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hyper_graph.h
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137 lines (112 loc) · 7.7 KB
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#include <pybind11/pybind11.h>
#include <pybind11/stl.h>
//#include <pybind11/stl_bind.h>
#include <g2o/core/hyper_graph.h>
//PYBIND11_MAKE_OPAQUE(std::set<g2o::HyperGraph::Edge*>);
namespace py = pybind11;
using namespace pybind11::literals;
namespace g2o {
void declareHyperGraph(py::module & m) {
py::class_<HyperGraph> cls(m, "HyperGraph");
py::enum_<HyperGraph::HyperGraphElementType>(cls, "HyperGraphElementType")
.value("HGET_VERTEX", HyperGraph::HyperGraphElementType::HGET_VERTEX)
.value("HGET_EDGE", HyperGraph::HyperGraphElementType::HGET_EDGE)
.value("HGET_PARAMETER", HyperGraph::HyperGraphElementType::HGET_PARAMETER)
.value("HGET_CACHE", HyperGraph::HyperGraphElementType::HGET_CACHE)
.value("HGET_DATA", HyperGraph::HyperGraphElementType::HGET_DATA)
.value("HGET_NUM_ELEMS", HyperGraph::HyperGraphElementType::HGET_NUM_ELEMS)
.export_values();
py::class_<HyperGraph::HyperGraphElement>(cls, "HyperGraphElement");
py::class_<HyperGraph::Data, HyperGraph::HyperGraphElement>(cls, "Data")
//.def(py::init<>()) // invalid new-expression of abstract class
.def("element_type", &HyperGraph::Data::elementType) // virtual, -> HyperGraphElementType
.def("next", (HyperGraph::Data* (HyperGraph::Data::*) ()) &HyperGraph::Data::next,
py::return_value_policy::reference)
.def("set_next", &HyperGraph::Data::setNext,
"next"_a,
py::keep_alive<1, 2>()) // -> void
.def("data_container", (HyperGraph::DataContainer* (HyperGraph::Data::*) ())
&HyperGraph::Data::dataContainer,
py::return_value_policy::reference)
.def("set_data_container", &HyperGraph::Data::setDataContainer,
"data_container"_a,
py::keep_alive<1, 2>()) // -> void
;
py::class_<HyperGraph::DataContainer>(cls, "DataContainer")
.def(py::init<>())
.def("user_data", (HyperGraph::Data* (HyperGraph::DataContainer::*) ())
&HyperGraph::DataContainer::userData,
py::return_value_policy::reference)
.def("set_user_data", &HyperGraph::DataContainer::setUserData,
"obs"_a,
py::keep_alive<1, 2>()) // Data* -> void
.def("add_user_data", &HyperGraph::DataContainer::addUserData,
"obs"_a,
py::keep_alive<1, 2>()) // Data* -> void
;
// typedef std::set<Edge*> EdgeSet;
// typedef std::set<Vertex*> VertexSet;
// typedef std::unordered_map<int, Vertex*> VertexIDMap;
// typedef std::vector<Vertex*> VertexContainer;
//automatically convert python type, by COPY data
//py::bind_set<std::set<HyperGraph::Edge*>>(cls, "EdgeSet");
py::class_<HyperGraph::Vertex, HyperGraph::HyperGraphElement>(cls, "Vertex")
.def(py::init<int>(),
"id"_a=-1)
.def("id", &HyperGraph::Vertex::id) // -> int
.def("set_id", &HyperGraph::Vertex::setId,
"id"_a) // int -> void
.def("edges", (HyperGraph::EdgeSet& (HyperGraph::Vertex::*) ()) &HyperGraph::Vertex::edges,
py::return_value_policy::reference)
.def("element_type", &HyperGraph::Vertex::elementType) // virtual, -> HyperGraphElementType
;
py::class_<HyperGraph::Edge, HyperGraph::HyperGraphElement>(cls, "Edge")
.def(py::init<int>(),
"id"_a=-2)
.def("resize", &HyperGraph::Edge::resize,
"size"_a) // virtual, size_t -> void
.def("vertices", (HyperGraph::VertexContainer& (HyperGraph::Edge::*) ()) &HyperGraph::Edge::vertices,
py::return_value_policy::reference)
.def("vertex", (HyperGraph::Vertex* (HyperGraph::Edge::*) (size_t)) &HyperGraph::Edge::vertex,
"i"_a,
py::return_value_policy::reference)
.def("set_vertex", &HyperGraph::Edge::setVertex,
"i"_a, "v"_a,
py::keep_alive<1, 2>()) // (size_t, Vertex*) -> void
.def("id", &HyperGraph::Edge::id) // -> int
.def("set_id", &HyperGraph::Edge::setId,
"id"_a) // int -> void
.def("element_type", &HyperGraph::Edge::elementType) // virtual, -> HyperGraphElementType
.def("num_undefined_vertices", &HyperGraph::Edge::numUndefinedVertices) // -> int
;
cls.def(py::init<>());
cls.def("vertex", (HyperGraph::Vertex* (HyperGraph::*) (int)) &HyperGraph::vertex,
"id"_a,
py::return_value_policy::reference);
cls.def("remove_vertex", &HyperGraph::removeVertex,
"v"_a, "detach"_a); // virtual, (Vertex*, bool) -> bool
cls.def("remove_edge", &HyperGraph::removeEdge,
"e"_a); // virtual, Edge* -> bool
cls.def("clear", &HyperGraph::clear); // virtual, ->void
cls.def("vertices", (HyperGraph::VertexIDMap& (HyperGraph::*) ()) &HyperGraph::vertices,
py::return_value_policy::reference);
cls.def("edges", (HyperGraph::EdgeSet& (HyperGraph::*) ()) &HyperGraph::edges,
py::return_value_policy::reference);
cls.def("add_vertex", &HyperGraph::addVertex,
"v"_a,
py::keep_alive<1, 2>()); // virtual, Vertex* -> bool
cls.def("add_edge", &HyperGraph::addEdge,
"e"_a,
py::keep_alive<1, 2>()); // virtual, Edge* -> bool
cls.def("set_edge_vertex", &HyperGraph::setEdgeVertex,
"e"_a, "pos"_a, "v"_a,
py::keep_alive<1, 2>(),
py::keep_alive<1, 4>()); // virtual, (Edge*, int, Vertex*) -> bool
cls.def("merge_vertices", &HyperGraph::mergeVertices,
"v_big"_a, "v_small"_a, "erase"_a); // virtual, (Vertex*, Vertex*, bool) -> bool
cls.def("detach_vertex", &HyperGraph::detachVertex,
"v"_a); // virtual, Vertex* -> bool
cls.def("change_id", &HyperGraph::changeId,
"v"_a, "new_id"_a); // virtual, (Vertex*, int) -> bool
}
} // end namespace g2o