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Merging 'master' into 'wrap'

release/4.3a0
Varun Agrawal 2021-12-17 15:55:42 -05:00
parent 0bab7b00c8 bcfe0a7a29
commit 0344b725d7
12 changed files with 58 additions and 57 deletions
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2
wrap/gtwrap/matlab_wrapper/templates.py
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@ -66,7 +66,7 @@ class WrapperTemplate:
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {{ if(mexPutVariable("global", "gtsam_{module_name}_rttiRegistry_created", newAlreadyCreated) != 0) {{
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
}} }}
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);

6
wrap/gtwrap/matlab_wrapper/wrapper.py
View File

@ -5,16 +5,16 @@ that Matlab's MEX compiler can use.
# pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements # pylint: disable=too-many-lines, no-self-use, too-many-arguments, too-many-branches, too-many-statements
import copy
import os import os
import os.path as osp import os.path as osp
import textwrap import textwrap
from functools import partial, reduce from functools import partial, reduce
from typing import Dict, Iterable, List, Union from typing import Dict, Iterable, List, Union
import copy
import gtwrap.interface_parser as parser import gtwrap.interface_parser as parser
from gtwrap.interface_parser.function import ArgumentList
import gtwrap.template_instantiator as instantiator import gtwrap.template_instantiator as instantiator
from gtwrap.interface_parser.function import ArgumentList
from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin from gtwrap.matlab_wrapper.mixins import CheckMixin, FormatMixin
from gtwrap.matlab_wrapper.templates import WrapperTemplate from gtwrap.matlab_wrapper.templates import WrapperTemplate
@ -1269,9 +1269,9 @@ class MatlabWrapper(CheckMixin, FormatMixin):
Collector_{class_name}::iterator item; Collector_{class_name}::iterator item;
item = collector_{class_name}.find(self); item = collector_{class_name}.find(self);
if(item != collector_{class_name}.end()) {{ if(item != collector_{class_name}.end()) {{
delete self;
collector_{class_name}.erase(item); collector_{class_name}.erase(item);
}} }}
delete self;
''').format(class_name_sep=class_name_separated, ''').format(class_name_sep=class_name_separated,
class_name=class_name), class_name=class_name),
prefix=' ') prefix=' ')

21
wrap/gtwrap/pybind_wrapper.py
View File

@ -92,9 +92,20 @@ class PybindWrapper:
prefix, prefix,
suffix, suffix,
method_suffix=""): method_suffix=""):
"""
Wrap the `method` for the class specified by `cpp_class`.
Args:
method: The method to wrap.
cpp_class: The C++ name of the class to which the method belongs.
prefix: Prefix to add to the wrapped method when writing to the cpp file.
suffix: Suffix to add to the wrapped method when writing to the cpp file.
method_suffix: A string to append to the wrapped method name.
"""
py_method = method.name + method_suffix py_method = method.name + method_suffix
cpp_method = method.to_cpp() cpp_method = method.to_cpp()
# Special handling for the serialize/serializable method
if cpp_method in ["serialize", "serializable"]: if cpp_method in ["serialize", "serializable"]:
if not cpp_class in self._serializing_classes: if not cpp_class in self._serializing_classes:
self._serializing_classes.append(cpp_class) self._serializing_classes.append(cpp_class)
@ -104,16 +115,12 @@ class PybindWrapper:
'.def("deserialize", []({class_inst} self, string serialized)' \ '.def("deserialize", []({class_inst} self, string serialized)' \
'{{ gtsam::deserialize(serialized, *self); }}, py::arg("serialized"))' \ '{{ gtsam::deserialize(serialized, *self); }}, py::arg("serialized"))' \
.format(class_inst=cpp_class + '*') .format(class_inst=cpp_class + '*')
return serialize_method + deserialize_method
if cpp_method == "pickle": # Since this class supports serialization, we also add the pickle method.
if not cpp_class in self._serializing_classes:
raise ValueError(
"Cannot pickle a class which is not serializable")
pickle_method = self.method_indent + \ pickle_method = self.method_indent + \
".def(py::pickle({indent} [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent} [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }}))" ".def(py::pickle({indent} [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent} [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }}))"
return pickle_method.format(cpp_class=cpp_class, return serialize_method + deserialize_method + \
indent=self.method_indent) pickle_method.format(cpp_class=cpp_class, indent=self.method_indent)
# Add underscore to disambiguate if the method name matches a python keyword # Add underscore to disambiguate if the method name matches a python keyword
if py_method in self.python_keywords: if py_method in self.python_keywords:

24
wrap/tests/expected/matlab/class_wrapper.cpp
View File

@ -145,7 +145,7 @@ void _class_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_class_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -180,9 +180,9 @@ void FunRange_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxA
Collector_FunRange::iterator item; Collector_FunRange::iterator item;
item = collector_FunRange.find(self); item = collector_FunRange.find(self);
if(item != collector_FunRange.end()) { if(item != collector_FunRange.end()) {
delete self;
collector_FunRange.erase(item); collector_FunRange.erase(item);
} }
delete self;
} }
void FunRange_range_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void FunRange_range_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -216,9 +216,9 @@ void FunDouble_deconstructor_6(int nargout, mxArray *out[], int nargin, const mx
Collector_FunDouble::iterator item; Collector_FunDouble::iterator item;
item = collector_FunDouble.find(self); item = collector_FunDouble.find(self);
if(item != collector_FunDouble.end()) { if(item != collector_FunDouble.end()) {
delete self;
collector_FunDouble.erase(item); collector_FunDouble.erase(item);
} }
delete self;
} }
void FunDouble_multiTemplatedMethod_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void FunDouble_multiTemplatedMethod_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -301,9 +301,9 @@ void Test_deconstructor_15(int nargout, mxArray *out[], int nargin, const mxArra
Collector_Test::iterator item; Collector_Test::iterator item;
item = collector_Test.find(self); item = collector_Test.find(self);
if(item != collector_Test.end()) { if(item != collector_Test.end()) {
delete self;
collector_Test.erase(item); collector_Test.erase(item);
} }
delete self;
} }
void Test_arg_EigenConstRef_16(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void Test_arg_EigenConstRef_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -544,9 +544,9 @@ void PrimitiveRefDouble_deconstructor_43(int nargout, mxArray *out[], int nargin
Collector_PrimitiveRefDouble::iterator item; Collector_PrimitiveRefDouble::iterator item;
item = collector_PrimitiveRefDouble.find(self); item = collector_PrimitiveRefDouble.find(self);
if(item != collector_PrimitiveRefDouble.end()) { if(item != collector_PrimitiveRefDouble.end()) {
delete self;
collector_PrimitiveRefDouble.erase(item); collector_PrimitiveRefDouble.erase(item);
} }
delete self;
} }
void PrimitiveRefDouble_Brutal_44(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void PrimitiveRefDouble_Brutal_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -584,9 +584,9 @@ void MyVector3_deconstructor_47(int nargout, mxArray *out[], int nargin, const m
Collector_MyVector3::iterator item; Collector_MyVector3::iterator item;
item = collector_MyVector3.find(self); item = collector_MyVector3.find(self);
if(item != collector_MyVector3.end()) { if(item != collector_MyVector3.end()) {
delete self;
collector_MyVector3.erase(item); collector_MyVector3.erase(item);
} }
delete self;
} }
void MyVector12_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyVector12_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -617,9 +617,9 @@ void MyVector12_deconstructor_50(int nargout, mxArray *out[], int nargin, const
Collector_MyVector12::iterator item; Collector_MyVector12::iterator item;
item = collector_MyVector12.find(self); item = collector_MyVector12.find(self);
if(item != collector_MyVector12.end()) { if(item != collector_MyVector12.end()) {
delete self;
collector_MyVector12.erase(item); collector_MyVector12.erase(item);
} }
delete self;
} }
void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_51(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -639,9 +639,9 @@ void MultipleTemplatesIntDouble_deconstructor_52(int nargout, mxArray *out[], in
Collector_MultipleTemplatesIntDouble::iterator item; Collector_MultipleTemplatesIntDouble::iterator item;
item = collector_MultipleTemplatesIntDouble.find(self); item = collector_MultipleTemplatesIntDouble.find(self);
if(item != collector_MultipleTemplatesIntDouble.end()) { if(item != collector_MultipleTemplatesIntDouble.end()) {
delete self;
collector_MultipleTemplatesIntDouble.erase(item); collector_MultipleTemplatesIntDouble.erase(item);
} }
delete self;
} }
void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -661,9 +661,9 @@ void MultipleTemplatesIntFloat_deconstructor_54(int nargout, mxArray *out[], int
Collector_MultipleTemplatesIntFloat::iterator item; Collector_MultipleTemplatesIntFloat::iterator item;
item = collector_MultipleTemplatesIntFloat.find(self); item = collector_MultipleTemplatesIntFloat.find(self);
if(item != collector_MultipleTemplatesIntFloat.end()) { if(item != collector_MultipleTemplatesIntFloat.end()) {
delete self;
collector_MultipleTemplatesIntFloat.erase(item); collector_MultipleTemplatesIntFloat.erase(item);
} }
delete self;
} }
void ForwardKinematics_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void ForwardKinematics_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -714,9 +714,9 @@ void ForwardKinematics_deconstructor_58(int nargout, mxArray *out[], int nargin,
Collector_ForwardKinematics::iterator item; Collector_ForwardKinematics::iterator item;
item = collector_ForwardKinematics.find(self); item = collector_ForwardKinematics.find(self);
if(item != collector_ForwardKinematics.end()) { if(item != collector_ForwardKinematics.end()) {
delete self;
collector_ForwardKinematics.erase(item); collector_ForwardKinematics.erase(item);
} }
delete self;
} }
void TemplatedConstructor_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void TemplatedConstructor_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -783,9 +783,9 @@ void TemplatedConstructor_deconstructor_64(int nargout, mxArray *out[], int narg
Collector_TemplatedConstructor::iterator item; Collector_TemplatedConstructor::iterator item;
item = collector_TemplatedConstructor.find(self); item = collector_TemplatedConstructor.find(self);
if(item != collector_TemplatedConstructor.end()) { if(item != collector_TemplatedConstructor.end()) {
delete self;
collector_TemplatedConstructor.erase(item); collector_TemplatedConstructor.erase(item);
} }
delete self;
} }
void MyFactorPosePoint2_collectorInsertAndMakeBase_65(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyFactorPosePoint2_collectorInsertAndMakeBase_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -820,9 +820,9 @@ void MyFactorPosePoint2_deconstructor_67(int nargout, mxArray *out[], int nargin
Collector_MyFactorPosePoint2::iterator item; Collector_MyFactorPosePoint2::iterator item;
item = collector_MyFactorPosePoint2.find(self); item = collector_MyFactorPosePoint2.find(self);
if(item != collector_MyFactorPosePoint2.end()) { if(item != collector_MyFactorPosePoint2.end()) {
delete self;
collector_MyFactorPosePoint2.erase(item); collector_MyFactorPosePoint2.erase(item);
} }
delete self;
} }
void MyFactorPosePoint2_print_68(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyFactorPosePoint2_print_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])

2
wrap/tests/expected/matlab/functions_wrapper.cpp
View File

@ -51,7 +51,7 @@ void _functions_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_functions_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);

4
wrap/tests/expected/matlab/geometry_wrapper.cpp
View File

@ -118,9 +118,9 @@ void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const
Collector_gtsamPoint2::iterator item; Collector_gtsamPoint2::iterator item;
item = collector_gtsamPoint2.find(self); item = collector_gtsamPoint2.find(self);
if(item != collector_gtsamPoint2.end()) { if(item != collector_gtsamPoint2.end()) {
delete self;
collector_gtsamPoint2.erase(item); collector_gtsamPoint2.erase(item);
} }
delete self;
} }
void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -262,9 +262,9 @@ void gtsamPoint3_deconstructor_20(int nargout, mxArray *out[], int nargin, const
Collector_gtsamPoint3::iterator item; Collector_gtsamPoint3::iterator item;
item = collector_gtsamPoint3.find(self); item = collector_gtsamPoint3.find(self);
if(item != collector_gtsamPoint3.end()) { if(item != collector_gtsamPoint3.end()) {
delete self;
collector_gtsamPoint3.erase(item); collector_gtsamPoint3.erase(item);
} }
delete self;
} }
void gtsamPoint3_norm_21(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamPoint3_norm_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])

10
wrap/tests/expected/matlab/inheritance_wrapper.cpp
View File

@ -88,7 +88,7 @@ void _inheritance_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_inheritance_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -121,9 +121,9 @@ void MyBase_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArr
Collector_MyBase::iterator item; Collector_MyBase::iterator item;
item = collector_MyBase.find(self); item = collector_MyBase.find(self);
if(item != collector_MyBase.end()) { if(item != collector_MyBase.end()) {
delete self;
collector_MyBase.erase(item); collector_MyBase.erase(item);
} }
delete self;
} }
void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -171,9 +171,9 @@ void MyTemplatePoint2_deconstructor_6(int nargout, mxArray *out[], int nargin, c
Collector_MyTemplatePoint2::iterator item; Collector_MyTemplatePoint2::iterator item;
item = collector_MyTemplatePoint2.find(self); item = collector_MyTemplatePoint2.find(self);
if(item != collector_MyTemplatePoint2.end()) { if(item != collector_MyTemplatePoint2.end()) {
delete self;
collector_MyTemplatePoint2.erase(item); collector_MyTemplatePoint2.erase(item);
} }
delete self;
} }
void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -339,9 +339,9 @@ void MyTemplateMatrix_deconstructor_22(int nargout, mxArray *out[], int nargin,
Collector_MyTemplateMatrix::iterator item; Collector_MyTemplateMatrix::iterator item;
item = collector_MyTemplateMatrix.find(self); item = collector_MyTemplateMatrix.find(self);
if(item != collector_MyTemplateMatrix.end()) { if(item != collector_MyTemplateMatrix.end()) {
delete self;
collector_MyTemplateMatrix.erase(item); collector_MyTemplateMatrix.erase(item);
} }
delete self;
} }
void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -492,9 +492,9 @@ void ForwardKinematicsFactor_deconstructor_37(int nargout, mxArray *out[], int n
Collector_ForwardKinematicsFactor::iterator item; Collector_ForwardKinematicsFactor::iterator item;
item = collector_ForwardKinematicsFactor.find(self); item = collector_ForwardKinematicsFactor.find(self);
if(item != collector_ForwardKinematicsFactor.end()) { if(item != collector_ForwardKinematicsFactor.end()) {
delete self;
collector_ForwardKinematicsFactor.erase(item); collector_ForwardKinematicsFactor.erase(item);
} }
delete self;
} }

8
wrap/tests/expected/matlab/multiple_files_wrapper.cpp
View File

@ -75,7 +75,7 @@ void _multiple_files_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_multiple_files_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -110,9 +110,9 @@ void gtsamClass1_deconstructor_2(int nargout, mxArray *out[], int nargin, const
Collector_gtsamClass1::iterator item; Collector_gtsamClass1::iterator item;
item = collector_gtsamClass1.find(self); item = collector_gtsamClass1.find(self);
if(item != collector_gtsamClass1.end()) { if(item != collector_gtsamClass1.end()) {
delete self;
collector_gtsamClass1.erase(item); collector_gtsamClass1.erase(item);
} }
delete self;
} }
void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -143,9 +143,9 @@ void gtsamClass2_deconstructor_5(int nargout, mxArray *out[], int nargin, const
Collector_gtsamClass2::iterator item; Collector_gtsamClass2::iterator item;
item = collector_gtsamClass2.find(self); item = collector_gtsamClass2.find(self);
if(item != collector_gtsamClass2.end()) { if(item != collector_gtsamClass2.end()) {
delete self;
collector_gtsamClass2.erase(item); collector_gtsamClass2.erase(item);
} }
delete self;
} }
void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -176,9 +176,9 @@ void gtsamClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const
Collector_gtsamClassA::iterator item; Collector_gtsamClassA::iterator item;
item = collector_gtsamClassA.find(self); item = collector_gtsamClassA.find(self);
if(item != collector_gtsamClassA.end()) { if(item != collector_gtsamClassA.end()) {
delete self;
collector_gtsamClassA.erase(item); collector_gtsamClassA.erase(item);
} }
delete self;
} }

16
wrap/tests/expected/matlab/namespaces_wrapper.cpp
View File

@ -112,7 +112,7 @@ void _namespaces_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_namespaces_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -147,9 +147,9 @@ void ns1ClassA_deconstructor_2(int nargout, mxArray *out[], int nargin, const mx
Collector_ns1ClassA::iterator item; Collector_ns1ClassA::iterator item;
item = collector_ns1ClassA.find(self); item = collector_ns1ClassA.find(self);
if(item != collector_ns1ClassA.end()) { if(item != collector_ns1ClassA.end()) {
delete self;
collector_ns1ClassA.erase(item); collector_ns1ClassA.erase(item);
} }
delete self;
} }
void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -180,9 +180,9 @@ void ns1ClassB_deconstructor_5(int nargout, mxArray *out[], int nargin, const mx
Collector_ns1ClassB::iterator item; Collector_ns1ClassB::iterator item;
item = collector_ns1ClassB.find(self); item = collector_ns1ClassB.find(self);
if(item != collector_ns1ClassB.end()) { if(item != collector_ns1ClassB.end()) {
delete self;
collector_ns1ClassB.erase(item); collector_ns1ClassB.erase(item);
} }
delete self;
} }
void aGlobalFunction_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void aGlobalFunction_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -218,9 +218,9 @@ void ns2ClassA_deconstructor_9(int nargout, mxArray *out[], int nargin, const mx
Collector_ns2ClassA::iterator item; Collector_ns2ClassA::iterator item;
item = collector_ns2ClassA.find(self); item = collector_ns2ClassA.find(self);
if(item != collector_ns2ClassA.end()) { if(item != collector_ns2ClassA.end()) {
delete self;
collector_ns2ClassA.erase(item); collector_ns2ClassA.erase(item);
} }
delete self;
} }
void ns2ClassA_memberFunction_10(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void ns2ClassA_memberFunction_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -280,9 +280,9 @@ void ns2ns3ClassB_deconstructor_16(int nargout, mxArray *out[], int nargin, cons
Collector_ns2ns3ClassB::iterator item; Collector_ns2ns3ClassB::iterator item;
item = collector_ns2ns3ClassB.find(self); item = collector_ns2ns3ClassB.find(self);
if(item != collector_ns2ns3ClassB.end()) { if(item != collector_ns2ns3ClassB.end()) {
delete self;
collector_ns2ns3ClassB.erase(item); collector_ns2ns3ClassB.erase(item);
} }
delete self;
} }
void ns2ClassC_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void ns2ClassC_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -313,9 +313,9 @@ void ns2ClassC_deconstructor_19(int nargout, mxArray *out[], int nargin, const m
Collector_ns2ClassC::iterator item; Collector_ns2ClassC::iterator item;
item = collector_ns2ClassC.find(self); item = collector_ns2ClassC.find(self);
if(item != collector_ns2ClassC.end()) { if(item != collector_ns2ClassC.end()) {
delete self;
collector_ns2ClassC.erase(item); collector_ns2ClassC.erase(item);
} }
delete self;
} }
void aGlobalFunction_20(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void aGlobalFunction_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -364,9 +364,9 @@ void ClassD_deconstructor_25(int nargout, mxArray *out[], int nargin, const mxAr
Collector_ClassD::iterator item; Collector_ClassD::iterator item;
item = collector_ClassD.find(self); item = collector_ClassD.find(self);
if(item != collector_ClassD.end()) { if(item != collector_ClassD.end()) {
delete self;
collector_ClassD.erase(item); collector_ClassD.erase(item);
} }
delete self;
} }
void gtsamValues_collectorInsertAndMakeBase_26(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamValues_collectorInsertAndMakeBase_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -409,9 +409,9 @@ void gtsamValues_deconstructor_29(int nargout, mxArray *out[], int nargin, const
Collector_gtsamValues::iterator item; Collector_gtsamValues::iterator item;
item = collector_gtsamValues.find(self); item = collector_gtsamValues.find(self);
if(item != collector_gtsamValues.end()) { if(item != collector_gtsamValues.end()) {
delete self;
collector_gtsamValues.erase(item); collector_gtsamValues.erase(item);
} }
delete self;
} }
void gtsamValues_insert_30(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamValues_insert_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])

10
wrap/tests/expected/matlab/special_cases_wrapper.cpp
View File

@ -84,7 +84,7 @@ void _special_cases_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_special_cases_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -108,9 +108,9 @@ void gtsamNonlinearFactorGraph_deconstructor_1(int nargout, mxArray *out[], int
Collector_gtsamNonlinearFactorGraph::iterator item; Collector_gtsamNonlinearFactorGraph::iterator item;
item = collector_gtsamNonlinearFactorGraph.find(self); item = collector_gtsamNonlinearFactorGraph.find(self);
if(item != collector_gtsamNonlinearFactorGraph.end()) { if(item != collector_gtsamNonlinearFactorGraph.end()) {
delete self;
collector_gtsamNonlinearFactorGraph.erase(item); collector_gtsamNonlinearFactorGraph.erase(item);
} }
delete self;
} }
void gtsamNonlinearFactorGraph_addPrior_2(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamNonlinearFactorGraph_addPrior_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -140,9 +140,9 @@ void gtsamSfmTrack_deconstructor_4(int nargout, mxArray *out[], int nargin, cons
Collector_gtsamSfmTrack::iterator item; Collector_gtsamSfmTrack::iterator item;
item = collector_gtsamSfmTrack.find(self); item = collector_gtsamSfmTrack.find(self);
if(item != collector_gtsamSfmTrack.end()) { if(item != collector_gtsamSfmTrack.end()) {
delete self;
collector_gtsamSfmTrack.erase(item); collector_gtsamSfmTrack.erase(item);
} }
delete self;
} }
void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -162,9 +162,9 @@ void gtsamPinholeCameraCal3Bundler_deconstructor_6(int nargout, mxArray *out[],
Collector_gtsamPinholeCameraCal3Bundler::iterator item; Collector_gtsamPinholeCameraCal3Bundler::iterator item;
item = collector_gtsamPinholeCameraCal3Bundler.find(self); item = collector_gtsamPinholeCameraCal3Bundler.find(self);
if(item != collector_gtsamPinholeCameraCal3Bundler.end()) { if(item != collector_gtsamPinholeCameraCal3Bundler.end()) {
delete self;
collector_gtsamPinholeCameraCal3Bundler.erase(item); collector_gtsamPinholeCameraCal3Bundler.erase(item);
} }
delete self;
} }
void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -184,9 +184,9 @@ void gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(int nargout, mxArray *out[
Collector_gtsamGeneralSFMFactorCal3Bundler::iterator item; Collector_gtsamGeneralSFMFactorCal3Bundler::iterator item;
item = collector_gtsamGeneralSFMFactorCal3Bundler.find(self); item = collector_gtsamGeneralSFMFactorCal3Bundler.find(self);
if(item != collector_gtsamGeneralSFMFactorCal3Bundler.end()) { if(item != collector_gtsamGeneralSFMFactorCal3Bundler.end()) {
delete self;
collector_gtsamGeneralSFMFactorCal3Bundler.erase(item); collector_gtsamGeneralSFMFactorCal3Bundler.erase(item);
} }
delete self;
} }

6
wrap/tests/expected/matlab/template_wrapper.cpp
View File

@ -67,7 +67,7 @@ void _template_RTTIRegister() {
mxDestroyArray(registry); mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL); mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) { if(mexPutVariable("global", "gtsam_template_rttiRegistry_created", newAlreadyCreated) != 0) {
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly"); mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
} }
mxDestroyArray(newAlreadyCreated); mxDestroyArray(newAlreadyCreated);
@ -138,9 +138,9 @@ void TemplatedConstructor_deconstructor_5(int nargout, mxArray *out[], int nargi
Collector_TemplatedConstructor::iterator item; Collector_TemplatedConstructor::iterator item;
item = collector_TemplatedConstructor.find(self); item = collector_TemplatedConstructor.find(self);
if(item != collector_TemplatedConstructor.end()) { if(item != collector_TemplatedConstructor.end()) {
delete self;
collector_TemplatedConstructor.erase(item); collector_TemplatedConstructor.erase(item);
} }
delete self;
} }
void ScopedTemplateResult_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[]) void ScopedTemplateResult_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
@ -172,9 +172,9 @@ void ScopedTemplateResult_deconstructor_8(int nargout, mxArray *out[], int nargi
Collector_ScopedTemplateResult::iterator item; Collector_ScopedTemplateResult::iterator item;
item = collector_ScopedTemplateResult.find(self); item = collector_ScopedTemplateResult.find(self);
if(item != collector_ScopedTemplateResult.end()) { if(item != collector_ScopedTemplateResult.end()) {
delete self;
collector_ScopedTemplateResult.erase(item); collector_ScopedTemplateResult.erase(item);
} }
delete self;
} }

6
wrap/tests/fixtures/geometry.i vendored
View File

@ -24,9 +24,6 @@ class Point2 {
VectorNotEigen vectorConfusion(); VectorNotEigen vectorConfusion();
void serializable() const; // Sets flag and creates export, but does not make serialization functions void serializable() const; // Sets flag and creates export, but does not make serialization functions
// enable pickling in python
void pickle() const;
}; };
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
@ -40,9 +37,6 @@ class Point3 {
// enabling serialization functionality // enabling serialization functionality
void serialize() const; // Just triggers a flag internally and removes actual function void serialize() const; // Just triggers a flag internally and removes actual function
// enable pickling in python
void pickle() const;
}; };
} }