GridMapWrapper.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#include <python/BoostPythonWrapper.h>

#include <maps/GridMap.h>
#include <python/UnitWrapper.h> // for MIRA_PYTHONCONNECTOR_TYPE_FOOTER
#include <python/ImageWrapper.h>

namespace mira { namespace python {

template<typename Scalar,  int Channels = 1,
         typename T = maps::GridMap<Scalar, Channels>>
struct GridMapAccessor {
    typedef Img<Scalar, Channels> ImgType;

    static Point2f map2world(const T &map, const Point2i &p)
    {
        return map.map2world(p);
    }

    static Point2f map2worldf(const T &map, const Point2f &p)
    {
        return map.map2world(p);
    }

    static Scalar get(const T &map, int x, int y)
    {
        return map(x, y);
    }

    static void set(T &map, int x, int y, Scalar value)
    {
        map(x, y) = value;
    }

    static boost::python::object getMat(const T &map)
    {
        return ImageAccessorBase<ImgType>::getMat(map);
    }
#if BOOST_HAS_NUMPY_API
    static void setMat(T &map, const boost::python::numpy::ndarray& arr)
#else
    static void setMat(T &map, const boost::python::numeric::array& arr)
#endif
    {
        ImageAccessor<ImgType>::setMat(map, arr);
    }
};

template<typename Scalar,  int Channels = 1,
         typename T = maps::GridMap<Scalar, Channels>>
void registerGridMapType(const char* name)
{
    using namespace boost::python;
    class_<T> (name, init<float>())
        .def(init<Size2i, float, Point2i>())
        .def("getCellSize", &T::getCellSize)
        .def("width", &T::width)
        .def("height", &T::height)
        .def("getOffset", &T::getOffset)
        .def("getWorldOffset", &T::getWorldOffset)
        .def("world2map", &T::world2mapf)
        .def("map2world", &GridMapAccessor<Scalar>::map2world)
        .def("map2worldf", &GridMapAccessor<Scalar>::map2worldf)
        .def("get", &GridMapAccessor<Scalar>::get)
        .def("set", &GridMapAccessor<Scalar>::set)
        .def("getMat", &GridMapAccessor<Scalar>::getMat)
        .def("setMat", &GridMapAccessor<Scalar>::setMat)
        MIRA_PYTHONCONNECTOR_TYPE_FOOTER(T)
    ;
}


}}