Add swig C interfaces

hector_mapping/CMakeLists.txt

@@ -155,3 +155,5 @@ install(DIRECTORY launch/
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+#add_subdirectory(swig)

hector_mapping/swig/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 2.8)
+find_package(SWIG REQUIRED)
+find_package(Eigen3)
+
+if(SWIG_FOUND)
+  include(${SWIG_USE_FILE})
+  include_directories(${CMAKE_SOURCE_DIR} ${EIGEN3_INCLUDE_DIR})
+
+  # assuming you have installed https://svn.code.sf.net/p/swig/code/branches/gsoc2008-maciekd/
+  set(SWIG_EXECUTABLE ${CMAKE_CURRENT_SOURCE_DIR}/gsoc2008-maciekd/swig)
+  set(ENV{PATH} ${CMAKE_CURRENT_SOURCE_DIR}/gsoc2008-maciekd/:$ENV{PATH})
+  set(ENV{SWIG_LIB} ${CMAKE_CURRENT_SOURCE_DIR}/gsoc2008-maciekd/Lib)
+  message(WARNING "-- If you have trouble on using swig, try export SWIG_LIB=$ENV{SWIG_LIB}")
+
+  set(INTERFACE_FILES
+    hector_mapping.i)
+
+  set_source_files_properties(${INTERFACE_FILES} PROPERTIES
+    CPLUSPLUS ON
+    COMPILE_FLAGS "-fpermissive" # http://stackoverflow.com/questions/22411514/no-match-for-operator-error-in-c
+    )
+  set(CMAKE_SWIG_OUTDIR ${CMAKE_CURRENT_SOURCE_DIR})
+  set(CMAKE_CURRENT_BINARY_DIR_TMP ${CMAKE_CURRENT_BINARY_DIR}) ## to output wrap file
+  set(CMAKE_CURRENT_BINARY_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+  swig_add_module(swig_library c ${INTERFACE_FILES})
+  set(CMAKE_CURRENT_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR_TMP})
+
+  swig_link_libraries(swig_library)
+  set_target_properties(swig_library PROPERTIES OUTPUT_NAME hector_mapping)
+  add_dependencies(swig_library
+    ${CMAKE_CURRENT_BINARY_DIR}/hector_mappingC_wrap.cxx
+    ${CMAKE_CURRENT_SOURCE_DIR}/HectorSlam_proxy.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/HectorSlam_proxy.h
+    )
+else()
+  include_directories(${CMAKE_SOURCE_DIR} ${EIGEN3_INCLUDE_DIR})
+  add_library(swig_library hector_mappingC_wrap.cxx HectorSlam_proxy.c)
+  set_target_properties(swig_library PROPERTIES OUTPUT_NAME hector_mapping)
+endif()
+
+# example code
+include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${catkin_INCLUDE_DIRS})
+link_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION})
+add_executable(standalone standalone.cpp HectorSlam_proxy.c)
+target_link_libraries(standalone libhector_mapping.so ${catkin_LIBRARIES})
+add_dependencies(standalone swig_library)
+

hector_mapping/swig/HectorSlam_proxy.h

@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------------
+ * This file was automatically generated by SWIG (http://www.swig.org).
+ * Version 2.0.6
+ * 
+ * This file is not intended to be easily readable and contains a number of 
+ * coding conventions designed to improve portability and efficiency. Do not make
+ * changes to this file unless you know what you are doing--modify the SWIG 
+ * interface file instead. 
+ * ----------------------------------------------------------------------------- */
+#ifndef _HectorSlam_proxy_H_
+#define _HectorSlam_proxy_H_
+
+/* -----------------------------------------------------------------------------
+ * cproxy.swg
+ *
+ * Definitions of C specific preprocessor symbols for proxies.
+ * ----------------------------------------------------------------------------- */
+
+#ifndef SWIGIMPORT
+# ifndef __GNUC__
+#   define __DLL_IMPORT __declspec(dllimport)
+# else
+#   define __DLL_IMPORT __attribute__((dllimport)) extern
+# endif
+# if !defined (__WIN32__)
+#   define SWIGIMPORT extern
+# else
+#   define SWIGIMPORT __DLL_IMPORT
+# endif
+#endif
+
+#include <stdio.h>
+
+typedef struct {
+  void *obj;
+  const char **typenames;
+} SwigObj;
+
+
+// special value indicating any type of exception like 'catch(...)'
+#define SWIG_AnyException "SWIG_AnyException"
+
+#include <setjmp.h>
+
+SWIGIMPORT jmp_buf SWIG_rt_env;
+
+SWIGIMPORT struct SWIG_exc_struct {
+  int code;
+  char *msg;
+  SwigObj *klass;
+} SWIG_exc;
+
+SWIGIMPORT void SWIG_rt_try();
+SWIGIMPORT int SWIG_rt_catch(const char *type);
+SWIGIMPORT void SWIG_rt_throw(SwigObj *klass, const char * msg);
+SWIGIMPORT int SWIG_rt_unhandled();
+SWIGIMPORT void SWIG_rt_endtry();
+SWIGIMPORT int SWIG_exit(int code);
+
+#define SWIG_try \
+  SWIG_rt_try(); \
+  if ((SWIG_exc.code = setjmp(SWIG_rt_env)) == 0) 
+#define SWIG_catch(type) else if (SWIG_rt_catch(#type))
+#define SWIG_throw(klass) SWIG_rt_throw((SwigObj *) klass, 0);
+#define SWIG_throw_msg(klass, msg) SWIG_rt_throw((SwigObj *) klass, msg);
+#define SWIG_endtry else SWIG_rt_unhandled(); SWIG_rt_endtry();
+
+
+
+#include <stdarg.h>
+
+#define SWIG_MAKE_DELETE(Name,Obj) void Name(Obj *op1, ...) {\
+  Obj *obj;\
+  va_list vl;\
+  va_start(vl, op1);\
+  do {\
+    obj = va_arg(vl, Obj *);\
+    delete_##Obj(obj);\
+  } while (obj);\
+  va_end(vl);\
+}
+
+/*aaaaaa*/SwigObj * Eigen_Vector2f(float carg1, float carg2);
+float Eigen_Vector2f_x(SwigObj * carg1);
+float Eigen_Vector2f_y(SwigObj * carg1);
+float Eigen_Vector3f_x(SwigObj * carg1);
+float Eigen_Vector3f_y(SwigObj * carg1);
+float Eigen_Vector3f_z(SwigObj * carg1);
+const char * SimdInstructionSetsInUse();
+#define STAGE10_FULL_EIGEN2_API 10
+#define STAGE20_RESOLVE_API_CONFLICTS 20
+#define STAGE30_FULL_EIGEN3_API 30
+#define STAGE40_FULL_EIGEN3_STRICTNESS 40
+#define STAGE99_NO_EIGEN2_SUPPORT 99
+#define EIGEN2_SUPPORT_STAGE 99
+
+typedef SwigObj LogOddsCell;
+
+void LogOddsCell_set(SwigObj * carg1, float carg2);
+float LogOddsCell_getValue(SwigObj * carg1);
+#include <stdbool.h>
+bool LogOddsCell_isOccupied(SwigObj * carg1);
+bool LogOddsCell_isFree(SwigObj * carg1);
+void LogOddsCell_resetGridCell(SwigObj * carg1);
+void LogOddsCell_logOddsVal_set(SwigObj * carg1, float carg2);
+float LogOddsCell_logOddsVal_get(SwigObj * carg1);
+void LogOddsCell_updateIndex_set(SwigObj * carg1, int carg2);
+int LogOddsCell_updateIndex_get(SwigObj * carg1);
+LogOddsCell * new_LogOddsCell();
+void delete_LogOddsCell(LogOddsCell * carg1);
+
+typedef SwigObj GridMapLogOddsFunctions;
+
+GridMapLogOddsFunctions * new_GridMapLogOddsFunctions();
+void GridMapLogOddsFunctions_updateSetOccupied(SwigObj * carg1, SwigObj * carg2);
+void GridMapLogOddsFunctions_updateSetFree(SwigObj * carg1, SwigObj * carg2);
+void GridMapLogOddsFunctions_updateUnsetFree(SwigObj * carg1, SwigObj * carg2);
+float GridMapLogOddsFunctions_getGridProbability(SwigObj * carg1, SwigObj * carg2);
+void GridMapLogOddsFunctions_setUpdateFreeFactor(SwigObj * carg1, float carg2);
+void GridMapLogOddsFunctions_setUpdateOccupiedFactor(SwigObj * carg1, float carg2);
+void delete_GridMapLogOddsFunctions(GridMapLogOddsFunctions * carg1);
+
+typedef SwigObj HectorSlamProcessor;
+
+HectorSlamProcessor * new_HectorSlamProcessor_f_i_i_rcEigen_Vector2f_i_pDrawInterface_pHectorDebugInfoInterface(float carg1, int carg2, int carg3, SwigObj * carg4, int carg5, SwigObj * carg6, SwigObj * carg7);
+HectorSlamProcessor * new_HectorSlamProcessor_f_i_i_rcEigen_Vector2f_i_pDrawInterface(float carg1, int carg2, int carg3, SwigObj * carg4, int carg5, SwigObj * carg6);
+HectorSlamProcessor * new_HectorSlamProcessor_f_i_i_rcEigen_Vector2f_i(float carg1, int carg2, int carg3, SwigObj * carg4, int carg5);
+void delete_HectorSlamProcessor(HectorSlamProcessor * carg1);
+void HectorSlamProcessor_update_phectorslam_HectorSlamProcessor_rchectorslam_DataPointContainer_Sl_Eigen_Vector2f_Sg__rcEigen_Vector3f_b(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3, bool carg4);
+void HectorSlamProcessor_update_phectorslam_HectorSlamProcessor_rchectorslam_DataPointContainer_Sl_Eigen_Vector2f_Sg__rcEigen_Vector3f(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3);
+void HectorSlamProcessor_reset(SwigObj * carg1);
+SwigObj * HectorSlamProcessor_getLastScanMatchPose(SwigObj * carg1);
+SwigObj * HectorSlamProcessor_getLastScanMatchCovariance(SwigObj * carg1);
+float HectorSlamProcessor_getScaleToMap(SwigObj * carg1);
+int HectorSlamProcessor_getMapLevels(SwigObj * carg1);
+SwigObj * HectorSlamProcessor_getGridMap_pchectorslam_HectorSlamProcessor_i(SwigObj * carg1, int carg2);
+SwigObj * HectorSlamProcessor_getGridMap_pchectorslam_HectorSlamProcessor(SwigObj * carg1);
+void HectorSlamProcessor_addMapMutex(SwigObj * carg1, int carg2, SwigObj * carg3);
+/*aaaaaa*/SwigObj * HectorSlamProcessor_getMapMutex(SwigObj * carg1, int carg2);
+void HectorSlamProcessor_setUpdateFactorFree(SwigObj * carg1, float carg2);
+void HectorSlamProcessor_setUpdateFactorOccupied(SwigObj * carg1, float carg2);
+void HectorSlamProcessor_setMapUpdateMinDistDiff(SwigObj * carg1, float carg2);
+void HectorSlamProcessor_setMapUpdateMinAngleDiff(SwigObj * carg1, float carg2);
+
+typedef SwigObj DataPointContainer_Eigen_Vector2f;
+
+DataPointContainer_Eigen_Vector2f * new_DataPointContainer_Eigen_Vector2f_i(int carg1);
+DataPointContainer_Eigen_Vector2f * new_DataPointContainer_Eigen_Vector2f();
+void DataPointContainer_Eigen_Vector2f_setFrom(SwigObj * carg1, SwigObj * carg2, float carg3);
+void DataPointContainer_Eigen_Vector2f_add(SwigObj * carg1, SwigObj * carg2);
+void DataPointContainer_Eigen_Vector2f_clear(SwigObj * carg1);
+int DataPointContainer_Eigen_Vector2f_getSize(SwigObj * carg1);
+SwigObj * DataPointContainer_Eigen_Vector2f_getVecEntry(SwigObj * carg1, int carg2);
+SwigObj * DataPointContainer_Eigen_Vector2f_getOrigo(SwigObj * carg1);
+void DataPointContainer_Eigen_Vector2f_setOrigo(SwigObj * carg1, SwigObj * carg2);
+void delete_DataPointContainer_Eigen_Vector2f(DataPointContainer_Eigen_Vector2f * carg1);
+
+typedef SwigObj GridMap;
+
+GridMap * new_GridMap(float carg1, SwigObj * carg2, SwigObj * carg3);
+void delete_GridMap(GridMap * carg1);
+void GridMap_updateSetOccupied(SwigObj * carg1, int carg2);
+void GridMap_updateSetFree(SwigObj * carg1, int carg2);
+void GridMap_updateUnsetFree(SwigObj * carg1, int carg2);
+float GridMap_getGridProbabilityMap(SwigObj * carg1, int carg2);
+bool GridMap_isOccupied_pchectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__i_i(SwigObj * carg1, int carg2, int carg3);
+bool GridMap_isFree_pchectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__i_i(SwigObj * carg1, int carg2, int carg3);
+bool GridMap_isOccupied_pchectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__i(SwigObj * carg1, int carg2);
+bool GridMap_isFree_pchectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__i(SwigObj * carg1, int carg2);
+float GridMap_getObstacleThreshold(SwigObj * carg1);
+void GridMap_setUpdateFreeFactor(SwigObj * carg1, float carg2);
+void GridMap_setUpdateOccupiedFactor(SwigObj * carg1, float carg2);
+void GridMap_updateByScan(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3);
+void GridMap_updateLineBresenhami_phectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__rcEigen_Vector2i_rcEigen_Vector2i_unsigned_SS_int(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3, unsigned int carg4);
+void GridMap_updateLineBresenhami_phectorslam_OccGridMapBase_Sl_LogOddsCell_Sc_GridMapLogOddsFunctions_Sg__rcEigen_Vector2i_rcEigen_Vector2i(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3);
+void GridMap_bresenhamCellFree(SwigObj * carg1, unsigned int carg2);
+void GridMap_bresenhamCellOcc(SwigObj * carg1, unsigned int carg2);
+void GridMap_bresenham2D(SwigObj * carg1, unsigned int carg2, unsigned int carg3, int carg4, int carg5, int carg6, unsigned int carg7);
+
+typedef SwigObj GridMapBase_LogOddsCell;
+
+bool GridMapBase_LogOddsCell_hasGridValue(SwigObj * carg1, int carg2, int carg3);
+SwigObj * GridMapBase_LogOddsCell_getMapDimensions(SwigObj * carg1);
+int GridMapBase_LogOddsCell_getSizeX(SwigObj * carg1);
+int GridMapBase_LogOddsCell_getSizeY(SwigObj * carg1);
+bool GridMapBase_LogOddsCell_pointOutOfMapBounds(SwigObj * carg1, SwigObj * carg2);
+void GridMapBase_LogOddsCell_reset(GridMapBase_LogOddsCell * carg1);
+void GridMapBase_LogOddsCell_clear(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getMapDimProperties(SwigObj * carg1);
+GridMapBase_LogOddsCell * new_GridMapBase_LogOddsCell_f_rcEigen_Vector2i_rcEigen_Vector2f(float carg1, SwigObj * carg2, SwigObj * carg3);
+void delete_GridMapBase_LogOddsCell(GridMapBase_LogOddsCell * carg1);
+void GridMapBase_LogOddsCell_allocateArray(SwigObj * carg1, SwigObj * carg2);
+void GridMapBase_LogOddsCell_deleteArray(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getCell_phectorslam_GridMapBase_Sl_LogOddsCell_Sg__i_i(SwigObj * carg1, int carg2, int carg3);
+SwigObj * GridMapBase_LogOddsCell_getCell_pchectorslam_GridMapBase_Sl_LogOddsCell_Sg__i_i(SwigObj * carg1, int carg2, int carg3);
+SwigObj * GridMapBase_LogOddsCell_getCell_phectorslam_GridMapBase_Sl_LogOddsCell_Sg__i(SwigObj * carg1, int carg2);
+SwigObj * GridMapBase_LogOddsCell_getCell_pchectorslam_GridMapBase_Sl_LogOddsCell_Sg__i(SwigObj * carg1, int carg2);
+void GridMapBase_LogOddsCell_setMapGridSize(SwigObj * carg1, SwigObj * carg2);
+GridMapBase_LogOddsCell * copy_GridMapBase_LogOddsCell(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getWorldCoords(SwigObj * carg1, SwigObj * carg2);
+SwigObj * GridMapBase_LogOddsCell_getMapCoords(SwigObj * carg1, SwigObj * carg2);
+SwigObj * GridMapBase_LogOddsCell_getWorldCoordsPose(SwigObj * carg1, SwigObj * carg2);
+SwigObj * GridMapBase_LogOddsCell_getMapCoordsPose(SwigObj * carg1, SwigObj * carg2);
+void GridMapBase_LogOddsCell_setDimensionProperties_phectorslam_GridMapBase_Sl_LogOddsCell_Sg__rcEigen_Vector2f_rcEigen_Vector2i_f(SwigObj * carg1, SwigObj * carg2, SwigObj * carg3, float carg4);
+void GridMapBase_LogOddsCell_setDimensionProperties_phectorslam_GridMapBase_Sl_LogOddsCell_Sg__rcMapDimensionProperties(SwigObj * carg1, SwigObj * carg2);
+void GridMapBase_LogOddsCell_setMapTransformation(SwigObj * carg1, SwigObj * carg2, float carg3);
+float GridMapBase_LogOddsCell_getScaleToMap(SwigObj * carg1);
+float GridMapBase_LogOddsCell_getCellLength(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getWorldTmap(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getWorldTmap3D(SwigObj * carg1);
+SwigObj * GridMapBase_LogOddsCell_getMapTworld(SwigObj * carg1);
+void GridMapBase_LogOddsCell_setUpdated(SwigObj * carg1);
+int GridMapBase_LogOddsCell_getUpdateIndex(SwigObj * carg1);
+
+#endif /* _HectorSlam_proxy_H_ */

hector_mapping/swig/hector_mapping.i

@@ -0,0 +1,55 @@
+%module HectorSlam
+%{
+#define SWIG_FILE_WITH_INIT
+%}
+%{
+#include <iostream>
+#include <Eigen/Core>
+
+Eigen::Vector2f * Eigen_Vector2f(float x, float y){
+  return new Eigen::Vector2f(x, y);
+}
+float Eigen_Vector2f_x(Eigen::Vector2f * v){ return v->x(); }
+float Eigen_Vector2f_y(Eigen::Vector2f * v){ return v->y(); }
+
+float Eigen_Vector3f_x(Eigen::Vector3f * v){ return v->x(); }
+float Eigen_Vector3f_y(Eigen::Vector3f * v){ return v->y(); }
+float Eigen_Vector3f_z(Eigen::Vector3f * v){ return v->z(); }
+
+#include "include/hector_slam_lib/slam_main/HectorSlamProcessor.h"
+#include "include/hector_slam_lib/scan/DataPointContainer.h"
+#include "include/hector_slam_lib/map/GridMap.h"
+%}
+
+Eigen::Vector2f * Eigen_Vector2f(float x, float y);
+float Eigen_Vector2f_x(Eigen::Vector2f * v);
+float Eigen_Vector2f_y(Eigen::Vector2f * v);
+
+float Eigen_Vector3f_x(Eigen::Vector3f * v);
+float Eigen_Vector3f_y(Eigen::Vector3f * v);
+float Eigen_Vector3f_z(Eigen::Vector3f * v);
+
+
+/*************************************************************/
+%include <Eigen/Core>
+#define  EIGEN_MAKE_ALIGNED_OPERATOR_NEW // dummy defined to pass swig
+// IGNORE : GridMapBase.h:349:30: error: no match for ‘operator[]’ (operand types are ‘LogOddsCell’ and ‘int’)
+%ignore  hectorslam::GridMapBase::getMapExtends(int& xMax, int& yMax, int& xMin, int& yMin) const;
+%include "include/hector_slam_lib/map/GridMapLogOdds.h"
+%include "include/hector_slam_lib/map/GridMapBase.h"
+%include "include/hector_slam_lib/map/OccGridMapBase.h"
+%include "include/hector_slam_lib/scan/DataPointContainer.h"
+%include "include/hector_slam_lib/slam_main/HectorSlamProcessor.h"
+
+%template(DataPointContainer_Eigen_Vector2f) hectorslam::DataPointContainer<Eigen::Vector2f>;
+namespace hectorslam {
+  %template(GridMap) OccGridMapBase<LogOddsCell, GridMapLogOddsFunctions>;
+  %template(GridMapBase_LogOddsCell) GridMapBase<LogOddsCell>;
+
+}
+
+
+
+
+
+