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#ifndef __BINDINGS_H__
#define __BINDINGS_H__
/* BOOST */
#include <boost/python.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>
#include <boost/python/suite/indexing/indexing_suite.hpp>
/* std */
#include <vector>
#include <deque>
/* smart_ptr */
#include <mrpt/otherlibs/stlplus/smart_ptr.hpp>
/* macros */
#define STRINGIFY(str) #str
#define MAKE_PTR(class_name) class_<class_name##Ptr>(STRINGIFY(class_name##Ptr), "class_name smart pointer type", no_init)\
.def("ctx", &class_name##Ptr_get_ctx, return_internal_reference<>())\
.def("ctx", &class_name##Ptr_set_ctx)\
.def("pointer", &class_name##Ptr_pointer, return_internal_reference<>())\
;\
#define MAKE_PTR_NAMED(class_name, ptr_name) class_<class_name##Ptr>(STRINGIFY(ptr_name##Ptr), "class_name smart pointer type", no_init)\
.def("ctx", &class_name##Ptr_get_ctx, return_internal_reference<>())\
.def("ctx", &class_name##Ptr_set_ctx)\
.def("pointer", &class_name##Ptr_pointer, return_internal_reference<>())\
;\
#define MAKE_PTR_BASE(class_name, base_name) class_<class_name##Ptr, bases<base_name##Ptr> >(STRINGIFY(class_name##Ptr), "class_name smart pointer type", no_init)\
.def("ctx", &class_name##Ptr_get_ctx, return_internal_reference<>())\
.def("ctx", &class_name##Ptr_set_ctx)\
.def("pointer", &class_name##Ptr_pointer, return_internal_reference<>())\
;\
#define MAKE_CREATE(class_name) .def("Create", &class_name::Create, "Create smart pointer from class.").staticmethod("Create")
#define MAKE_VEC(class_name) class_<std::vector<class_name> >(STRINGIFY(class_name##Vector)).def(vector_indexing_suite<std::vector<class_name> >());
#define MAKE_VEC_NAMED(class_name, vec_name) class_<std::vector<class_name> >(#vec_name).def(vector_indexing_suite<std::vector<class_name> >());
#define MAKE_PTR_CTX(class_name) class_name& class_name##Ptr_get_ctx(class_name##Ptr& self) { return *self; }\
void class_name##Ptr_set_ctx(class_name##Ptr& self, class_name& ctx) { *self = ctx; }\
class_name* class_name##Ptr_pointer(class_name##Ptr& self) { return self.pointer(); }\
#define MAKE_AS_STR(class_name) std::string class_name##_asString(class_name& self)\
{\
return self.asString();\
}\
#define MAKE_GETITEM(class_name, value_type) value_type class_name##_getitem(class_name& self, size_t i)\
{\
return self[i];\
}\
#define MAKE_SETITEM(class_name, value_type) void class_name##_setitem(class_name& self, size_t i, value_type value)\
{\
self[i] = value;\
}\
#define MAKE_SUBMODULE(mod) object mod_module(handle<>(borrowed(PyImport_AddModule(STRINGIFY(pymrpt.mod)))));\
scope().attr(STRINGIFY(mod)) = mod_module;\
scope mod_scope = mod_module;\
// Helpers
void IndexError();
void TypeError(std::string message);
// end of Helpers
// STL list-like containers (vector, list, deque)
template<class T>
struct StlListLike
{
typedef typename T::value_type V;
static V& get(T & x, int i)
{
if( i<0 ) i+=x.size();
if( i>=0 && i<x.size() ) return x[i];
IndexError();
// only for removing the return-type warning; code is never reached:
return x[0];
}
static void set(T & x, int i, V const& v)
{
if( i<0 ) i+=x.size();
if( i>=0 && i<x.size() ) x[i]=v;
else IndexError();
}
static void del(T & x, int i)
{
if( i<0 ) i+=x.size();
if( i>=0 && i<x.size() ) x.erase(x.begin() + i);
else IndexError();
}
static void add(T & x, V const& v)
{
x.push_back(v);
}
};
// end of STL list-like containers
/* exporters */
void export_gui();
void export_opengl();
void export_math();
void export_math_stl();
void export_obs();
void export_maps();
void export_slam();
void export_nav();
void export_poses();
void export_poses_stl();
void export_system();
void export_utils();
void export_utils_stl();
void export_bayes();
#ifdef ROS_EXTENSIONS
// time conversion
boost::python::object TTimeStamp_to_ROS_Time(boost::python::long_ timestamp);
boost::python::long_ TTimeStamp_from_ROS_Time(boost::python::object ros_time);
#endif
#endif
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