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# -*- coding: utf-8 -*-
from libc.stddef cimport size_t
from libcpp.vector cimport vector
from libcpp.string cimport string
from libcpp cimport bool
cimport pcl_defs as cpp
from boost_shared_ptr cimport shared_ptr
from vector cimport vector as vector2
# Cython C++ wrapper operator() overloading error
# http://stackoverflow.com/questions/18690005/cython-c-wrapper-operator-overloading-error
# Cython/Python/C++ - Inheritance: Passing Derived Class as Argument to Function expecting base class
# http://stackoverflow.com/questions/28573479/cython-python-c-inheritance-passing-derived-class-as-argument-to-function-e
###
###############################################################################
# Types
###############################################################################
# Array
# cdef extern from "Eigen/Array" namespace "Eigen" nogil:
###
# Cholesky
# cdef extern from "Eigen/Cholesky" namespace "Eigen" nogil:
###
# Core?
# cdef extern from "Eigen/Core" namespace "Eigen" nogil:
###
# Dense
# http://stackoverflow.com/questions/29913524/set-coefficient-element-of-eigenmatrix3d-in-cython
cdef extern from "Eigen/Dense" namespace "Eigen":
# I'm also unsure if you want a Matrix3d or a Vector3d so I assumed matrix
cdef cppclass Matrix3d:
Matrix3d() except +
# NG
# double coeff(int row, int col)
double& element "operator()"(int row, int col)
###
# Eigen
cdef extern from "Eigen/Eigen" namespace "Eigen" nogil:
cdef cppclass Matrix4f:
Matrix4f() except +
float *data()
float& element "operator()"(int row, int col)
cdef cppclass Matrix3f:
Matrix3f() except +
float coeff(int row, int col)
float *data()
float& element "operator()"(int row, int col)
cdef cppclass Vector4f:
Vector4f() except +
float *data()
float& element "operator()"(int row, int col)
cdef cppclass Vector3f:
Vector3f() except +
Vector3f(double c0, double c1, double c2) except +
float *data()
float& element "operator()"(int row, int col)
cdef cppclass Vector3i:
Vector3i() except +
int *data()
int& element "operator()"(int row, int col)
cdef cppclass Vector3d:
Vector3d() except +
Vector3d(double c0, double c1, double c2) except +
double coeff(int row, int col)
double& element "operator()"(int row, int col)
cdef cppclass Quaternionf:
float w()
float x()
float y()
float z()
cdef cppclass Affine3f:
Affine3f() except +
float *data()
cdef cppclass aligned_allocator[T]:
pass
###
# VectorXf
ctypedef aligned_allocator[cpp.PointXYZ] aligned_allocator_t
ctypedef aligned_allocator[cpp.PointXYZI] aligned_allocator_PointXYZI_t
ctypedef aligned_allocator[cpp.PointXYZRGB] aligned_allocator_PointXYZRGB_t
ctypedef aligned_allocator[cpp.PointXYZRGBA] aligned_allocator_PointXYZRGBA_t
ctypedef vector2[cpp.PointXYZ, aligned_allocator_t] AlignedPointTVector_t
ctypedef vector2[cpp.PointXYZI, aligned_allocator_PointXYZI_t] AlignedPointTVector_PointXYZI_t
ctypedef vector2[cpp.PointXYZRGB, aligned_allocator_PointXYZRGB_t] AlignedPointTVector_PointXYZRGB_t
ctypedef vector2[cpp.PointXYZRGBA, aligned_allocator_PointXYZRGBA_t] AlignedPointTVector_PointXYZRGBA_t
# Eigen2Support?
# cdef extern from "Eigen/Eigen2Support" namespace "Eigen" nogil:
# Eigenvalues
# cdef extern from "Eigen/Eigenvalues" namespace "Eigen" nogil:
# Geometry
cdef extern from "Eigen/Geometry" namespace "Eigen" nogil:
cdef cppclass Translation2f:
Translation2f() except +
Translation2f(float a, float b) except +
cdef cppclass Translation2d:
Translation2d() except +
Translation2d(double a, double b) except +
cdef cppclass Translation3f:
Translation3f() except +
Translation3f(float a, float b, float c) except +
float *data()
cdef cppclass Translation3d:
Translation3d() except +
Translation3d(double a, double b, double c) except +
double *data()
# Householder
# cdef extern from "Eigen/Householder" namespace "Eigen" nogil:
# Jacobi
# cdef extern from "Eigen/Jacobi" namespace "Eigen" nogil:
# LeastSquares
# cdef extern from "Eigen/LeastSquares" namespace "Eigen" nogil:
# LU
# cdef extern from "Eigen/LU" namespace "Eigen" nogil:
# QR
# cdef extern from "Eigen/QR" namespace "Eigen" nogil:
# QtAlignedMalloc
# cdef extern from "Eigen/QtAlignedMalloc" namespace "Eigen" nogil:
# Sparse
# cdef extern from "Eigen/Sparse" namespace "Eigen" nogil:
# StdDeque
# cdef extern from "Eigen/StdDeque" namespace "Eigen" nogil:
# StdList
# cdef extern from "Eigen/StdList" namespace "Eigen" nogil:
# StdVector
# cdef extern from "Eigen/StdVector" namespace "Eigen" nogil:
# SVD
# cdef extern from "Eigen/SVD" namespace "Eigen" nogil:
###
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