CPosePDFGaussian CRangeBearingKFSLAM2D_getCurrentRobotPose(
CRangeBearingKFSLAM2D& self)
{
CPosePDFGaussian out_robotPose;
self.getCurrentRobotPose(out_robotPose);
return out_robotPose;
}
mrpt::opengl::CSetOfObjects::Ptr CRangeBearingKFSLAM2D_getAs3DObject(
CRangeBearingKFSLAM2D& self)
{
mrpt::opengl::CSetOfObjects::Ptr outObj =
mrpt::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
self.getAs3DObject(outObj);
return outObj;
}
// CRangeBearingKFSLAM2D
tuple CRangeBearingKFSLAM2D_getCurrentState(CRangeBearingKFSLAM2D& self)
{
list ret_val;
CPosePDFGaussian out_robotPose;
std::vector<mrpt::math::TPoint2D> out_landmarksPositions;
std::map<unsigned int,mrpt::maps::CLandmark::TLandmarkID> out_landmarkIDs;
mrpt::math::CVectorDouble out_fullState;
mrpt::math::CMatrixDouble out_fullCovariance;
self.getCurrentState(out_robotPose, out_landmarksPositions, out_landmarkIDs, out_fullState, out_fullCovariance);
ret_val.append(out_robotPose);
ret_val.append(out_landmarksPositions);
ret_val.append(out_landmarkIDs);
ret_val.append(out_fullState);
ret_val.append(out_fullCovariance);
return tuple(ret_val);
}
mrpt::opengl::CSetOfObjectsPtr CRangeBearingKFSLAM2D_getAs3DObject(CRangeBearingKFSLAM2D& self)
{
mrpt::opengl::CSetOfObjectsPtr outObj = mrpt::opengl::CSetOfObjects::Create();
self.getAs3DObject(outObj);
return outObj;
}
