFGaussian::operator=, "C++: mrpt::poses::CPosePDFGaussian::operator=(const class mrpt::poses::CPosePDFGaussian &) --> class mrpt::poses::CPosePDFGaussian &", pybind11::return_value_policy::automatic, pybind11::arg(""));
+
+ 		cl.def("__str__", [](mrpt::poses::CPosePDFGaussian const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
++
++		cl.def("__add__", [](const mrpt::poses::CPosePDFGaussian&a, const mrpt::poses::CPosePDFGaussian& b) -> mrpt::poses::CPosePDFGaussian { return a+b; });
++		cl.def("__sub__", [](const mrpt::poses::CPosePDFGaussian&a, const mrpt::poses::CPosePDFGaussian& b) -> mrpt::poses::CPosePDFGaussian { return a-b; });
+ 	}
+ }

python/python.conf

@@ -295,4 +295,6 @@
 # 
 -class std::map<long,unsigned int>
 -class std::map<unsigned int,long>
--class std::monostate
+-class std::monostate
+#
++function mrpt::poses::operator+(const mrpt::poses::CPose3DPDFGaussian&, const mrpt::poses::CPose3DPDFGaussian&)

python/src/mrpt/config/CLoadableOptions.cpp

@@ -24,7 +24,7 @@
 	PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
-// mrpt::config::CLoadableOptions file:mrpt/config/CLoadableOptions.h line:26
+// mrpt::config::CLoadableOptions file:mrpt/config/CLoadableOptions.h line:24
 struct PyCallBack_mrpt_config_CLoadableOptions : public mrpt::config::CLoadableOptions {
 	using mrpt::config::CLoadableOptions::CLoadableOptions;
 
@@ -58,8 +58,8 @@ struct PyCallBack_mrpt_config_CLoadableOptions : public mrpt::config::CLoadableO
 
 void bind_mrpt_config_CLoadableOptions(std::function< pybind11::module &(std::string const &namespace_) > &M)
 {
-	{ // mrpt::config::CLoadableOptions file:mrpt/config/CLoadableOptions.h line:26
-		pybind11::class_<mrpt::config::CLoadableOptions, std::shared_ptr<mrpt::config::CLoadableOptions>, PyCallBack_mrpt_config_CLoadableOptions> cl(M("mrpt::config"), "CLoadableOptions", "This is a virtual base class for sets of options than can be loaded from\n and/or saved to configuration plain-text files.\n");
+	{ // mrpt::config::CLoadableOptions file:mrpt/config/CLoadableOptions.h line:24
+		pybind11::class_<mrpt::config::CLoadableOptions, std::shared_ptr<mrpt::config::CLoadableOptions>, PyCallBack_mrpt_config_CLoadableOptions> cl(M("mrpt::config"), "CLoadableOptions", "This is a virtual base class for sets of options than can be loaded from\n and/or saved to configuration plain-text files.\n \n\n\n ");
 		cl.def(pybind11::init<PyCallBack_mrpt_config_CLoadableOptions const &>());
 		cl.def( pybind11::init( [](){ return new PyCallBack_mrpt_config_CLoadableOptions(); } ) );
 		cl.def("loadFromConfigFile", (void (mrpt::config::CLoadableOptions::*)(const class mrpt::config::CConfigFileBase &, const std::string &)) &mrpt::config::CLoadableOptions::loadFromConfigFile, "This method load the options from a \".ini\"-like file or memory-stored\n string list.\n   Only those parameters found in the given \"section\" and having\n   the same name that the variable are loaded. Those not found in\n   the file will stay with their previous values (usually the default\n   values loaded at initialization). An example of an \".ini\" file:\n  \n\n\n\n\n\n \n loadFromConfigFileName, saveToConfigFile\n\nC++: mrpt::config::CLoadableOptions::loadFromConfigFile(const class mrpt::config::CConfigFileBase &, const std::string &) --> void", pybind11::arg("source"), pybind11::arg("section"));

python/src/mrpt/hwdrivers/CNTRIPClient.cpp

@@ -355,7 +355,7 @@ void bind_mrpt_hwdrivers_CNTRIPClient(std::function< pybind11::module &(std::str
 
 	}
 	{ // mrpt::hwdrivers::CNTRIPEmitter file:mrpt/hwdrivers/CNTRIPEmitter.h line:62
-		pybind11::class_<mrpt::hwdrivers::CNTRIPEmitter, std::shared_ptr<mrpt::hwdrivers::CNTRIPEmitter>, PyCallBack_mrpt_hwdrivers_CNTRIPEmitter, mrpt::hwdrivers::CGenericSensor> cl(M("mrpt::hwdrivers"), "CNTRIPEmitter", "This \"virtual driver\" encapsulates a NTRIP client (see CNTRIPClient) but\n adds the functionality of dumping the received datastream to a given serial\n port.\n  Used within rawlog-grabber, along CGPSInterface, this class allows one to build\n a powerful & simple RTK-capable GPS receiver system.\n\n  Therefore, this sensor will never \"collect\" any observation via the\n CGenericSensor interface.\n\n   See also the example configuration file for rawlog-grabber in\n \"share/mrpt/config_files/rawlog-grabber\".\n\n  \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n  The next picture summarizes existing MRPT classes related to GPS / GNSS\n devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):\n\n    \n\n \n\n \n CGPSInterface, CGPS_NTRIP, CNTRIPClient");
+		pybind11::class_<mrpt::hwdrivers::CNTRIPEmitter, std::shared_ptr<mrpt::hwdrivers::CNTRIPEmitter>, PyCallBack_mrpt_hwdrivers_CNTRIPEmitter, mrpt::hwdrivers::CGenericSensor> cl(M("mrpt::hwdrivers"), "CNTRIPEmitter", "This \"virtual driver\" encapsulates a NTRIP client (see CNTRIPClient) but\n adds the functionality of dumping the received datastream to a given serial\n port.\n  Used within rawlog-grabber, along CGPSInterface, this class allows one to\n build a powerful & simple RTK-capable GPS receiver system.\n\n  Therefore, this sensor will never \"collect\" any observation via the\n CGenericSensor interface.\n\n   See also the example configuration file for rawlog-grabber in\n \"share/mrpt/config_files/rawlog-grabber\".\n\n  \n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n  The next picture summarizes existing MRPT classes related to GPS / GNSS\n devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):\n\n    \n\n \n\n \n CGPSInterface, CGPS_NTRIP, CNTRIPClient");
 		cl.def( pybind11::init( [](){ return new mrpt::hwdrivers::CNTRIPEmitter(); }, [](){ return new PyCallBack_mrpt_hwdrivers_CNTRIPEmitter(); } ) );
 		cl.def("GetRuntimeClass", (const struct mrpt::hwdrivers::TSensorClassId * (mrpt::hwdrivers::CNTRIPEmitter::*)() const) &mrpt::hwdrivers::CNTRIPEmitter::GetRuntimeClass, "C++: mrpt::hwdrivers::CNTRIPEmitter::GetRuntimeClass() const --> const struct mrpt::hwdrivers::TSensorClassId *", pybind11::return_value_policy::automatic);
 		cl.def_static("CreateObject", (class mrpt::hwdrivers::CGenericSensor * (*)()) &mrpt::hwdrivers::CNTRIPEmitter::CreateObject, "C++: mrpt::hwdrivers::CNTRIPEmitter::CreateObject() --> class mrpt::hwdrivers::CGenericSensor *", pybind11::return_value_policy::automatic);

python/src/mrpt/poses/CPose3DPDF.cpp

@@ -533,5 +533,8 @@ void bind_mrpt_poses_CPose3DPDF(std::function< pybind11::module &(std::string co
 		cl.def("assign", (class mrpt::poses::CPose3DPDFGaussian & (mrpt::poses::CPose3DPDFGaussian::*)(const class mrpt::poses::CPose3DPDFGaussian &)) &mrpt::poses::CPose3DPDFGaussian::operator=, "C++: mrpt::poses::CPose3DPDFGaussian::operator=(const class mrpt::poses::CPose3DPDFGaussian &) --> class mrpt::poses::CPose3DPDFGaussian &", pybind11::return_value_policy::automatic, pybind11::arg(""));
 
 		cl.def("__str__", [](mrpt::poses::CPose3DPDFGaussian const &o) -> std::string { std::ostringstream s; using namespace mrpt::poses; s << o; return s.str(); } );
+
+		cl.def("__add__", [](const mrpt::poses::CPose3DPDFGaussian&a, const mrpt::poses::CPose3DPDFGaussian& b) -> mrpt::poses::CPose3DPDFGaussian { return a+b; });
+		cl.def("__sub__", [](const mrpt::poses::CPose3DPDFGaussian&a, const mrpt::poses::CPose3DPDFGaussian& b) -> mrpt::poses::CPose3DPDFGaussian { return a-b; });
 	}
 }