covariance_sampling.cpp

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#include "covariance_sampling.h"

#include "DataPointsFilters/CovarianceSampling.h"

namespace python
{
        namespace datapointsfilters
        {
                void pybindCovarianceSampling(py::module& p_module)
                {
                        using CovarianceSamplingDataPointsFilter = CovarianceSamplingDataPointsFilter<ScalarType>;
                        py::class_<CovarianceSamplingDataPointsFilter, std::shared_ptr<CovarianceSamplingDataPointsFilter>, DataPointsFilter> cosamplingClass(p_module, "CovarianceSamplingDataPointsFilter");

                        using TorqueNormMethod = CovarianceSamplingDataPointsFilter::TorqueNormMethod;
                        py::enum_<TorqueNormMethod>(cosamplingClass, "TorqueNormMethod").value("L1", TorqueNormMethod::L1)
                                .value("Lavg", TorqueNormMethod::Lavg).value("Lmax", TorqueNormMethod::Lmax).export_values();

                        cosamplingClass.def_static("description", &CovarianceSamplingDataPointsFilter::description)
                                .def_static("availableParameters", &CovarianceSamplingDataPointsFilter::availableParameters)
                                .def_static("computeConditionNumber", &CovarianceSamplingDataPointsFilter::computeConditionNumber, py::arg("cov"))

                                .def_readwrite("nbSample", &CovarianceSamplingDataPointsFilter::nbSample)
                                .def_readonly("normalizationMethod", &CovarianceSamplingDataPointsFilter::normalizationMethod)

                                .def(py::init<const Parameters&>(), py::arg("params") = Parameters(), "Constructor, uses parameter interface")

                                .def("filter", &CovarianceSamplingDataPointsFilter::filter, py::arg("input"))
                                .def("inPlaceFilter", &CovarianceSamplingDataPointsFilter::inPlaceFilter, py::arg("cloud"));
                }
        }
}