python_exports.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  *
00029  */
00030 
00039 #include <karto_scan_matcher/karto_scan_matcher.h>
00040 #include <boost/python.hpp>
00041 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
00042 
00043 namespace karto_scan_matcher
00044 {
00045 
00046 namespace sm=sensor_msgs;
00047 namespace gm=geometry_msgs;
00048 
00049 
00050 BOOST_PYTHON_MODULE(karto_scan_matching)
00051 {
00052   using namespace boost::python;
00053   using sm::LaserScan;
00054   using gm::Pose2D;
00055   using boost::shared_ptr;
00056   using std_msgs::Header;
00057   using ros::Time;
00058 
00059   class_<LaserScan, shared_ptr<LaserScan> >("LaserScanCpp", init<>())
00060     .def_readwrite("header", &LaserScan::header)
00061     .def_readwrite("angle_min", &LaserScan::angle_min)
00062     .def_readwrite("angle_max", &LaserScan::angle_max)
00063     .def_readwrite("angle_increment", &LaserScan::angle_increment)
00064     .def_readwrite("range_min", &LaserScan::range_min)
00065     .def_readwrite("range_max", &LaserScan::range_max)
00066     .def_readwrite("ranges", &LaserScan::ranges)
00067     ;
00068 
00069   class_<Pose2D>("Pose2DCpp", init<>())
00070     .def_readwrite("x", &Pose2D::x)
00071     .def_readwrite("y", &Pose2D::y)
00072     .def_readwrite("theta", &Pose2D::theta)
00073     ;
00074 
00075   class_<ScanMatchResult>("ScanMatchResultCpp", init<>())
00076     .def_readonly("pose", &ScanMatchResult::pose)
00077     .def_readonly("response", &ScanMatchResult::response)
00078     ;
00079 
00080   class_<ScanWithPose>("ScanWithPoseCpp", init<LaserScan, Pose2D>());
00081 
00082   class_<KartoScanMatcher>("KartoScanMatcherCpp",
00083                            init<LaserScan, Pose2D, double, double>())
00084     .def("scan_match", &KartoScanMatcher::scanMatch)
00085     ;
00086 
00087   class_<Header>("Header", init<>())
00088     .def_readwrite("seq", &Header::seq)
00089     .def_readwrite("stamp", &Header::stamp)
00090     .def_readwrite("frame_id", &Header::frame_id)
00091     ;
00092 
00093   class_<Time>("Time", init<>())
00094     .def_readwrite("sec", &Time::sec)
00095     .def_readwrite("nsec", &Time::nsec)
00096     ;
00097 
00098 
00099 }
00100 
00101 } // namespace


karto_scan_matcher
Author(s): Bhaskara Marthi
autogenerated on Thu Jan 2 2014 12:02:42