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#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include "manif/SGal3.h"
#include "bindings_optional.h"
#include "bindings_lie_group_base.h"
#include "bindings_tangent_base.h"
namespace py = pybind11;
void wrap_SGal3(py::module &m) {
using Scalar = manif::SGal3d::Scalar;
using Translation = manif::SGal3d::Translation;
using Quaternion = Eigen::Quaternion<Scalar>;
using LinearVelocity = manif::SGal3d::LinearVelocity;
py::class_<
manif::LieGroupBase<manif::SGal3d>,
std::unique_ptr<manif::LieGroupBase<manif::SGal3d>, py::nodelete>
> SGal3_base(m, "_SGal3Base");
py::class_<
manif::TangentBase<manif::SGal3Tangentd>,
std::unique_ptr<manif::TangentBase<manif::SGal3Tangentd>, py::nodelete>
> SGal3_tan_base(m, "_SGal3TangentBase");
py::class_<manif::SGal3d, manif::LieGroupBase<manif::SGal3d>> SGal3(m, "SGal3");
py::class_<
manif::SGal3Tangentd, manif::TangentBase<manif::SGal3Tangentd>
> SGal3_tan(m, "SGal3Tangent");
//group
wrap_lie_group_base<manif::SGal3d, manif::LieGroupBase<manif::SGal3d>>(SGal3);
// SGal3.def(py::init<const Translation&, const Quaternion&, const LinearVelocity&>());
// SGal3.def(py::init<const Translation&, const Eigen::AngleAxis<Scalar>&, const LinearVelocity&>());
// SGal3.def(py::init<const Translation&, const manif::SO3<Scalar>&, const LinearVelocity&>());
SGal3.def(
py::init<
const Scalar, const Scalar, const Scalar,
const Scalar, const Scalar, const Scalar,
const Scalar, const Scalar, const Scalar,
const Scalar
>()
);
// SGal3.def(py::init<igen::Transform<Scalar, 3, Eigen::Isometry>&, const LinearVelocity&>());
// SGal3.def("isometry", &manif::SGal3d::isometry);
SGal3.def("rotation", &manif::SGal3d::rotation);
// SGal3.def("quat", &manif::SGal3d::quat);
SGal3.def("translation", &manif::SGal3d::translation);
SGal3.def("x", &manif::SGal3d::x);
SGal3.def("y", &manif::SGal3d::y);
SGal3.def("z", &manif::SGal3d::z);
SGal3.def("linearVelocity", &manif::SGal3d::linearVelocity);
SGal3.def("vx", &manif::SGal3d::vx);
SGal3.def("vy", &manif::SGal3d::vy);
SGal3.def("vz", &manif::SGal3d::vz);
SGal3.def("t", &manif::SGal3d::t);
SGal3.def("normalize", &manif::SGal3d::normalize);
// tangent
wrap_tangent_base<
manif::SGal3Tangentd, manif::TangentBase<manif::SGal3Tangentd>
>(SGal3_tan);
// SGal3_tan.def("v", &manif::SE3Tangentd::v);
// SGal3_tan.def("w", &manif::SE3Tangentd::w);
// SGal3_tan.def("a", &manif::SE3Tangentd::a);
}
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