CPose3DPDFGaussian composition broken in Python

[ihadzic]

I am trying to compose two uncertain poses using Jacobian composition. I go from ROS poses to MRPT poses, which seems to work fine:

        p1mrpt = ros_bridge.ROS_PoseWithCovariance_msg_to_CPose3DPDFGaussian(p1)
        p2mrpt = ros_bridge.ROS_PoseWithCovariance_msg_to_CPose3DPDFGaussian(p2)

where p1 and p2 are PoseWithCovariance type from ROS. Printing p1mrpt and p2mrpt gives me correct result.

Then when I try to add p1mrpt and p2mrpt that breaks because __add__ method (and therefore + operator) is missing. Deterministic poses (CPose3DPDF) seem to have + operator and in old bindings + operator also worked for uncertain poses.

I next tried this for a workaround given the methods that are available:

        p1cov, p1mean = p1mrpt.getCovarianceAndMean()
        p2cov, p2mean = p2mrpt.getCovarianceAndMean()
        pmrpt = mrpt.poses.CPose3DPDFGaussian.jacobiansPoseComposition(p1mean, p2mean, p1cov, p2cov)

That returned None type, so that seems to be broken too.

Am I missing something and if it's really a bug, is there a viable workaround?

[jlblancoc]

I confirm it's an issue, the operators are not being wrapped anymore. I'll fix it asap.