transformation_checkers_impl.cpp

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#include "transformation_checkers_impl.h"

#include "pointmatcher/TransformationCheckersImpl.h"

namespace python
{
        namespace pointmatcher
        {
                namespace impls
                {
                        void pybindTransformationCheckersImpl(py::module& p_module)
                        {
                                using TransformationCheckersImpl = TransformationCheckersImpl<ScalarType>;
                                py::class_<TransformationCheckersImpl, std::shared_ptr<TransformationCheckersImpl>> pyTransformationCheckersImpl(p_module, "TransformationCheckersImpl");

                                using CounterTransformationChecker = TransformationCheckersImpl::CounterTransformationChecker;
                                py::class_<CounterTransformationChecker, std::shared_ptr<CounterTransformationChecker>, TransformationChecker>(pyTransformationCheckersImpl, "CounterTransformationChecker")
                                        .def_static("description", &CounterTransformationChecker::description)
                                        .def_static("availableParameters", &CounterTransformationChecker::availableParameters)

                                        .def_readonly("maxIterationCount", &CounterTransformationChecker::maxIterationCount)

                                        .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                        .def("init", &CounterTransformationChecker::init, py::arg("parameters"), py::arg("iterate"))
                                        .def("check", &CounterTransformationChecker::check, py::arg("parameters"), py::arg("iterate"));

                                using DifferentialTransformationChecker = TransformationCheckersImpl::DifferentialTransformationChecker;
                                py::class_<DifferentialTransformationChecker, std::shared_ptr<DifferentialTransformationChecker>, TransformationChecker>(pyTransformationCheckersImpl, "DifferentialTransformationChecker")
                                        .def_static("description", &DifferentialTransformationChecker::description)
                                        .def_static("availableParameters", &DifferentialTransformationChecker::availableParameters)

                                        .def_readonly("minDiffRotErr", &DifferentialTransformationChecker::minDiffRotErr)
                                        .def_readonly("minDiffTransErr", &DifferentialTransformationChecker::minDiffTransErr)
                                        .def_readonly("smoothLength", &DifferentialTransformationChecker::smoothLength)

                                        .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                        .def("init", &DifferentialTransformationChecker::init, py::arg("parameters"), py::arg("iterate"))
                                        .def("check", &DifferentialTransformationChecker::check, py::arg("parameters"), py::arg("iterate"));

                                using BoundTransformationChecker = TransformationCheckersImpl::BoundTransformationChecker;
                                py::class_<BoundTransformationChecker, std::shared_ptr<BoundTransformationChecker>, TransformationChecker>(pyTransformationCheckersImpl, "BoundTransformationChecker")
                                        .def_static("description", &BoundTransformationChecker::description)
                                        .def_static("availableParameters", &BoundTransformationChecker::availableParameters)

                                        .def_readonly("minDiffRotErr", &BoundTransformationChecker::maxRotationNorm)
                                        .def_readonly("minDiffTransErr", &BoundTransformationChecker::maxTranslationNorm)

                                        .def(py::init<const Parameters&>(), py::arg("params") = Parameters())
                                        .def("init", &BoundTransformationChecker::init, py::arg("parameters"), py::arg("iterate"))
                                        .def("check", &BoundTransformationChecker::check, py::arg("parameters"), py::arg("iterate"));
                        }
                }
        }
}