python_exports.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <karto_scan_matcher/karto_scan_matcher.h>
#include <boost/python.hpp>
#include <boost/python/suite/indexing/vector_indexing_suite.hpp>

namespace karto_scan_matcher
{

namespace sm=sensor_msgs;
namespace gm=geometry_msgs;


BOOST_PYTHON_MODULE(karto_scan_matching)
{
  using namespace boost::python;
  using sm::LaserScan;
  using gm::Pose2D;
  using boost::shared_ptr;
  using std_msgs::Header;
  using ros::Time;

  class_<LaserScan, shared_ptr<LaserScan> >("LaserScanCpp", init<>())
    .def_readwrite("header", &LaserScan::header)
    .def_readwrite("angle_min", &LaserScan::angle_min)
    .def_readwrite("angle_max", &LaserScan::angle_max)
    .def_readwrite("angle_increment", &LaserScan::angle_increment)
    .def_readwrite("range_min", &LaserScan::range_min)
    .def_readwrite("range_max", &LaserScan::range_max)
    .def_readwrite("ranges", &LaserScan::ranges)
    ;

  class_<Pose2D>("Pose2DCpp", init<>())
    .def_readwrite("x", &Pose2D::x)
    .def_readwrite("y", &Pose2D::y)
    .def_readwrite("theta", &Pose2D::theta)
    ;

  class_<ScanMatchResult>("ScanMatchResultCpp", init<>())
    .def_readonly("pose", &ScanMatchResult::pose)
    .def_readonly("response", &ScanMatchResult::response)
    ;

  class_<ScanWithPose>("ScanWithPoseCpp", init<LaserScan, Pose2D>());

  class_<KartoScanMatcher>("KartoScanMatcherCpp",
                           init<LaserScan, Pose2D, double, double>())
    .def("scan_match", &KartoScanMatcher::scanMatch)
    ;

  class_<Header>("Header", init<>())
    .def_readwrite("seq", &Header::seq)
    .def_readwrite("stamp", &Header::stamp)
    .def_readwrite("frame_id", &Header::frame_id)
    ;

  class_<Time>("Time", init<>())
    .def_readwrite("sec", &Time::sec)
    .def_readwrite("nsec", &Time::nsec)
    ;


}

} // namespace