Added convenience constructors and python wrappers

[dellaert]

I added some convenience constructors and python wrappers. However, I can't get the wrapping for GaussianMixture.FromConditionals to work. @ProfFan or @varunagrawal any ideas? I get the error below:

  File "/Users/dellaert/git/github/python/gtsam/tests/test_HybridBayesNet.py", line 44, in test_evaluate
    gm = GaussianMixture.FromConditionals([X(1)], [], [Asia], [conditional0, conditional1])  #
TypeError: FromConditionals(): incompatible function arguments. The following argument types are supported:
    1. (continuousFrontals: std::__1::vector<unsigned long long, std::__1::allocator<unsigned long long> >, continuousParents: std::__1::vector<unsigned long long, std::__1::allocator<unsigned long long> >, discreteParents: gtsam.gtsam.DiscreteKeys, conditionalsList: std::__1::vector<boost::shared_ptr<gtsam::GaussianConditional>, std::__1::allocator<boost::shared_ptr<gtsam::GaussianConditional> > >) -> gtsam.gtsam.GaussianMixture

Invoked with: [8646911284551352321], [], [(6989586621679009792, 2)], [GaussianConditional p(x1)
  R = [ 1 ]
  d = [ 5 ]
isotropic dim=1 sigma=2
, GaussianConditional p(x1)
  R = [ 1 ]
  d = [ 2 ]
isotropic dim=1 sigma=3
]

Did you forget to `#include <pybind11/stl.h>`? Or <pybind11/complex.h>,
<pybind11/functional.h>, <pybind11/chrono.h>, etc. Some automatic
conversions are optional and require extra headers to be included
when compiling your pybind11 module.

[varunagrawal]

Umm why are we including this here (on HybridBayesNet) rather than before HybridBayesTree?

[varunagrawal]

Either way it doesn't matter because the wrapper will bubble it to the top of the generated files, but still seems like a weird thing to do (especially for wrapper noobs).

[varunagrawal]

Why do we need this when pybind11/stl.h is included?

[varunagrawal]

Bunch of issues:

1. You don't need the extra PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Key>); in hybrid.h. That's already defined once in gtsam.h for the wrapper. The second one is causing a conflict for pybind and hence the issue you're facing.
2. You need to pass in a gtsam.DiscreteKeys, not a List[int, int] for the DiscreteKeys argument.

I'm pushing the updates for your convenience.

[varunagrawal]

Also, you can wrap shared pointers as std::vector<gtsam::GaussianConditional*> as well as std::vector<gtsam::GaussianConditional::shared_ptr>. You may have forgotten I added this functionality as per your specification. 🙂

Ref: wrap/DOCS.md

[varunagrawal]

FYI there's a double assert here. This will always fails because self.assertAlmostEqual returns None.

[dellaert]

@varunagrawal thanks for the fixes.
if you’re good, Feel free to approve and merge to develop (don’t understand why base branch did not automatically change to develop).

[varunagrawal]

don’t understand why base branch did not automatically change to develop

I don't delete the branches since you asked me not to a while back.

[dellaert]

@varunagrawal Late now, will you take over and merge this branch? Seems one CI fails. with this wrapper should be easier to do notebook we discussed.
Talk to you tomorrow.

[varunagrawal]

@dellaert yup I'm currently working on fixing this. Will get it done in a bit.