12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merged in feature/faster_cython (pull request #300) 

Faster and more concise cython

Approved-by: Duy-Nguyen Ta <thduynguyen@gmail.com>
release/4.3a0
Frank Dellaert 2017-08-15 22:15:41 +00:00 committed by Duy-Nguyen Ta
parent 81bb1d445a b8cd7da08b
commit 03c939fafe
23 changed files with 657 additions and 544 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
cmake/GtsamCythonWrap.cmake
View File

@ -52,7 +52,7 @@ function(pyx_to_cpp target pyx_file generated_cpp include_dirs)
add_custom_command( add_custom_command(
OUTPUT ${generated_cpp} OUTPUT ${generated_cpp}
COMMAND COMMAND
${CYTHON_EXECUTABLE} -a -v --cplus ${includes_for_cython} ${pyx_file} -o ${generated_cpp} ${CYTHON_EXECUTABLE} -X boundscheck=False -a -v --fast-fail --cplus ${includes_for_cython} ${pyx_file} -o ${generated_cpp}
VERBATIM) VERBATIM)
add_custom_target(${target} ALL DEPENDS ${generated_cpp}) add_custom_target(${target} ALL DEPENDS ${generated_cpp})
endfunction() endfunction()
@ -68,7 +68,7 @@ endfunction()
# - output_dir: The output directory # - output_dir: The output directory
function(build_cythonized_cpp target cpp_file output_lib_we output_dir) function(build_cythonized_cpp target cpp_file output_lib_we output_dir)
add_library(${target} MODULE ${cpp_file}) add_library(${target} MODULE ${cpp_file})
set_target_properties(${target} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup" set_target_properties(${target} PROPERTIES COMPILE_FLAGS "-w" LINK_FLAGS "-undefined dynamic_lookup"
OUTPUT_NAME ${output_lib_we} PREFIX "" LIBRARY_OUTPUT_DIRECTORY ${output_dir}) OUTPUT_NAME ${output_lib_we} PREFIX "" LIBRARY_OUTPUT_DIRECTORY ${output_dir})
endfunction() endfunction()

4
cython/CMakeLists.txt
View File

@ -26,9 +26,11 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
gtsam_unstable # library to link with gtsam_unstable # library to link with
"gtsam_unstable;gtsam_unstable_header;gtsam_cython" # dependencies to be built before wrapping "gtsam_unstable;gtsam_unstable_header;gtsam_cython" # dependencies to be built before wrapping
) )
# for some reasons cython gtsam_unstable can't find gtsam/gtsam.pxd without doing this
file(WRITE ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py "")
endif() endif()
# Install the custom-generated __init__.py with gtsam_unstable disabled # Install the custom-generated __init__.py
# This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable # This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable
configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py) configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py)
install_cython_files("${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam") install_cython_files("${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam")

9
cython/gtsam/tests/test_Cal3Unified.py
View File

@ -1,6 +1,5 @@
import unittest import unittest
import gtsam import gtsam
from math import *
import numpy as np import numpy as np
@ -11,5 +10,13 @@ class TestCal3Unified(unittest.TestCase):
self.assertEqual(K.fx(), 1.) self.assertEqual(K.fx(), 1.)
self.assertEqual(K.fx(), 1.) self.assertEqual(K.fx(), 1.)
def test_retract(self):
expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1)
K = gtsam.Cal3Unified(100, 105, 0.0, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0.1)
d = np.array([2, 3, 4, 5, 6, 7, 8, 9, 10, 1], order='F')
actual = K.retract(d)
self.assertTrue(actual.equals(expected, 1e-9))
np.testing.assert_allclose(d, K.localCoordinates(actual))
if __name__ == "__main__": if __name__ == "__main__":
unittest.main() unittest.main()

44
cython/gtsam/tests/test_Pose3.py Normal file
View File

@ -0,0 +1,44 @@
import math
import unittest
from gtsam import Point3, Rot3, Pose3
class TestPose3(unittest.TestCase):
def test__between(self):
T2 = Pose3(Rot3.Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2))
T3 = Pose3(Rot3.Rodrigues(-90, 0, 0), Point3(1, 2, 3))
expected = T2.inverse().compose(T3)
actual = T2.between(T3)
self.assertTrue(actual.equals(expected, 1e-6))
def test_transform_to(self):
transform = Pose3(Rot3.Rodrigues(0,0,-1.570796), Point3(2,4, 0))
actual = transform.transform_to(Point3(3,2,10))
expected = Point3 (2,1,10)
self.assertTrue(actual.equals(expected, 1e-6))
def test_range(self):
l1 = Point3(1, 0, 0)
l2 = Point3(1, 1, 0)
x1 = Pose3()
xl1 = Pose3(Rot3.Ypr(0.0, 0.0, 0.0), Point3(1, 0, 0))
xl2 = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
# establish range is indeed zero
self.assertEqual(1,x1.range(point=l1))
# establish range is indeed sqrt2
self.assertEqual(math.sqrt(2.0),x1.range(point=l2))
# establish range is indeed zero
self.assertEqual(1,x1.range(pose=xl1))
# establish range is indeed sqrt2
self.assertEqual(math.sqrt(2.0),x1.range(pose=xl2))
if __name__ == "__main__":
unittest.main()

32
cython/gtsam/tests/test_SimpleCamera.py Normal file
View File

@ -0,0 +1,32 @@
import math
import numpy as np
import unittest
from gtsam import Pose2, Point3, Rot3, Pose3, Cal3_S2, SimpleCamera
K = Cal3_S2(625, 625, 0, 0, 0)
class TestSimpleCamera(unittest.TestCase):
def test_constructor(self):
pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5))
camera = SimpleCamera(pose1, K)
self.assertTrue(camera.calibration().equals(K, 1e-9))
self.assertTrue(camera.pose().equals(pose1, 1e-9))
def test_level2(self):
# Create a level camera, looking in Y-direction
pose2 = Pose2(0.4,0.3,math.pi/2.0)
camera = SimpleCamera.Level(K, pose2, 0.1)
# expected
x = Point3(1,0,0)
y = Point3(0,0,-1)
z = Point3(0,1,0)
wRc = Rot3(x,y,z)
expected = Pose3(wRc,Point3(0.4,0.3,0.1))
self.assertTrue(camera.pose().equals(expected, 1e-9))
if __name__ == "__main__":
unittest.main()

51
cython/gtsam/tests/test_Values.py
View File

@ -1,25 +1,28 @@
import unittest import unittest
import gtsam
import numpy as np import numpy as np
from gtsam import Point2, Point3, Unit3, Rot2, Pose2, Rot3, Pose3
from gtsam import Values, Cal3_S2, Cal3DS2, Cal3Bundler, EssentialMatrix, imuBias_ConstantBias
class TestValues(unittest.TestCase): class TestValues(unittest.TestCase):
def test_values(self): def test_values(self):
values = gtsam.Values() values = Values()
E = gtsam.EssentialMatrix(gtsam.Rot3(), gtsam.Unit3()) E = EssentialMatrix(Rot3(), Unit3())
tol = 1e-9 tol = 1e-9
values.insert(0, gtsam.Point2()) values.insert(0, Point2(0,0))
values.insert(1, gtsam.Point3()) values.insert(1, Point3(0,0,0))
values.insert(2, gtsam.Rot2()) values.insert(2, Rot2())
values.insert(3, gtsam.Pose2()) values.insert(3, Pose2())
values.insert(4, gtsam.Rot3()) values.insert(4, Rot3())
values.insert(5, gtsam.Pose3()) values.insert(5, Pose3())
values.insert(6, gtsam.Cal3_S2()) values.insert(6, Cal3_S2())
values.insert(7, gtsam.Cal3DS2()) values.insert(7, Cal3DS2())
values.insert(8, gtsam.Cal3Bundler()) values.insert(8, Cal3Bundler())
values.insert(9, E) values.insert(9, E)
values.insert(10, gtsam.imuBias_ConstantBias()) values.insert(10, imuBias_ConstantBias())
# Special cases for Vectors and Matrices # Special cases for Vectors and Matrices
# Note that gtsam's Eigen Vectors and Matrices requires double-precision # Note that gtsam's Eigen Vectors and Matrices requires double-precision
@ -29,7 +32,7 @@ class TestValues(unittest.TestCase):
# will have 'int' type. # will have 'int' type.
# #
# The wrapper will automatically fix the type and storage order for you, # The wrapper will automatically fix the type and storage order for you,
# but for performace reasons, it's recommended to specify the correct # but for performance reasons, it's recommended to specify the correct
# type and storage order. # type and storage order.
vec = np.array([1., 2., 3.]) # for vectors, the order is not important, but dtype still is vec = np.array([1., 2., 3.]) # for vectors, the order is not important, but dtype still is
values.insert(11, vec) values.insert(11, vec)
@ -41,18 +44,18 @@ class TestValues(unittest.TestCase):
mat2 = np.array([[1,2,],[3,5]]) mat2 = np.array([[1,2,],[3,5]])
values.insert(13, mat2) values.insert(13, mat2)
self.assertTrue(values.atPoint2(0).equals(gtsam.Point2(), tol)) self.assertTrue(values.atPoint2(0).equals(Point2(), tol))
self.assertTrue(values.atPoint3(1).equals(gtsam.Point3(), tol)) self.assertTrue(values.atPoint3(1).equals(Point3(), tol))
self.assertTrue(values.atRot2(2).equals(gtsam.Rot2(), tol)) self.assertTrue(values.atRot2(2).equals(Rot2(), tol))
self.assertTrue(values.atPose2(3).equals(gtsam.Pose2(), tol)) self.assertTrue(values.atPose2(3).equals(Pose2(), tol))
self.assertTrue(values.atRot3(4).equals(gtsam.Rot3(), tol)) self.assertTrue(values.atRot3(4).equals(Rot3(), tol))
self.assertTrue(values.atPose3(5).equals(gtsam.Pose3(), tol)) self.assertTrue(values.atPose3(5).equals(Pose3(), tol))
self.assertTrue(values.atCal3_S2(6).equals(gtsam.Cal3_S2(), tol)) self.assertTrue(values.atCal3_S2(6).equals(Cal3_S2(), tol))
self.assertTrue(values.atCal3DS2(7).equals(gtsam.Cal3DS2(), tol)) self.assertTrue(values.atCal3DS2(7).equals(Cal3DS2(), tol))
self.assertTrue(values.atCal3Bundler(8).equals(gtsam.Cal3Bundler(), tol)) self.assertTrue(values.atCal3Bundler(8).equals(Cal3Bundler(), tol))
self.assertTrue(values.atEssentialMatrix(9).equals(E, tol)) self.assertTrue(values.atEssentialMatrix(9).equals(E, tol))
self.assertTrue(values.atimuBias_ConstantBias( self.assertTrue(values.atimuBias_ConstantBias(
10).equals(gtsam.imuBias_ConstantBias(), tol)) 10).equals(imuBias_ConstantBias(), tol))
# special cases for Vector and Matrix: # special cases for Vector and Matrix:
actualVector = values.atVector(11) actualVector = values.atVector(11)

5
cython/gtsam_eigency/CMakeLists.txt
View File

@ -33,5 +33,6 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
PATTERN "__init__.py.in" EXCLUDE) PATTERN "__init__.py.in" EXCLUDE)
install(TARGETS cythonize_eigency_core cythonize_eigency_conversions install(TARGETS cythonize_eigency_core cythonize_eigency_conversions
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency") DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency")
install(FILES "${OUTPUT_DIR}/conversions_api.h" DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency) install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
configure_file(__init__.py.in ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency/__init__.py) configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py)
install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)

132
gtsam.h
View File

@ -2,9 +2,13 @@
* GTSAM Wrap Module Definition * GTSAM Wrap Module Definition
* *
* These are the current classes available through the matlab toolbox interface, * These are the current classes available through the matlab and python wrappers,
* add more functions/classes as they are available. * add more functions/classes as they are available.
* *
* IMPORTANT: the python wrapper supports keyword arguments for functions/methods. Hence, the
* argument names matter. An implementation restriction is that in overloaded methods
* or functions, arguments of different types *have* to have different names.
*
* Requirements: * Requirements:
* Classes must start with an uppercase letter * Classes must start with an uppercase letter
* - Can wrap a typedef * - Can wrap a typedef
@ -16,7 +20,7 @@
* - Any class with which be copied with boost::make_shared() * - Any class with which be copied with boost::make_shared()
* - boost::shared_ptr of any object type * - boost::shared_ptr of any object type
* Constructors * Constructors
* - Overloads are supported * - Overloads are supported, but arguments of different types *have* to have different names
* - A class with no constructors can be returned from other functions but not allocated directly in MATLAB * - A class with no constructors can be returned from other functions but not allocated directly in MATLAB
* Methods * Methods
* - Constness has no effect * - Constness has no effect
@ -26,7 +30,7 @@
* Static methods * Static methods
* - Must start with a letter (upper or lowercase) and use the "static" keyword * - Must start with a letter (upper or lowercase) and use the "static" keyword
* - The first letter will be made uppercase in the generated MATLAB interface * - The first letter will be made uppercase in the generated MATLAB interface
* - Overloads are supported * - Overloads are supported, but arguments of different types *have* to have different names
* Arguments to functions any of * Arguments to functions any of
* - Eigen types: Matrix, Vector * - Eigen types: Matrix, Vector
* - Eigen types and classes as an optionally const reference * - Eigen types and classes as an optionally const reference
@ -145,9 +149,9 @@ class KeyList {
// Actually a FastSet<Key> // Actually a FastSet<Key>
class KeySet { class KeySet {
KeySet(); KeySet();
KeySet(const gtsam::KeySet& other); KeySet(const gtsam::KeySet& set);
KeySet(const gtsam::KeyVector& other); KeySet(const gtsam::KeyVector& vector);
KeySet(const gtsam::KeyList& other); KeySet(const gtsam::KeyList& list);
// Testable // Testable
void print(string s) const; void print(string s) const;
@ -480,6 +484,11 @@ class Rot3 {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
Rot3(); Rot3();
Rot3(Matrix R); Rot3(Matrix R);
Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2, const gtsam::Point3& col3);
Rot3(double R11, double R12, double R13,
double R21, double R22, double R23,
double R31, double R32, double R33);
static gtsam::Rot3 Rx(double t); static gtsam::Rot3 Rx(double t);
static gtsam::Rot3 Ry(double t); static gtsam::Rot3 Ry(double t);
static gtsam::Rot3 Rz(double t); static gtsam::Rot3 Rz(double t);
@ -491,6 +500,7 @@ class Rot3 {
static gtsam::Rot3 Ypr(double y, double p, double r); static gtsam::Rot3 Ypr(double y, double p, double r);
static gtsam::Rot3 Quaternion(double w, double x, double y, double z); static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
static gtsam::Rot3 Rodrigues(Vector v); static gtsam::Rot3 Rodrigues(Vector v);
static gtsam::Rot3 Rodrigues(double wx, double wy, double wz);
// Testable // Testable
void print(string s) const; void print(string s) const;
@ -586,7 +596,7 @@ class Pose3 {
Pose3(const gtsam::Pose3& other); Pose3(const gtsam::Pose3& other);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t); Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose) Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
Pose3(Matrix t); Pose3(Matrix mat);
// Testable // Testable
void print(string s) const; void print(string s) const;
@ -595,23 +605,23 @@ class Pose3 {
// Group // Group
static gtsam::Pose3 identity(); static gtsam::Pose3 identity();
gtsam::Pose3 inverse() const; gtsam::Pose3 inverse() const;
gtsam::Pose3 compose(const gtsam::Pose3& p2) const; gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
gtsam::Pose3 between(const gtsam::Pose3& p2) const; gtsam::Pose3 between(const gtsam::Pose3& pose) const;
// Manifold // Manifold
gtsam::Pose3 retract(Vector v) const; gtsam::Pose3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Pose3& T2) const; Vector localCoordinates(const gtsam::Pose3& pose) const;
// Lie Group // Lie Group
static gtsam::Pose3 Expmap(Vector v); static gtsam::Pose3 Expmap(Vector v);
static Vector Logmap(const gtsam::Pose3& p); static Vector Logmap(const gtsam::Pose3& pose);
Matrix AdjointMap() const; Matrix AdjointMap() const;
Vector Adjoint(Vector xi) const; Vector Adjoint(Vector xi) const;
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz); static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
// Group Action on Point3 // Group Action on Point3
gtsam::Point3 transform_from(const gtsam::Point3& p) const; gtsam::Point3 transform_from(const gtsam::Point3& point) const;
gtsam::Point3 transform_to(const gtsam::Point3& p) const; gtsam::Point3 transform_to(const gtsam::Point3& point) const;
// Standard Interface // Standard Interface
gtsam::Rot3 rotation() const; gtsam::Rot3 rotation() const;
@ -636,7 +646,7 @@ class Pose3Vector
size_t size() const; size_t size() const;
bool empty() const; bool empty() const;
gtsam::Pose3 at(size_t n) const; gtsam::Pose3 at(size_t n) const;
void push_back(const gtsam::Pose3& x); void push_back(const gtsam::Pose3& pose);
}; };
#include <gtsam/geometry/Unit3.h> #include <gtsam/geometry/Unit3.h>
@ -909,7 +919,7 @@ class PinholeCamera {
gtsam::Point2 project(const gtsam::Point3& point); gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point); double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& point); double range(const gtsam::Pose3& pose);
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -946,7 +956,7 @@ virtual class SimpleCamera {
gtsam::Point2 project(const gtsam::Point3& point); gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const; gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point); double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& point); double range(const gtsam::Pose3& pose);
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -1060,13 +1070,13 @@ virtual class SymbolicFactorGraph {
const gtsam::Ordering& ordering); const gtsam::Ordering& ordering);
pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*> eliminatePartialMultifrontal( pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*> eliminatePartialMultifrontal(
const gtsam::KeyVector& keys); const gtsam::KeyVector& keys);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables); gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables); gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables, gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering,
const gtsam::Ordering& marginalizedVariableOrdering); const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables, gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector,
const gtsam::Ordering& marginalizedVariableOrdering); const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& variables); gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector);
}; };
#include <gtsam/symbolic/SymbolicConditional.h> #include <gtsam/symbolic/SymbolicConditional.h>
@ -1164,9 +1174,9 @@ class VariableIndex {
//template<T = {gtsam::FactorGraph}> //template<T = {gtsam::FactorGraph}>
//VariableIndex(const T& factorGraph, size_t nVariables); //VariableIndex(const T& factorGraph, size_t nVariables);
//VariableIndex(const T& factorGraph); //VariableIndex(const T& factorGraph);
VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph); VariableIndex(const gtsam::SymbolicFactorGraph& sfg);
VariableIndex(const gtsam::GaussianFactorGraph& factorGraph); VariableIndex(const gtsam::GaussianFactorGraph& gfg);
VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph); VariableIndex(const gtsam::NonlinearFactorGraph& fg);
VariableIndex(const gtsam::VariableIndex& other); VariableIndex(const gtsam::VariableIndex& other);
// Testable // Testable
@ -1460,7 +1470,7 @@ class GaussianFactorGraph {
// Building the graph // Building the graph
void push_back(const gtsam::GaussianFactor* factor); void push_back(const gtsam::GaussianFactor* factor);
void push_back(const gtsam::GaussianConditional* factor); void push_back(const gtsam::GaussianConditional* conditional);
void push_back(const gtsam::GaussianFactorGraph& graph); void push_back(const gtsam::GaussianFactorGraph& graph);
void push_back(const gtsam::GaussianBayesNet& bayesNet); void push_back(const gtsam::GaussianBayesNet& bayesNet);
void push_back(const gtsam::GaussianBayesTree& bayesTree); void push_back(const gtsam::GaussianBayesTree& bayesTree);
@ -1499,13 +1509,13 @@ class GaussianFactorGraph {
const gtsam::Ordering& ordering); const gtsam::Ordering& ordering);
pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal( pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
const gtsam::KeyVector& keys); const gtsam::KeyVector& keys);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables); gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables); gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables, gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering,
const gtsam::Ordering& marginalizedVariableOrdering); const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables, gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector,
const gtsam::Ordering& marginalizedVariableOrdering); const gtsam::Ordering& marginalizedVariableOrdering);
gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& variables); gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& key_vector);
// Conversion to matrices // Conversion to matrices
Matrix sparseJacobian_() const; Matrix sparseJacobian_() const;
@ -1859,34 +1869,34 @@ class Values {
// void update(size_t j, const gtsam::Value& val); // void update(size_t j, const gtsam::Value& val);
// gtsam::Value at(size_t j) const; // gtsam::Value at(size_t j) const;
void insert(size_t j, const gtsam::Point2& t); void insert(size_t j, const gtsam::Point2& point2);
void insert(size_t j, const gtsam::Point3& t); void insert(size_t j, const gtsam::Point3& point3);
void insert(size_t j, const gtsam::Rot2& t); void insert(size_t j, const gtsam::Rot2& rot2);
void insert(size_t j, const gtsam::Pose2& t); void insert(size_t j, const gtsam::Pose2& pose2);
void insert(size_t j, const gtsam::Rot3& t); void insert(size_t j, const gtsam::Rot3& rot3);
void insert(size_t j, const gtsam::Pose3& t); void insert(size_t j, const gtsam::Pose3& pose3);
void insert(size_t j, const gtsam::Cal3_S2& t); void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
void insert(size_t j, const gtsam::Cal3DS2& t); void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
void insert(size_t j, const gtsam::Cal3Bundler& t); void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::EssentialMatrix& t); void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void insert(size_t j, const gtsam::SimpleCamera& t); void insert(size_t j, const gtsam::SimpleCamera& simpel_camera);
void insert(size_t j, const gtsam::imuBias::ConstantBias& t); void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, Vector t); void insert(size_t j, Vector vector);
void insert(size_t j, Matrix t); void insert(size_t j, Matrix matrix);
void update(size_t j, const gtsam::Point2& t); void update(size_t j, const gtsam::Point2& point2);
void update(size_t j, const gtsam::Point3& t); void update(size_t j, const gtsam::Point3& point3);
void update(size_t j, const gtsam::Rot2& t); void update(size_t j, const gtsam::Rot2& rot2);
void update(size_t j, const gtsam::Pose2& t); void update(size_t j, const gtsam::Pose2& pose2);
void update(size_t j, const gtsam::Rot3& t); void update(size_t j, const gtsam::Rot3& rot3);
void update(size_t j, const gtsam::Pose3& t); void update(size_t j, const gtsam::Pose3& pose3);
void update(size_t j, const gtsam::Cal3_S2& t); void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
void update(size_t j, const gtsam::Cal3DS2& t); void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
void update(size_t j, const gtsam::Cal3Bundler& t); void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::EssentialMatrix& t); void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void update(size_t j, const gtsam::imuBias::ConstantBias& t); void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void update(size_t j, Vector t); void update(size_t j, Vector vector);
void update(size_t j, Matrix t); void update(size_t j, Matrix matrix);
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}> template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
T at(size_t j); T at(size_t j);
@ -2100,10 +2110,10 @@ class ISAM2Params {
void print(string str) const; void print(string str) const;
/** Getters and Setters for all properties */ /** Getters and Setters for all properties */
void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params); void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params);
void setOptimizationParams(const gtsam::ISAM2DoglegParams& params); void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params);
void setRelinearizeThreshold(double relinearizeThreshold); void setRelinearizeThreshold(double threshold);
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold); void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
int getRelinearizeSkip() const; int getRelinearizeSkip() const;
void setRelinearizeSkip(int relinearizeSkip); void setRelinearizeSkip(int relinearizeSkip);
bool isEnableRelinearization() const; bool isEnableRelinearization() const;

4
gtsam_unstable/gtsam_unstable.h
View File

@ -103,7 +103,7 @@ class PoseRTV {
#include <gtsam_unstable/geometry/Pose3Upright.h> #include <gtsam_unstable/geometry/Pose3Upright.h>
class Pose3Upright { class Pose3Upright {
Pose3Upright(); Pose3Upright();
Pose3Upright(const gtsam::Pose3Upright& x); Pose3Upright(const gtsam::Pose3Upright& other);
Pose3Upright(const gtsam::Rot2& bearing, const gtsam::Point3& t); Pose3Upright(const gtsam::Rot2& bearing, const gtsam::Point3& t);
Pose3Upright(double x, double y, double z, double theta); Pose3Upright(double x, double y, double z, double theta);
Pose3Upright(const gtsam::Pose2& pose, double z); Pose3Upright(const gtsam::Pose2& pose, double z);
@ -141,7 +141,7 @@ class Pose3Upright {
#include <gtsam_unstable/geometry/BearingS2.h> #include <gtsam_unstable/geometry/BearingS2.h>
class BearingS2 { class BearingS2 {
BearingS2(); BearingS2();
BearingS2(double azimuth, double elevation); BearingS2(double azimuth_double, double elevation_double);
BearingS2(const gtsam::Rot2& azimuth, const gtsam::Rot2& elevation); BearingS2(const gtsam::Rot2& azimuth, const gtsam::Rot2& elevation);
gtsam::Rot2 azimuth() const; gtsam::Rot2 azimuth() const;

9
wrap/Argument.cpp
View File

@ -281,15 +281,16 @@ std::string ArgumentList::pyx_paramsList() const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
std::string ArgumentList::pyx_castParamsToPythonType() const { std::string ArgumentList::pyx_castParamsToPythonType(
const std::string& indent) const {
if (size() == 0) if (size() == 0)
return " pass\n"; return "";
// cast params to their correct python argument type to pass in the function call later // cast params to their correct python argument type to pass in the function call later
string s; string s;
for (size_t j = 0; j < size(); ++j) for (size_t j = 0; j < size(); ++j)
s += " " + at(j).name + " = <" + at(j).type.pyxArgumentType() s += indent + at(j).name + " = <" + at(j).type.pyxArgumentType()
+ ">(__params['" + at(j).name + "'])\n"; + ">(__params[" + std::to_string(j) + "])\n";
return s; return s;
} }

2
wrap/Argument.h
View File

@ -131,7 +131,7 @@ struct ArgumentList: public std::vector<Argument> {
void emit_cython_pyx(FileWriter& file) const; void emit_cython_pyx(FileWriter& file) const;
std::string pyx_asParams() const; std::string pyx_asParams() const;
std::string pyx_paramsList() const; std::string pyx_paramsList() const;
std::string pyx_castParamsToPythonType() const; std::string pyx_castParamsToPythonType(const std::string& indent) const;
std::string pyx_convertEigenTypeAndStorageOrder(const std::string& indent) const; std::string pyx_convertEigenTypeAndStorageOrder(const std::string& indent) const;
/** /**

52
wrap/Class.cpp
View File

@ -764,6 +764,22 @@ void Class::emit_cython_pxd(FileWriter& pxdFile) const {
if (numMethods == 0) if (numMethods == 0)
pxdFile.oss << " pass\n"; pxdFile.oss << " pass\n";
} }
/* ************************************************************************* */
void Class::emit_cython_wrapper_pxd(FileWriter& pxdFile) const {
pxdFile.oss << "\ncdef class " << pyxClassName();
if (getParent())
pxdFile.oss << "(" << getParent()->pyxClassName() << ")";
pxdFile.oss << ":\n";
pxdFile.oss << " cdef " << shared_pxd_class_in_pyx() << " "
<< shared_pxd_obj_in_pyx() << "\n";
// cyCreateFromShared
pxdFile.oss << " @staticmethod\n";
pxdFile.oss << " cdef " << pyxClassName() << " cyCreateFromShared(const "
<< shared_pxd_class_in_pyx() << "& other)\n";
for(const StaticMethod& m: static_methods | boost::adaptors::map_values)
m.emit_cython_wrapper_pxd(pxdFile, *this);
if (static_methods.size()>0) pxdFile.oss << "\n";
}
/* ************************************************************************* */ /* ************************************************************************* */
void Class::pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj, void Class::pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj,
@ -825,29 +841,19 @@ void Class::emit_cython_pyx(FileWriter& pyxFile, const std::vector<Class>& allCl
if (parentClass) pyxFile.oss << "(" << parentClass->pyxClassName() << ")"; if (parentClass) pyxFile.oss << "(" << parentClass->pyxClassName() << ")";
pyxFile.oss << ":\n"; pyxFile.oss << ":\n";
// shared variable of the corresponding cython object // __init___
// pyxFile.oss << " cdef " << shared_pxd_class_in_pyx() << " " << shared_pxd_obj_in_pyx() << "\n"; pyxFile.oss << " def __init__(self, *args, **kwargs):\n";
pyxFile.oss << " cdef list __params\n";
// __cinit___ pyxFile.oss << " self." << shared_pxd_obj_in_pyx() << " = " << shared_pxd_class_in_pyx() << "()\n";
pyxFile.oss << " def __init__(self, *args, **kwargs):\n"
" self." << shared_pxd_obj_in_pyx() << " = "
<< shared_pxd_class_in_pyx() << "()\n";
pyxFile.oss << " if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):\n return\n"; pyxFile.oss << " if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):\n return\n";
for (size_t i = 0; i<constructor.nrOverloads(); ++i) {
pyxFile.oss << " " << "elif" << " self."
<< pyxClassName() << "_" << i
<< "(*args, **kwargs):\n pass\n";
}
pyxFile.oss << " else:\n raise TypeError('" << pyxClassName()
<< " construction failed!')\n";
pyxInitParentObj(pyxFile, " self", "self." + shared_pxd_obj_in_pyx(), allClasses);
pyxFile.oss << "\n";
// Constructors // Constructors
constructor.emit_cython_pyx(pyxFile, *this); constructor.emit_cython_pyx(pyxFile, *this);
if (constructor.nrOverloads()>0) pyxFile.oss << "\n"; pyxFile.oss << " if (self." << shared_pxd_obj_in_pyx() << ".use_count()==0):\n";
pyxFile.oss << " raise TypeError('" << pyxClassName()
<< " construction failed!')\n";
pyxInitParentObj(pyxFile, " self", "self." + shared_pxd_obj_in_pyx(), allClasses);
pyxFile.oss << "\n";
// cyCreateFromShared // cyCreateFromShared
pyxFile.oss << " @staticmethod\n"; pyxFile.oss << " @staticmethod\n";
@ -855,10 +861,10 @@ void Class::emit_cython_pyx(FileWriter& pyxFile, const std::vector<Class>& allCl
<< shared_pxd_class_in_pyx() << "& other):\n" << shared_pxd_class_in_pyx() << "& other):\n"
<< " if other.get() == NULL:\n" << " if other.get() == NULL:\n"
<< " raise RuntimeError('Cannot create object from a nullptr!')\n" << " raise RuntimeError('Cannot create object from a nullptr!')\n"
<< " cdef " << pyxClassName() << " ret = " << pyxClassName() << "(cyCreateFromShared=True)\n" << " cdef " << pyxClassName() << " return_value = " << pyxClassName() << "(cyCreateFromShared=True)\n"
<< " ret." << shared_pxd_obj_in_pyx() << " = other\n"; << " return_value." << shared_pxd_obj_in_pyx() << " = other\n";
pyxInitParentObj(pyxFile, " ret", "other", allClasses); pyxInitParentObj(pyxFile, " return_value", "other", allClasses);
pyxFile.oss << " return ret" << "\n"; pyxFile.oss << " return return_value" << "\n\n";
for(const StaticMethod& m: static_methods | boost::adaptors::map_values) for(const StaticMethod& m: static_methods | boost::adaptors::map_values)
m.emit_cython_pyx(pyxFile, *this); m.emit_cython_pyx(pyxFile, *this);

1
wrap/Class.h
View File

@ -165,6 +165,7 @@ public:
// emit cython wrapper // emit cython wrapper
void emit_cython_pxd(FileWriter& pxdFile) const; void emit_cython_pxd(FileWriter& pxdFile) const;
void emit_cython_wrapper_pxd(FileWriter& pxdFile) const;
void emit_cython_pyx(FileWriter& pyxFile, void emit_cython_pyx(FileWriter& pyxFile,
const std::vector<Class>& allClasses) const; const std::vector<Class>& allClasses) const;
void pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj, void pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj,

14
wrap/Constructor.cpp
View File

@ -136,8 +136,7 @@ void Constructor::emit_cython_pxd(FileWriter& pxdFile, const Class& cls) const {
// generate the constructor // generate the constructor
pxdFile.oss << " " << cls.pxdClassName() << "("; pxdFile.oss << " " << cls.pxdClassName() << "(";
args.emit_cython_pxd(pxdFile, cls.pxdClassName(), cls.templateArgs); args.emit_cython_pxd(pxdFile, cls.pxdClassName(), cls.templateArgs);
pxdFile.oss << ") " pxdFile.oss << ") " << "except +\n";
<< "except +\n";
} }
} }
@ -145,15 +144,16 @@ void Constructor::emit_cython_pxd(FileWriter& pxdFile, const Class& cls) const {
void Constructor::emit_cython_pyx(FileWriter& pyxFile, const Class& cls) const { void Constructor::emit_cython_pyx(FileWriter& pyxFile, const Class& cls) const {
for (size_t i = 0; i < nrOverloads(); i++) { for (size_t i = 0; i < nrOverloads(); i++) {
ArgumentList args = argumentList(i); ArgumentList args = argumentList(i);
pyxFile.oss << " def " + cls.pyxClassName() + "_" + to_string(i) + pyxFile.oss << " try:\n";
"(self, *args, **kwargs):\n"; pyxFile.oss << pyx_resolveOverloadParams(args, true, 3);
pyxFile.oss << pyx_resolveOverloadParams(args, true); pyxFile.oss
pyxFile.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" "); << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
pyxFile.oss << " self." << cls.shared_pxd_obj_in_pyx() << " = " pyxFile.oss << " self." << cls.shared_pxd_obj_in_pyx() << " = "
<< cls.shared_pxd_class_in_pyx() << "(new " << cls.pxd_class_in_pyx() << cls.shared_pxd_class_in_pyx() << "(new " << cls.pxd_class_in_pyx()
<< "(" << args.pyx_asParams() << "))\n"; << "(" << args.pyx_asParams() << "))\n";
pyxFile.oss << " return True\n\n"; pyxFile.oss << " except:\n";
pyxFile.oss << " pass\n";
} }
} }

31
wrap/GlobalFunction.cpp
View File

@ -155,9 +155,11 @@ void GlobalFunction::emit_cython_pyx_no_overload(FileWriter& file) const {
// Function definition // Function definition
file.oss << "def " << funcName; file.oss << "def " << funcName;
// modify name of function instantiation as python doesn't allow overloads // modify name of function instantiation as python doesn't allow overloads
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC // e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
if (templateArgValue_) file.oss << templateArgValue_->pyxClassName(); if (templateArgValue_) file.oss << templateArgValue_->pyxClassName();
// funtion arguments // funtion arguments
file.oss << "("; file.oss << "(";
argumentList(0).emit_cython_pyx(file); argumentList(0).emit_cython_pyx(file);
@ -189,28 +191,33 @@ void GlobalFunction::emit_cython_pyx(FileWriter& file) const {
file.oss << "def " << funcName << "(*args, **kwargs):\n"; file.oss << "def " << funcName << "(*args, **kwargs):\n";
for (size_t i = 0; i < N; ++i) { for (size_t i = 0; i < N; ++i) {
file.oss << " success, results = " << funcName << "_" << i file.oss << " success, results = " << funcName << "_" << i
<< "(*args, **kwargs)\n"; << "(args, kwargs)\n";
file.oss << " if success:\n return results\n"; file.oss << " if success:\n return results\n";
} }
file.oss << " raise TypeError('Could not find the correct overload')\n"; file.oss << " raise TypeError('Could not find the correct overload')\n";
for (size_t i = 0; i < N; ++i) { for (size_t i = 0; i < N; ++i) {
ArgumentList args = argumentList(i); ArgumentList args = argumentList(i);
file.oss << "def " + funcName + "_" + to_string(i) + file.oss << "def " + funcName + "_" + to_string(i) + "(args, kwargs):\n";
"(*args, **kwargs):\n"; file.oss << " cdef list __params\n";
file.oss << pyx_resolveOverloadParams(args, false, 1); // lazy: always return None even if it's a void function
/// Call cython corresponding function
file.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
string ret = pyx_functionCall("", pxdName(), i);
if (!returnVals_[i].isVoid()) { if (!returnVals_[i].isVoid()) {
file.oss << " cdef " << returnVals_[i].pyx_returnType() file.oss << " cdef " << returnVals_[i].pyx_returnType() << " return_value\n";
<< " ret = " << ret << "\n"; }
file.oss << " return True, " << returnVals_[i].pyx_casting("ret") << "\n"; file.oss << " try:\n";
file.oss << pyx_resolveOverloadParams(args, false, 2); // lazy: always return None even if it's a void function
/// Call corresponding cython function
file.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
string call = pyx_functionCall("", pxdName(), i);
if (!returnVals_[i].isVoid()) {
file.oss << " return_value = " << call << "\n";
file.oss << " return True, " << returnVals_[i].pyx_casting("return_value") << "\n";
} else { } else {
file.oss << " " << ret << "\n"; file.oss << " " << call << "\n";
file.oss << " return True, None\n"; file.oss << " return True, None\n";
} }
file.oss << " except:\n";
file.oss << " return False, None\n\n";
} }
} }
/* ************************************************************************* */ /* ************************************************************************* */

81
wrap/Method.cpp
View File

@ -85,8 +85,12 @@ void Method::emit_cython_pxd(FileWriter& file, const Class& cls) const {
for (size_t i = 0; i < nrOverloads(); ++i) { for (size_t i = 0; i < nrOverloads(); ++i) {
file.oss << " "; file.oss << " ";
returnVals_[i].emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs); returnVals_[i].emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs);
file.oss << pyRename(name_) + " \"" + name_ + "\"" const string renamed = pyRename(name_);
<< "("; if (renamed != name_) {
file.oss << pyRename(name_) + " \"" + name_ + "\"" << "(";
} else {
file.oss << name_ << "(";
}
argumentList(i).emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs); argumentList(i).emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs);
file.oss << ")"; file.oss << ")";
// if (is_const_) file.oss << " const"; // if (is_const_) file.oss << " const";
@ -99,20 +103,23 @@ void Method::emit_cython_pxd(FileWriter& file, const Class& cls) const {
void Method::emit_cython_pyx_no_overload(FileWriter& file, void Method::emit_cython_pyx_no_overload(FileWriter& file,
const Class& cls) const { const Class& cls) const {
string funcName = pyRename(name_); string funcName = pyRename(name_);
// leverage python's special treatment for print // leverage python's special treatment for print
if (funcName == "print_") { if (funcName == "print_") {
//file.oss << " def __str__(self):\n self.print_('')\n return ''\n";
file.oss << " def __str__(self):\n"; file.oss << " def __str__(self):\n";
file.oss << " strBuf = RedirectCout()\n"; file.oss << " strBuf = RedirectCout()\n";
file.oss << " self.print_('')\n"; file.oss << " self.print_('')\n";
file.oss << " return strBuf.str()\n"; file.oss << " return strBuf.str()\n";
} }
// Function definition // Function definition
file.oss << " def " << funcName; file.oss << " def " << funcName;
// modify name of function instantiation as python doesn't allow overloads // modify name of function instantiation as python doesn't allow overloads
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC // e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
if (templateArgValue_) file.oss << templateArgValue_->pyxClassName(); if (templateArgValue_) file.oss << templateArgValue_->pyxClassName();
// funtion arguments
// function arguments
file.oss << "(self"; file.oss << "(self";
if (argumentList(0).size() > 0) file.oss << ", "; if (argumentList(0).size() > 0) file.oss << ", ";
argumentList(0).emit_cython_pyx(file); argumentList(0).emit_cython_pyx(file);
@ -138,7 +145,8 @@ void Method::emit_cython_pyx(FileWriter& file, const Class& cls) const {
// doesn't allow overloads // doesn't allow overloads
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC // e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
string instantiatedName = string instantiatedName =
(templateArgValue_) ? funcName + templateArgValue_->pyxClassName() : funcName; (templateArgValue_) ? funcName + templateArgValue_->pyxClassName() :
funcName;
size_t N = nrOverloads(); size_t N = nrOverloads();
// It's easy if there's no overload // It's easy if there's no overload
@ -149,32 +157,49 @@ void Method::emit_cython_pyx(FileWriter& file, const Class& cls) const {
// Dealing with overloads.. // Dealing with overloads..
file.oss << " def " << instantiatedName << "(self, *args, **kwargs):\n"; file.oss << " def " << instantiatedName << "(self, *args, **kwargs):\n";
for (size_t i = 0; i < N; ++i) { file.oss << " cdef list __params\n";
file.oss << " success, results = self." << instantiatedName << "_" << i
<< "(*args, **kwargs)\n";
file.oss << " if success:\n return results\n";
}
file.oss << " raise TypeError('Could not find the correct overload')\n";
for (size_t i = 0; i < N; ++i) { // Define return values for all possible overloads
ArgumentList args = argumentList(i); vector<string> return_type; // every overload has a return type, possibly void
file.oss << " def " + instantiatedName + "_" + to_string(i) + map<string, string> return_value; // we only define one return value for every distinct type
"(self, *args, **kwargs):\n"; size_t j = 1;
file.oss << pyx_resolveOverloadParams(args, false); // lazy: always return None even if it's a void function for (size_t i = 0; i < nrOverloads(); ++i) {
if (returnVals_[i].isVoid()) {
/// Call cython corresponding function return_type.push_back("void");
file.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
string caller = "self." + cls.shared_pxd_obj_in_pyx() + ".get()";
string ret = pyx_functionCall(caller, funcName, i);
if (!returnVals_[i].isVoid()) {
file.oss << " cdef " << returnVals_[i].pyx_returnType()
<< " ret = " << ret << "\n";
file.oss << " return True, " << returnVals_[i].pyx_casting("ret") << "\n";
} else { } else {
file.oss << " " << ret << "\n"; const string type = returnVals_[i].pyx_returnType();
file.oss << " return True, None\n"; return_type.push_back(type);
if (return_value.count(type) == 0) {
const string value = "return_value_" + to_string(j++);
return_value[type] = value;
file.oss << " cdef " << type << " " << value << "\n";
} }
} }
} }
for (size_t i = 0; i < nrOverloads(); ++i) {
ArgumentList args = argumentList(i);
file.oss << " try:\n";
file.oss << pyx_resolveOverloadParams(args, false, 3); // lazy: always return None even if it's a void function
/// Call corresponding cython function
file.oss << args.pyx_convertEigenTypeAndStorageOrder(" ");
string caller = "self." + cls.shared_pxd_obj_in_pyx() + ".get()";
string call = pyx_functionCall(caller, funcName, i);
if (!returnVals_[i].isVoid()) {
const string type = return_type[i];
const string value = return_value[type];
file.oss << " " << value << " = " << call << "\n";
file.oss << " return " << returnVals_[i].pyx_casting(value)
<< "\n";
} else {
file.oss << " " << call << "\n";
file.oss << " return\n";
}
file.oss << " except:\n";
file.oss << " pass\n";
}
file.oss
<< " raise TypeError('Incorrect arguments for method call.')\n\n";
}
/* ************************************************************************* */ /* ************************************************************************* */

48
wrap/Module.cpp
View File

@ -348,9 +348,10 @@ void Module::emit_cython_pxd(FileWriter& pxdFile) const {
" shared_ptr()\n" " shared_ptr()\n"
" shared_ptr(T*)\n" " shared_ptr(T*)\n"
" T* get()\n" " T* get()\n"
" long use_count() const\n"
" T& operator*()\n\n" " T& operator*()\n\n"
" cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n" " cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n"
" cdef shared_ptr[T] make_shared[T](const T& r)\n"; " cdef shared_ptr[T] make_shared[T](const T& r)\n\n";
for(const TypedefPair& types: typedefs) for(const TypedefPair& types: typedefs)
types.emit_cython_pxd(pxdFile); types.emit_cython_pxd(pxdFile);
@ -360,35 +361,25 @@ void Module::emit_cython_pxd(FileWriter& pxdFile) const {
cls.emit_cython_pxd(pxdFile); cls.emit_cython_pxd(pxdFile);
for (const Class& expCls : expandedClasses) { for (const Class& expCls : expandedClasses) {
//... ctypedef for template instantiations bool matchingNonTemplated = !expCls.templateClass
if (expCls.templateClass && && expCls.pxdClassName() == cls.pxdClassName();
expCls.templateClass->pxdClassName() == cls.pxdClassName()) { bool isTemplatedFromCls = expCls.templateClass
&& expCls.templateClass->pxdClassName() == cls.pxdClassName();
// ctypedef for template instantiations
if (isTemplatedFromCls) {
pxdFile.oss << "\n";
pxdFile.oss << "ctypedef " << expCls.templateClass->pxdClassName() pxdFile.oss << "ctypedef " << expCls.templateClass->pxdClassName()
<< "["; << "[";
for (size_t i = 0; i < expCls.templateInstTypeList.size(); ++i) for (size_t i = 0; i < expCls.templateInstTypeList.size(); ++i)
pxdFile.oss << expCls.templateInstTypeList[i].pxdClassName() pxdFile.oss << expCls.templateInstTypeList[i].pxdClassName()
<< ((i == expCls.templateInstTypeList.size() - 1) << ((i == expCls.templateInstTypeList.size() - 1) ? "" : ", ");
? ""
: ", ");
pxdFile.oss << "] " << expCls.pxdClassName() << "\n"; pxdFile.oss << "] " << expCls.pxdClassName() << "\n";
} }
if ((!expCls.templateClass && // Python wrapper class
expCls.pxdClassName() == cls.pxdClassName()) || if (isTemplatedFromCls || matchingNonTemplated) {
(expCls.templateClass && expCls.emit_cython_wrapper_pxd(pxdFile);
expCls.templateClass->pxdClassName() == cls.pxdClassName())) {
pxdFile.oss << "\n";
pxdFile.oss << "cdef class " << expCls.pyxClassName();
if (expCls.getParent())
pxdFile.oss << "(" << expCls.getParent()->pyxClassName() << ")";
pxdFile.oss << ":\n";
pxdFile.oss << " cdef " << expCls.shared_pxd_class_in_pyx()
<< " " << expCls.shared_pxd_obj_in_pyx() << "\n";
// cyCreateFromShared
pxdFile.oss << " @staticmethod\n";
pxdFile.oss << " cdef " << expCls.pyxClassName()
<< " cyCreateFromShared(const "
<< expCls.shared_pxd_class_in_pyx() << "& other)\n";
} }
} }
pxdFile.oss << "\n\n"; pxdFile.oss << "\n\n";
@ -412,6 +403,17 @@ void Module::emit_cython_pyx(FileWriter& pyxFile) const {
"from "<< pxdHeader << " cimport dynamic_pointer_cast\n" "from "<< pxdHeader << " cimport dynamic_pointer_cast\n"
"from "<< pxdHeader << " cimport make_shared\n"; "from "<< pxdHeader << " cimport make_shared\n";
pyxFile.oss << "# C helper function that copies all arguments into a positional list.\n"
"cdef list process_args(list keywords, tuple args, dict kwargs):\n"
" cdef str keyword\n"
" cdef int n = len(args), m = len(keywords)\n"
" cdef list params = list(args)\n"
" assert len(args)+len(kwargs) == m, 'Expected {} arguments'.format(m)\n"
" try:\n"
" return params + [kwargs[keyword] for keyword in keywords[n:]]\n"
" except:\n"
" raise ValueError('Epected arguments ' + str(keywords))\n";
// import all typedefs, e.g. from gtsam_wrapper cimport Key, so we don't need to say gtsam.Key // import all typedefs, e.g. from gtsam_wrapper cimport Key, so we don't need to say gtsam.Key
for(const Qualified& q: Qualified::BasicTypedefs) { for(const Qualified& q: Qualified::BasicTypedefs) {
pyxFile.oss << "from " << pxdHeader << " cimport " << q.pxdClassName() << "\n"; pyxFile.oss << "from " << pxdHeader << " cimport " << q.pxdClassName() << "\n";

38
wrap/OverloadedFunction.h
View File

@ -71,35 +71,29 @@ public:
return os; return os;
} }
std::string pyx_resolveOverloadParams(const ArgumentList& args, bool isVoid, size_t indentLevel = 2) const { std::string pyx_resolveOverloadParams(const ArgumentList& args, bool isVoid,
size_t indentLevel = 2) const {
std::string indent; std::string indent;
for (size_t i = 0; i<indentLevel; ++i) indent += " "; for (size_t i = 0; i < indentLevel; ++i)
indent += " ";
std::string s; std::string s;
s += indent + "if len(args)+len(kwargs) !=" + std::to_string(args.size()) + ":\n"; s += indent + "__params = process_args([" + args.pyx_paramsList()
s += indent + " return False"; + "], args, kwargs)\n";
s += (!isVoid) ? ", None\n" : "\n"; s += args.pyx_castParamsToPythonType(indent);
if (args.size() > 0) { if (args.size() > 0) {
s += indent + "__params = kwargs.copy()\n";
s += indent + "__names = [" + args.pyx_paramsList() + "]\n";
s += indent + "for i in range(len(args)):\n";
s += indent + " __params[__names[i]] = args[i]\n";
for (size_t i = 0; i < args.size(); ++i) { for (size_t i = 0; i < args.size(); ++i) {
// For python types we can do the assert after the assignment and save list accesses
if (args[i].type.isNonBasicType() || args[i].type.isEigen()) { if (args[i].type.isNonBasicType() || args[i].type.isEigen()) {
std::string param = "__params[__names[" + std::to_string(i) + "]]"; std::string param = args[i].name;
s += indent + "if not isinstance(" + param + ", " + s += indent + "assert isinstance(" + param + ", "
args[i].type.pyxArgumentType() + ")"; + args[i].type.pyxArgumentType() + ")";
if (args[i].type.isEigen()) if (args[i].type.isEigen()) {
s += " or not " + param + ".ndim == " + s += " and " + param + ".ndim == "
((args[i].type.pyxClassName() == "Vector") ? "1" : "2"); + ((args[i].type.pyxClassName() == "Vector") ? "1" : "2");
s += ":\n"; }
s += indent + " return False" + ((isVoid) ? "" : ", None") + "\n"; s += "\n";
} }
} }
s += indent + "try:\n";
s += args.pyx_castParamsToPythonType();
s += indent + "except:\n";
s += indent + " return False";
s += (!isVoid) ? ", None\n" : "\n";
} }
return s; return s;
} }

2
wrap/Qualified.h
View File

@ -237,7 +237,7 @@ public:
/// the internal Cython shared obj in a Python class wrappper /// the internal Cython shared obj in a Python class wrappper
std::string shared_pxd_obj_in_pyx() const { std::string shared_pxd_obj_in_pyx() const {
return "shared_" + pxdClassName() + "_"; return pxdClassName() + "_";
} }
std::string make_shared_pxd_class_in_pyx() const { std::string make_shared_pxd_class_in_pyx() const {

57
wrap/StaticMethod.cpp
View File

@ -58,7 +58,6 @@ string StaticMethod::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
/* ************************************************************************* */ /* ************************************************************************* */
void StaticMethod::emit_cython_pxd(FileWriter& file, const Class& cls) const { void StaticMethod::emit_cython_pxd(FileWriter& file, const Class& cls) const {
// don't support overloads for static method :-(
for(size_t i = 0; i < nrOverloads(); ++i) { for(size_t i = 0; i < nrOverloads(); ++i) {
file.oss << " @staticmethod\n"; file.oss << " @staticmethod\n";
file.oss << " "; file.oss << " ";
@ -69,6 +68,18 @@ void StaticMethod::emit_cython_pxd(FileWriter& file, const Class& cls) const {
} }
} }
/* ************************************************************************* */
void StaticMethod::emit_cython_wrapper_pxd(FileWriter& file,
const Class& cls) const {
if (nrOverloads() > 1) {
for (size_t i = 0; i < nrOverloads(); ++i) {
string funcName = name_ + "_" + to_string(i);
file.oss << " @staticmethod\n";
file.oss << " cdef tuple " + funcName + "(tuple args, dict kwargs)\n";
}
}
}
/* ************************************************************************* */ /* ************************************************************************* */
void StaticMethod::emit_cython_pyx_no_overload(FileWriter& file, void StaticMethod::emit_cython_pyx_no_overload(FileWriter& file,
const Class& cls) const { const Class& cls) const {
@ -80,12 +91,12 @@ void StaticMethod::emit_cython_pyx_no_overload(FileWriter& file,
/// Call cython corresponding function and return /// Call cython corresponding function and return
file.oss << argumentList(0).pyx_convertEigenTypeAndStorageOrder(" "); file.oss << argumentList(0).pyx_convertEigenTypeAndStorageOrder(" ");
string ret = pyx_functionCall(cls.pxd_class_in_pyx(), name_, 0); string call = pyx_functionCall(cls.pxd_class_in_pyx(), name_, 0);
file.oss << " "; file.oss << " ";
if (!returnVals_[0].isVoid()) { if (!returnVals_[0].isVoid()) {
file.oss << "return " << returnVals_[0].pyx_casting(ret) << "\n"; file.oss << "return " << returnVals_[0].pyx_casting(call) << "\n";
} else } else
file.oss << ret << "\n"; file.oss << call << "\n";
file.oss << "\n"; file.oss << "\n";
} }
@ -98,38 +109,42 @@ void StaticMethod::emit_cython_pyx(FileWriter& file, const Class& cls) const {
} }
// Dealing with overloads.. // Dealing with overloads..
file.oss << " @staticmethod\n"; file.oss << " @staticmethod # overloaded\n";
file.oss << " def " << name_ << "(*args, **kwargs):\n"; file.oss << " def " << name_ << "(*args, **kwargs):\n";
for (size_t i = 0; i < N; ++i) { for (size_t i = 0; i < N; ++i) {
string funcName = name_ + "_" + to_string(i); string funcName = name_ + "_" + to_string(i);
file.oss << " success, results = " << cls.pyxClassName() << "." file.oss << " success, results = " << cls.pyxClassName() << "."
<< funcName << "(*args, **kwargs)\n"; << funcName << "(args, kwargs)\n";
file.oss << " if success:\n return results\n"; file.oss << " if success:\n return results\n";
} }
file.oss << " raise TypeError('Could not find the correct overload')\n"; file.oss << " raise TypeError('Could not find the correct overload')\n\n";
// Create cdef methods for all overloaded methods
for(size_t i = 0; i < N; ++i) { for(size_t i = 0; i < N; ++i) {
file.oss << " @staticmethod\n";
string funcName = name_ + "_" + to_string(i); string funcName = name_ + "_" + to_string(i);
string pxdFuncName = name_ + ((i>0)?"_" + to_string(i):""); file.oss << " @staticmethod\n";
file.oss << " cdef tuple " + funcName + "(tuple args, dict kwargs):\n";
file.oss << " cdef list __params\n";
if (!returnVals_[i].isVoid()) {
file.oss << " cdef " << returnVals_[i].pyx_returnType() << " return_value\n";
}
file.oss << " try:\n";
ArgumentList args = argumentList(i); ArgumentList args = argumentList(i);
file.oss << " def " + funcName + "(*args, **kwargs):\n"; file.oss << pyx_resolveOverloadParams(args, false, 3);
file.oss << pyx_resolveOverloadParams(args, false); // lazy: always return None even if it's a void function
/// Call cython corresponding function and return /// Call cython corresponding function and return
file.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" "); file.oss << args.pyx_convertEigenTypeAndStorageOrder(" ");
string ret = pyx_functionCall(cls.pxd_class_in_pyx(), pxdFuncName, i); string pxdFuncName = name_ + ((i>0)?"_" + to_string(i):"");
string call = pyx_functionCall(cls.pxd_class_in_pyx(), pxdFuncName, i);
if (!returnVals_[i].isVoid()) { if (!returnVals_[i].isVoid()) {
file.oss << " cdef " << returnVals_[i].pyx_returnType() file.oss << " return_value = " << call << "\n";
<< " ret = " << ret << "\n"; file.oss << " return True, " << returnVals_[i].pyx_casting("return_value") << "\n";
file.oss << " return True, " << returnVals_[i].pyx_casting("ret") << "\n"; } else {
} file.oss << " " << call << "\n";
else {
file.oss << " " << ret << "\n";
file.oss << " return True, None\n"; file.oss << " return True, None\n";
} }
file.oss << "\n"; file.oss << " except:\n";
file.oss << " return False, None\n\n";
} }
} }

1
wrap/StaticMethod.h
View File

@ -35,6 +35,7 @@ struct StaticMethod: public MethodBase {
} }
void emit_cython_pxd(FileWriter& file, const Class& cls) const; void emit_cython_pxd(FileWriter& file, const Class& cls) const;
void emit_cython_wrapper_pxd(FileWriter& file, const Class& cls) const;
void emit_cython_pyx(FileWriter& file, const Class& cls) const; void emit_cython_pyx(FileWriter& file, const Class& cls) const;
void emit_cython_pyx_no_overload(FileWriter& file, const Class& cls) const; void emit_cython_pyx_no_overload(FileWriter& file, const Class& cls) const;

88
wrap/tests/expected-cython/geometry.pxd
View File

@ -12,26 +12,28 @@ cdef extern from "boost/shared_ptr.hpp" namespace "boost":
shared_ptr() shared_ptr()
shared_ptr(T*) shared_ptr(T*)
T* get() T* get()
long use_count() const
T& operator*() T& operator*()
cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r) cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)
cdef shared_ptr[T] make_shared[T](const T& r) cdef shared_ptr[T] make_shared[T](const T& r)
cdef extern from "gtsam/geometry/Point2.h" namespace "gtsam": cdef extern from "gtsam/geometry/Point2.h" namespace "gtsam":
cdef cppclass CPoint2 "gtsam::Point2": cdef cppclass CPoint2 "gtsam::Point2":
CPoint2() except + CPoint2() except +
CPoint2(double x, double y) except + CPoint2(double x, double y) except +
void argChar "argChar"(char a) except + void argChar(char a) except +
void argUChar "argUChar"(unsigned char a) except + void argUChar(unsigned char a) except +
int dim "dim"() except + int dim() except +
void eigenArguments "eigenArguments"(const VectorXd& v, const MatrixXd& m) except + void eigenArguments(const VectorXd& v, const MatrixXd& m) except +
char returnChar "returnChar"() except + char returnChar() except +
CVectorNotEigen vectorConfusion "vectorConfusion"() except + CVectorNotEigen vectorConfusion() except +
double x "x"() except + double x() except +
double y "y"() except + double y() except +
cdef class Point2: cdef class Point2:
cdef shared_ptr[CPoint2] shared_CPoint2_ cdef shared_ptr[CPoint2] CPoint2_
@staticmethod @staticmethod
cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other) cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other)
@ -45,41 +47,42 @@ cdef extern from "gtsam/geometry/Point3.h" namespace "gtsam":
@staticmethod @staticmethod
double staticFunction "staticFunction"() except + double staticFunction "staticFunction"() except +
double norm "norm"() except + double norm() except +
cdef class Point3: cdef class Point3:
cdef shared_ptr[CPoint3] shared_CPoint3_ cdef shared_ptr[CPoint3] CPoint3_
@staticmethod @staticmethod
cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other) cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other)
cdef extern from "folder/path/to/Test.h": cdef extern from "folder/path/to/Test.h":
cdef cppclass CTest "Test": cdef cppclass CTest "Test":
CTest() except + CTest() except +
CTest(double a, const MatrixXd& b) except + CTest(double a, const MatrixXd& b) except +
void arg_EigenConstRef "arg_EigenConstRef"(const MatrixXd& value) except + void arg_EigenConstRef(const MatrixXd& value) except +
pair[CTest,shared_ptr[CTest]] create_MixedPtrs "create_MixedPtrs"() except + pair[CTest,shared_ptr[CTest]] create_MixedPtrs() except +
pair[shared_ptr[CTest],shared_ptr[CTest]] create_ptrs "create_ptrs"() except + pair[shared_ptr[CTest],shared_ptr[CTest]] create_ptrs() except +
void print_ "print"() except + void print_ "print"() except +
shared_ptr[CPoint2] return_Point2Ptr "return_Point2Ptr"(bool value) except + shared_ptr[CPoint2] return_Point2Ptr(bool value) except +
CTest return_Test "return_Test"(shared_ptr[CTest]& value) except + CTest return_Test(shared_ptr[CTest]& value) except +
shared_ptr[CTest] return_TestPtr "return_TestPtr"(shared_ptr[CTest]& value) except + shared_ptr[CTest] return_TestPtr(shared_ptr[CTest]& value) except +
bool return_bool "return_bool"(bool value) except + bool return_bool(bool value) except +
double return_double "return_double"(double value) except + double return_double(double value) except +
bool return_field "return_field"(const CTest& t) except + bool return_field(const CTest& t) except +
int return_int "return_int"(int value) except + int return_int(int value) except +
MatrixXd return_matrix1 "return_matrix1"(const MatrixXd& value) except + MatrixXd return_matrix1(const MatrixXd& value) except +
MatrixXd return_matrix2 "return_matrix2"(const MatrixXd& value) except + MatrixXd return_matrix2(const MatrixXd& value) except +
pair[VectorXd,MatrixXd] return_pair "return_pair"(const VectorXd& v, const MatrixXd& A) except + pair[VectorXd,MatrixXd] return_pair(const VectorXd& v, const MatrixXd& A) except +
pair[shared_ptr[CTest],shared_ptr[CTest]] return_ptrs "return_ptrs"(shared_ptr[CTest]& p1, shared_ptr[CTest]& p2) except + pair[shared_ptr[CTest],shared_ptr[CTest]] return_ptrs(shared_ptr[CTest]& p1, shared_ptr[CTest]& p2) except +
size_t return_size_t "return_size_t"(size_t value) except + size_t return_size_t(size_t value) except +
string return_string "return_string"(string value) except + string return_string(string value) except +
VectorXd return_vector1 "return_vector1"(const VectorXd& value) except + VectorXd return_vector1(const VectorXd& value) except +
VectorXd return_vector2 "return_vector2"(const VectorXd& value) except + VectorXd return_vector2(const VectorXd& value) except +
cdef class Test: cdef class Test:
cdef shared_ptr[CTest] shared_CTest_ cdef shared_ptr[CTest] CTest_
@staticmethod @staticmethod
cdef Test cyCreateFromShared(const shared_ptr[CTest]& other) cdef Test cyCreateFromShared(const shared_ptr[CTest]& other)
@ -89,7 +92,7 @@ cdef extern from "folder/path/to/Test.h":
pass pass
cdef class MyBase: cdef class MyBase:
cdef shared_ptr[CMyBase] shared_CMyBase_ cdef shared_ptr[CMyBase] CMyBase_
@staticmethod @staticmethod
cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other) cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other)
@ -98,24 +101,26 @@ cdef extern from "folder/path/to/Test.h":
cdef cppclass CMyTemplate "MyTemplate"[T](CMyBase): cdef cppclass CMyTemplate "MyTemplate"[T](CMyBase):
CMyTemplate() except + CMyTemplate() except +
void accept_T "accept_T"(const T& value) except + void accept_T(const T& value) except +
void accept_Tptr "accept_Tptr"(shared_ptr[T]& value) except + void accept_Tptr(shared_ptr[T]& value) except +
pair[T,shared_ptr[T]] create_MixedPtrs "create_MixedPtrs"() except + pair[T,shared_ptr[T]] create_MixedPtrs() except +
pair[shared_ptr[T],shared_ptr[T]] create_ptrs "create_ptrs"() except + pair[shared_ptr[T],shared_ptr[T]] create_ptrs() except +
T return_T "return_T"(shared_ptr[T]& value) except + T return_T(shared_ptr[T]& value) except +
shared_ptr[T] return_Tptr "return_Tptr"(shared_ptr[T]& value) except + shared_ptr[T] return_Tptr(shared_ptr[T]& value) except +
pair[shared_ptr[T],shared_ptr[T]] return_ptrs "return_ptrs"(shared_ptr[T]& p1, shared_ptr[T]& p2) except + pair[shared_ptr[T],shared_ptr[T]] return_ptrs(shared_ptr[T]& p1, shared_ptr[T]& p2) except +
ARG templatedMethod[ARG](const ARG& t) except + ARG templatedMethod[ARG](const ARG& t) except +
ctypedef CMyTemplate[CPoint2] CMyTemplatePoint2 ctypedef CMyTemplate[CPoint2] CMyTemplatePoint2
cdef class MyTemplatePoint2(MyBase): cdef class MyTemplatePoint2(MyBase):
cdef shared_ptr[CMyTemplatePoint2] shared_CMyTemplatePoint2_ cdef shared_ptr[CMyTemplatePoint2] CMyTemplatePoint2_
@staticmethod @staticmethod
cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other) cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other)
ctypedef CMyTemplate[MatrixXd] CMyTemplateMatrix ctypedef CMyTemplate[MatrixXd] CMyTemplateMatrix
cdef class MyTemplateMatrix(MyBase): cdef class MyTemplateMatrix(MyBase):
cdef shared_ptr[CMyTemplateMatrix] shared_CMyTemplateMatrix_ cdef shared_ptr[CMyTemplateMatrix] CMyTemplateMatrix_
@staticmethod @staticmethod
cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other) cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other)
@ -124,10 +129,11 @@ cdef extern from "folder/path/to/Test.h":
cdef cppclass CMyFactor "MyFactor"[POSE,POINT]: cdef cppclass CMyFactor "MyFactor"[POSE,POINT]:
CMyFactor(size_t key1, size_t key2, double measured, const shared_ptr[CnoiseModel_Base]& noiseModel) except + CMyFactor(size_t key1, size_t key2, double measured, const shared_ptr[CnoiseModel_Base]& noiseModel) except +
ctypedef CMyFactor[CPose2, MatrixXd] CMyFactorPosePoint2 ctypedef CMyFactor[CPose2, MatrixXd] CMyFactorPosePoint2
cdef class MyFactorPosePoint2: cdef class MyFactorPosePoint2:
cdef shared_ptr[CMyFactorPosePoint2] shared_CMyFactorPosePoint2_ cdef shared_ptr[CMyFactorPosePoint2] CMyFactorPosePoint2_
@staticmethod @staticmethod
cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other) cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other)

450
wrap/tests/expected-cython/geometry.pyx
View File

@ -4,6 +4,16 @@ cimport geometry
from geometry cimport shared_ptr from geometry cimport shared_ptr
from geometry cimport dynamic_pointer_cast from geometry cimport dynamic_pointer_cast
from geometry cimport make_shared from geometry cimport make_shared
# C helper function that copies all arguments into a positional list.
cdef list process_args(list keywords, tuple args, dict kwargs):
cdef str keyword
cdef int n = len(args), m = len(keywords)
cdef list params = list(args)
assert len(args)+len(kwargs) == m, 'Expected {} arguments'.format(m)
try:
return params + [kwargs[keyword] for keyword in keywords[n:]]
except:
raise ValueError('Epected arguments ' + str(keywords))
from gtsam_eigency.core cimport * from gtsam_eigency.core cimport *
from libcpp cimport bool from libcpp cimport bool
@ -14,104 +24,83 @@ from cython.operator cimport dereference as deref
cdef class Point2: cdef class Point2:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CPoint2_ = shared_ptr[CPoint2]() cdef list __params
self.CPoint2_ = shared_ptr[CPoint2]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.Point2_0(*args, **kwargs):
pass
elif self.Point2_1(*args, **kwargs):
pass
else:
raise TypeError('Point2 construction failed!')
def Point2_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CPoint2_ = shared_ptr[CPoint2](new CPoint2())
return True
def Point2_1(self, *args, **kwargs):
if len(args)+len(kwargs) !=2:
return False
__params = kwargs.copy()
__names = ['x', 'y']
for i in range(len(args)):
__params[__names[i]] = args[i]
try: try:
x = <double>(__params['x']) __params = process_args([], args, kwargs)
y = <double>(__params['y']) self.CPoint2_ = shared_ptr[CPoint2](new CPoint2())
except: except:
return False pass
self.shared_CPoint2_ = shared_ptr[CPoint2](new CPoint2(x, y)) try:
return True __params = process_args(['x', 'y'], args, kwargs)
x = <double>(__params[0])
y = <double>(__params[1])
self.CPoint2_ = shared_ptr[CPoint2](new CPoint2(x, y))
except:
pass
if (self.CPoint2_.use_count()==0):
raise TypeError('Point2 construction failed!')
@staticmethod @staticmethod
cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other): cdef Point2 cyCreateFromShared(const shared_ptr[CPoint2]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef Point2 ret = Point2(cyCreateFromShared=True) cdef Point2 return_value = Point2(cyCreateFromShared=True)
ret.shared_CPoint2_ = other return_value.CPoint2_ = other
return ret return return_value
def argChar(self, char a): def argChar(self, char a):
self.shared_CPoint2_.get().argChar(a) self.CPoint2_.get().argChar(a)
def argUChar(self, unsigned char a): def argUChar(self, unsigned char a):
self.shared_CPoint2_.get().argUChar(a) self.CPoint2_.get().argUChar(a)
def dim(self): def dim(self):
cdef int ret = self.shared_CPoint2_.get().dim() cdef int ret = self.CPoint2_.get().dim()
return ret return ret
def eigenArguments(self, np.ndarray v, np.ndarray m): def eigenArguments(self, np.ndarray v, np.ndarray m):
v = v.astype(float, order='F', copy=False) v = v.astype(float, order='F', copy=False)
m = m.astype(float, order='F', copy=False) m = m.astype(float, order='F', copy=False)
self.shared_CPoint2_.get().eigenArguments(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](m))) self.CPoint2_.get().eigenArguments(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](m)))
def returnChar(self): def returnChar(self):
cdef char ret = self.shared_CPoint2_.get().returnChar() cdef char ret = self.CPoint2_.get().returnChar()
return ret return ret
def vectorConfusion(self): def vectorConfusion(self):
cdef shared_ptr[CVectorNotEigen] ret = make_shared[CVectorNotEigen](self.shared_CPoint2_.get().vectorConfusion()) cdef shared_ptr[CVectorNotEigen] ret = make_shared[CVectorNotEigen](self.CPoint2_.get().vectorConfusion())
return VectorNotEigen.cyCreateFromShared(ret) return VectorNotEigen.cyCreateFromShared(ret)
def x(self): def x(self):
cdef double ret = self.shared_CPoint2_.get().x() cdef double ret = self.CPoint2_.get().x()
return ret return ret
def y(self): def y(self):
cdef double ret = self.shared_CPoint2_.get().y() cdef double ret = self.CPoint2_.get().y()
return ret return ret
cdef class Point3: cdef class Point3:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CPoint3_ = shared_ptr[CPoint3]() cdef list __params
self.CPoint3_ = shared_ptr[CPoint3]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.Point3_0(*args, **kwargs):
pass
else:
raise TypeError('Point3 construction failed!')
def Point3_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=3:
return False
__params = kwargs.copy()
__names = ['x', 'y', 'z']
for i in range(len(args)):
__params[__names[i]] = args[i]
try: try:
x = <double>(__params['x']) __params = process_args(['x', 'y', 'z'], args, kwargs)
y = <double>(__params['y']) x = <double>(__params[0])
z = <double>(__params['z']) y = <double>(__params[1])
z = <double>(__params[2])
self.CPoint3_ = shared_ptr[CPoint3](new CPoint3(x, y, z))
except: except:
return False pass
self.shared_CPoint3_ = shared_ptr[CPoint3](new CPoint3(x, y, z)) if (self.CPoint3_.use_count()==0):
return True raise TypeError('Point3 construction failed!')
@staticmethod @staticmethod
cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other): cdef Point3 cyCreateFromShared(const shared_ptr[CPoint3]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef Point3 ret = Point3(cyCreateFromShared=True) cdef Point3 return_value = Point3(cyCreateFromShared=True)
ret.shared_CPoint3_ = other return_value.CPoint3_ = other
return ret return return_value
@staticmethod @staticmethod
def StaticFunctionRet(double z): def StaticFunctionRet(double z):
return Point3.cyCreateFromShared(make_shared[CPoint3](CPoint3.StaticFunctionRet(z))) return Point3.cyCreateFromShared(make_shared[CPoint3](CPoint3.StaticFunctionRet(z)))
@ -122,366 +111,337 @@ cdef class Point3:
def norm(self): def norm(self):
cdef double ret = self.shared_CPoint3_.get().norm() cdef double ret = self.CPoint3_.get().norm()
return ret return ret
cdef class Test: cdef class Test:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CTest_ = shared_ptr[CTest]() cdef list __params
self.CTest_ = shared_ptr[CTest]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.Test_0(*args, **kwargs):
pass
elif self.Test_1(*args, **kwargs):
pass
else:
raise TypeError('Test construction failed!')
def Test_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CTest_ = shared_ptr[CTest](new CTest())
return True
def Test_1(self, *args, **kwargs):
if len(args)+len(kwargs) !=2:
return False
__params = kwargs.copy()
__names = ['a', 'b']
for i in range(len(args)):
__params[__names[i]] = args[i]
if not isinstance(__params[__names[1]], np.ndarray) or not __params[__names[1]].ndim == 2:
return False
try: try:
a = <double>(__params['a']) __params = process_args([], args, kwargs)
b = <np.ndarray>(__params['b']) self.CTest_ = shared_ptr[CTest](new CTest())
except: except:
return False pass
try:
__params = process_args(['a', 'b'], args, kwargs)
a = <double>(__params[0])
b = <np.ndarray>(__params[1])
assert isinstance(b, np.ndarray) and b.ndim == 2
b = b.astype(float, order='F', copy=False) b = b.astype(float, order='F', copy=False)
self.shared_CTest_ = shared_ptr[CTest](new CTest(a, <MatrixXd>(Map[MatrixXd](b)))) self.CTest_ = shared_ptr[CTest](new CTest(a, <MatrixXd>(Map[MatrixXd](b))))
return True except:
pass
if (self.CTest_.use_count()==0):
raise TypeError('Test construction failed!')
@staticmethod @staticmethod
cdef Test cyCreateFromShared(const shared_ptr[CTest]& other): cdef Test cyCreateFromShared(const shared_ptr[CTest]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef Test ret = Test(cyCreateFromShared=True) cdef Test return_value = Test(cyCreateFromShared=True)
ret.shared_CTest_ = other return_value.CTest_ = other
return ret return return_value
def arg_EigenConstRef(self, np.ndarray value): def arg_EigenConstRef(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
self.shared_CTest_.get().arg_EigenConstRef(<MatrixXd>(Map[MatrixXd](value))) self.CTest_.get().arg_EigenConstRef(<MatrixXd>(Map[MatrixXd](value)))
def create_MixedPtrs(self): def create_MixedPtrs(self):
cdef pair [CTest,shared_ptr[CTest]] ret = self.shared_CTest_.get().create_MixedPtrs() cdef pair [CTest,shared_ptr[CTest]] ret = self.CTest_.get().create_MixedPtrs()
return (Test.cyCreateFromShared(make_shared[CTest](ret.first)),Test.cyCreateFromShared(ret.second)) return (Test.cyCreateFromShared(make_shared[CTest](ret.first)),Test.cyCreateFromShared(ret.second))
def create_ptrs(self): def create_ptrs(self):
cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.shared_CTest_.get().create_ptrs() cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.CTest_.get().create_ptrs()
return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second)) return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
def __str__(self): def __str__(self):
strBuf = RedirectCout() strBuf = RedirectCout()
self.print_('') self.print_('')
return strBuf.str() return strBuf.str()
def print_(self): def print_(self):
self.shared_CTest_.get().print_() self.CTest_.get().print_()
def return_Point2Ptr(self, bool value): def return_Point2Ptr(self, bool value):
cdef shared_ptr[CPoint2] ret = self.shared_CTest_.get().return_Point2Ptr(value) cdef shared_ptr[CPoint2] ret = self.CTest_.get().return_Point2Ptr(value)
return Point2.cyCreateFromShared(ret) return Point2.cyCreateFromShared(ret)
def return_Test(self, Test value): def return_Test(self, Test value):
cdef shared_ptr[CTest] ret = make_shared[CTest](self.shared_CTest_.get().return_Test(value.shared_CTest_)) cdef shared_ptr[CTest] ret = make_shared[CTest](self.CTest_.get().return_Test(value.CTest_))
return Test.cyCreateFromShared(ret) return Test.cyCreateFromShared(ret)
def return_TestPtr(self, Test value): def return_TestPtr(self, Test value):
cdef shared_ptr[CTest] ret = self.shared_CTest_.get().return_TestPtr(value.shared_CTest_) cdef shared_ptr[CTest] ret = self.CTest_.get().return_TestPtr(value.CTest_)
return Test.cyCreateFromShared(ret) return Test.cyCreateFromShared(ret)
def return_bool(self, bool value): def return_bool(self, bool value):
cdef bool ret = self.shared_CTest_.get().return_bool(value) cdef bool ret = self.CTest_.get().return_bool(value)
return ret return ret
def return_double(self, double value): def return_double(self, double value):
cdef double ret = self.shared_CTest_.get().return_double(value) cdef double ret = self.CTest_.get().return_double(value)
return ret return ret
def return_field(self, Test t): def return_field(self, Test t):
cdef bool ret = self.shared_CTest_.get().return_field(deref(t.shared_CTest_)) cdef bool ret = self.CTest_.get().return_field(deref(t.CTest_))
return ret return ret
def return_int(self, int value): def return_int(self, int value):
cdef int ret = self.shared_CTest_.get().return_int(value) cdef int ret = self.CTest_.get().return_int(value)
return ret return ret
def return_matrix1(self, np.ndarray value): def return_matrix1(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef MatrixXd ret = self.shared_CTest_.get().return_matrix1(<MatrixXd>(Map[MatrixXd](value))) cdef MatrixXd ret = self.CTest_.get().return_matrix1(<MatrixXd>(Map[MatrixXd](value)))
return ndarray_copy(ret) return ndarray_copy(ret)
def return_matrix2(self, np.ndarray value): def return_matrix2(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef MatrixXd ret = self.shared_CTest_.get().return_matrix2(<MatrixXd>(Map[MatrixXd](value))) cdef MatrixXd ret = self.CTest_.get().return_matrix2(<MatrixXd>(Map[MatrixXd](value)))
return ndarray_copy(ret) return ndarray_copy(ret)
def return_pair(self, np.ndarray v, np.ndarray A): def return_pair(self, np.ndarray v, np.ndarray A):
v = v.astype(float, order='F', copy=False) v = v.astype(float, order='F', copy=False)
A = A.astype(float, order='F', copy=False) A = A.astype(float, order='F', copy=False)
cdef pair [VectorXd,MatrixXd] ret = self.shared_CTest_.get().return_pair(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](A))) cdef pair [VectorXd,MatrixXd] ret = self.CTest_.get().return_pair(<VectorXd>(Map[VectorXd](v)), <MatrixXd>(Map[MatrixXd](A)))
return (ndarray_copy(ret.first).squeeze(),ndarray_copy(ret.second)) return (ndarray_copy(ret.first).squeeze(),ndarray_copy(ret.second))
def return_ptrs(self, Test p1, Test p2): def return_ptrs(self, Test p1, Test p2):
cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.shared_CTest_.get().return_ptrs(p1.shared_CTest_, p2.shared_CTest_) cdef pair [shared_ptr[CTest],shared_ptr[CTest]] ret = self.CTest_.get().return_ptrs(p1.CTest_, p2.CTest_)
return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second)) return (Test.cyCreateFromShared(ret.first),Test.cyCreateFromShared(ret.second))
def return_size_t(self, size_t value): def return_size_t(self, size_t value):
cdef size_t ret = self.shared_CTest_.get().return_size_t(value) cdef size_t ret = self.CTest_.get().return_size_t(value)
return ret return ret
def return_string(self, string value): def return_string(self, string value):
cdef string ret = self.shared_CTest_.get().return_string(value) cdef string ret = self.CTest_.get().return_string(value)
return ret return ret
def return_vector1(self, np.ndarray value): def return_vector1(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef VectorXd ret = self.shared_CTest_.get().return_vector1(<VectorXd>(Map[VectorXd](value))) cdef VectorXd ret = self.CTest_.get().return_vector1(<VectorXd>(Map[VectorXd](value)))
return ndarray_copy(ret).squeeze() return ndarray_copy(ret).squeeze()
def return_vector2(self, np.ndarray value): def return_vector2(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef VectorXd ret = self.shared_CTest_.get().return_vector2(<VectorXd>(Map[VectorXd](value))) cdef VectorXd ret = self.CTest_.get().return_vector2(<VectorXd>(Map[VectorXd](value)))
return ndarray_copy(ret).squeeze() return ndarray_copy(ret).squeeze()
cdef class MyBase: cdef class MyBase:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyBase_ = shared_ptr[CMyBase]() cdef list __params
self.CMyBase_ = shared_ptr[CMyBase]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
else: if (self.CMyBase_.use_count()==0):
raise TypeError('MyBase construction failed!') raise TypeError('MyBase construction failed!')
@staticmethod @staticmethod
cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other): cdef MyBase cyCreateFromShared(const shared_ptr[CMyBase]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyBase ret = MyBase(cyCreateFromShared=True) cdef MyBase return_value = MyBase(cyCreateFromShared=True)
ret.shared_CMyBase_ = other return_value.CMyBase_ = other
return ret return return_value
cdef class MyTemplatePoint2(MyBase): cdef class MyTemplatePoint2(MyBase):
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2]() cdef list __params
self.CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.MyTemplatePoint2_0(*args, **kwargs): try:
__params = process_args([], args, kwargs)
self.CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2](new CMyTemplatePoint2())
except:
pass pass
else: if (self.CMyTemplatePoint2_.use_count()==0):
raise TypeError('MyTemplatePoint2 construction failed!') raise TypeError('MyTemplatePoint2 construction failed!')
self.shared_CMyBase_ = <shared_ptr[CMyBase]>(self.shared_CMyTemplatePoint2_) self.CMyBase_ = <shared_ptr[CMyBase]>(self.CMyTemplatePoint2_)
def MyTemplatePoint2_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CMyTemplatePoint2_ = shared_ptr[CMyTemplatePoint2](new CMyTemplatePoint2())
return True
@staticmethod @staticmethod
cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other): cdef MyTemplatePoint2 cyCreateFromShared(const shared_ptr[CMyTemplatePoint2]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyTemplatePoint2 ret = MyTemplatePoint2(cyCreateFromShared=True) cdef MyTemplatePoint2 return_value = MyTemplatePoint2(cyCreateFromShared=True)
ret.shared_CMyTemplatePoint2_ = other return_value.CMyTemplatePoint2_ = other
ret.shared_CMyBase_ = <shared_ptr[CMyBase]>(other) return_value.CMyBase_ = <shared_ptr[CMyBase]>(other)
return ret return return_value
def accept_T(self, Point2 value): def accept_T(self, Point2 value):
self.shared_CMyTemplatePoint2_.get().accept_T(deref(value.shared_CPoint2_)) self.CMyTemplatePoint2_.get().accept_T(deref(value.CPoint2_))
def accept_Tptr(self, Point2 value): def accept_Tptr(self, Point2 value):
self.shared_CMyTemplatePoint2_.get().accept_Tptr(value.shared_CPoint2_) self.CMyTemplatePoint2_.get().accept_Tptr(value.CPoint2_)
def create_MixedPtrs(self): def create_MixedPtrs(self):
cdef pair [CPoint2,shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().create_MixedPtrs() cdef pair [CPoint2,shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().create_MixedPtrs()
return (Point2.cyCreateFromShared(make_shared[CPoint2](ret.first)),Point2.cyCreateFromShared(ret.second)) return (Point2.cyCreateFromShared(make_shared[CPoint2](ret.first)),Point2.cyCreateFromShared(ret.second))
def create_ptrs(self): def create_ptrs(self):
cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().create_ptrs() cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().create_ptrs()
return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second)) return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
def return_T(self, Point2 value): def return_T(self, Point2 value):
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplatePoint2_.get().return_T(value.shared_CPoint2_)) cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplatePoint2_.get().return_T(value.CPoint2_))
return Point2.cyCreateFromShared(ret) return Point2.cyCreateFromShared(ret)
def return_Tptr(self, Point2 value): def return_Tptr(self, Point2 value):
cdef shared_ptr[CPoint2] ret = self.shared_CMyTemplatePoint2_.get().return_Tptr(value.shared_CPoint2_) cdef shared_ptr[CPoint2] ret = self.CMyTemplatePoint2_.get().return_Tptr(value.CPoint2_)
return Point2.cyCreateFromShared(ret) return Point2.cyCreateFromShared(ret)
def return_ptrs(self, Point2 p1, Point2 p2): def return_ptrs(self, Point2 p1, Point2 p2):
cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.shared_CMyTemplatePoint2_.get().return_ptrs(p1.shared_CPoint2_, p2.shared_CPoint2_) cdef pair [shared_ptr[CPoint2],shared_ptr[CPoint2]] ret = self.CMyTemplatePoint2_.get().return_ptrs(p1.CPoint2_, p2.CPoint2_)
return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second)) return (Point2.cyCreateFromShared(ret.first),Point2.cyCreateFromShared(ret.second))
def templatedMethodMatrix(self, np.ndarray t): def templatedMethodMatrix(self, np.ndarray t):
t = t.astype(float, order='F', copy=False) t = t.astype(float, order='F', copy=False)
cdef MatrixXd ret = self.shared_CMyTemplatePoint2_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t))) cdef MatrixXd ret = self.CMyTemplatePoint2_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
return ndarray_copy(ret) return ndarray_copy(ret)
def templatedMethodPoint2(self, Point2 t): def templatedMethodPoint2(self, Point2 t):
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplatePoint2_.get().templatedMethod[CPoint2](deref(t.shared_CPoint2_))) cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplatePoint2_.get().templatedMethod[CPoint2](deref(t.CPoint2_)))
return Point2.cyCreateFromShared(ret) return Point2.cyCreateFromShared(ret)
def templatedMethodPoint3(self, Point3 t): def templatedMethodPoint3(self, Point3 t):
cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.shared_CMyTemplatePoint2_.get().templatedMethod[CPoint3](deref(t.shared_CPoint3_))) cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.CMyTemplatePoint2_.get().templatedMethod[CPoint3](deref(t.CPoint3_)))
return Point3.cyCreateFromShared(ret) return Point3.cyCreateFromShared(ret)
def templatedMethodVector(self, np.ndarray t): def templatedMethodVector(self, np.ndarray t):
t = t.astype(float, order='F', copy=False) t = t.astype(float, order='F', copy=False)
cdef VectorXd ret = self.shared_CMyTemplatePoint2_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t))) cdef VectorXd ret = self.CMyTemplatePoint2_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
return ndarray_copy(ret).squeeze() return ndarray_copy(ret).squeeze()
def dynamic_cast_MyTemplatePoint2_MyBase(MyBase parent): def dynamic_cast_MyTemplatePoint2_MyBase(MyBase parent):
try: try:
return MyTemplatePoint2.cyCreateFromShared(<shared_ptr[CMyTemplatePoint2]>dynamic_pointer_cast[CMyTemplatePoint2,CMyBase](parent.shared_CMyBase_)) return MyTemplatePoint2.cyCreateFromShared(<shared_ptr[CMyTemplatePoint2]>dynamic_pointer_cast[CMyTemplatePoint2,CMyBase](parent.CMyBase_))
except: except:
raise TypeError('dynamic cast failed!') raise TypeError('dynamic cast failed!')
cdef class MyTemplateMatrix(MyBase): cdef class MyTemplateMatrix(MyBase):
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix]() cdef list __params
self.CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.MyTemplateMatrix_0(*args, **kwargs): try:
__params = process_args([], args, kwargs)
self.CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix](new CMyTemplateMatrix())
except:
pass pass
else: if (self.CMyTemplateMatrix_.use_count()==0):
raise TypeError('MyTemplateMatrix construction failed!') raise TypeError('MyTemplateMatrix construction failed!')
self.shared_CMyBase_ = <shared_ptr[CMyBase]>(self.shared_CMyTemplateMatrix_) self.CMyBase_ = <shared_ptr[CMyBase]>(self.CMyTemplateMatrix_)
def MyTemplateMatrix_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CMyTemplateMatrix_ = shared_ptr[CMyTemplateMatrix](new CMyTemplateMatrix())
return True
@staticmethod @staticmethod
cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other): cdef MyTemplateMatrix cyCreateFromShared(const shared_ptr[CMyTemplateMatrix]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyTemplateMatrix ret = MyTemplateMatrix(cyCreateFromShared=True) cdef MyTemplateMatrix return_value = MyTemplateMatrix(cyCreateFromShared=True)
ret.shared_CMyTemplateMatrix_ = other return_value.CMyTemplateMatrix_ = other
ret.shared_CMyBase_ = <shared_ptr[CMyBase]>(other) return_value.CMyBase_ = <shared_ptr[CMyBase]>(other)
return ret return return_value
def accept_T(self, np.ndarray value): def accept_T(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
self.shared_CMyTemplateMatrix_.get().accept_T(<MatrixXd>(Map[MatrixXd](value))) self.CMyTemplateMatrix_.get().accept_T(<MatrixXd>(Map[MatrixXd](value)))
def accept_Tptr(self, np.ndarray value): def accept_Tptr(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
self.shared_CMyTemplateMatrix_.get().accept_Tptr(<MatrixXd>(Map[MatrixXd](value))) self.CMyTemplateMatrix_.get().accept_Tptr(<MatrixXd>(Map[MatrixXd](value)))
def create_MixedPtrs(self): def create_MixedPtrs(self):
cdef pair [MatrixXd,shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().create_MixedPtrs() cdef pair [MatrixXd,shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().create_MixedPtrs()
return (ndarray_copy(ret.first),ndarray_copy(ret.second)) return (ndarray_copy(ret.first),ndarray_copy(ret.second))
def create_ptrs(self): def create_ptrs(self):
cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().create_ptrs() cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().create_ptrs()
return (ndarray_copy(ret.first),ndarray_copy(ret.second)) return (ndarray_copy(ret.first),ndarray_copy(ret.second))
def return_T(self, np.ndarray value): def return_T(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef MatrixXd ret = self.shared_CMyTemplateMatrix_.get().return_T(<MatrixXd>(Map[MatrixXd](value))) cdef MatrixXd ret = self.CMyTemplateMatrix_.get().return_T(<MatrixXd>(Map[MatrixXd](value)))
return ndarray_copy(ret) return ndarray_copy(ret)
def return_Tptr(self, np.ndarray value): def return_Tptr(self, np.ndarray value):
value = value.astype(float, order='F', copy=False) value = value.astype(float, order='F', copy=False)
cdef shared_ptr[MatrixXd] ret = self.shared_CMyTemplateMatrix_.get().return_Tptr(<MatrixXd>(Map[MatrixXd](value))) cdef shared_ptr[MatrixXd] ret = self.CMyTemplateMatrix_.get().return_Tptr(<MatrixXd>(Map[MatrixXd](value)))
return ndarray_copy(ret) return ndarray_copy(ret)
def return_ptrs(self, np.ndarray p1, np.ndarray p2): def return_ptrs(self, np.ndarray p1, np.ndarray p2):
p1 = p1.astype(float, order='F', copy=False) p1 = p1.astype(float, order='F', copy=False)
p2 = p2.astype(float, order='F', copy=False) p2 = p2.astype(float, order='F', copy=False)
cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.shared_CMyTemplateMatrix_.get().return_ptrs(<MatrixXd>(Map[MatrixXd](p1)), <MatrixXd>(Map[MatrixXd](p2))) cdef pair [shared_ptr[MatrixXd],shared_ptr[MatrixXd]] ret = self.CMyTemplateMatrix_.get().return_ptrs(<MatrixXd>(Map[MatrixXd](p1)), <MatrixXd>(Map[MatrixXd](p2)))
return (ndarray_copy(ret.first),ndarray_copy(ret.second)) return (ndarray_copy(ret.first),ndarray_copy(ret.second))
def templatedMethodMatrix(self, np.ndarray t): def templatedMethodMatrix(self, np.ndarray t):
t = t.astype(float, order='F', copy=False) t = t.astype(float, order='F', copy=False)
cdef MatrixXd ret = self.shared_CMyTemplateMatrix_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t))) cdef MatrixXd ret = self.CMyTemplateMatrix_.get().templatedMethod[MatrixXd](<MatrixXd>(Map[MatrixXd](t)))
return ndarray_copy(ret) return ndarray_copy(ret)
def templatedMethodPoint2(self, Point2 t): def templatedMethodPoint2(self, Point2 t):
cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.shared_CMyTemplateMatrix_.get().templatedMethod[CPoint2](deref(t.shared_CPoint2_))) cdef shared_ptr[CPoint2] ret = make_shared[CPoint2](self.CMyTemplateMatrix_.get().templatedMethod[CPoint2](deref(t.CPoint2_)))
return Point2.cyCreateFromShared(ret) return Point2.cyCreateFromShared(ret)
def templatedMethodPoint3(self, Point3 t): def templatedMethodPoint3(self, Point3 t):
cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.shared_CMyTemplateMatrix_.get().templatedMethod[CPoint3](deref(t.shared_CPoint3_))) cdef shared_ptr[CPoint3] ret = make_shared[CPoint3](self.CMyTemplateMatrix_.get().templatedMethod[CPoint3](deref(t.CPoint3_)))
return Point3.cyCreateFromShared(ret) return Point3.cyCreateFromShared(ret)
def templatedMethodVector(self, np.ndarray t): def templatedMethodVector(self, np.ndarray t):
t = t.astype(float, order='F', copy=False) t = t.astype(float, order='F', copy=False)
cdef VectorXd ret = self.shared_CMyTemplateMatrix_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t))) cdef VectorXd ret = self.CMyTemplateMatrix_.get().templatedMethod[VectorXd](<VectorXd>(Map[VectorXd](t)))
return ndarray_copy(ret).squeeze() return ndarray_copy(ret).squeeze()
def dynamic_cast_MyTemplateMatrix_MyBase(MyBase parent): def dynamic_cast_MyTemplateMatrix_MyBase(MyBase parent):
try: try:
return MyTemplateMatrix.cyCreateFromShared(<shared_ptr[CMyTemplateMatrix]>dynamic_pointer_cast[CMyTemplateMatrix,CMyBase](parent.shared_CMyBase_)) return MyTemplateMatrix.cyCreateFromShared(<shared_ptr[CMyTemplateMatrix]>dynamic_pointer_cast[CMyTemplateMatrix,CMyBase](parent.CMyBase_))
except: except:
raise TypeError('dynamic cast failed!') raise TypeError('dynamic cast failed!')
cdef class MyVector3: cdef class MyVector3:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyVector3_ = shared_ptr[CMyVector3]() cdef list __params
self.CMyVector3_ = shared_ptr[CMyVector3]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.MyVector3_0(*args, **kwargs): try:
__params = process_args([], args, kwargs)
self.CMyVector3_ = shared_ptr[CMyVector3](new CMyVector3())
except:
pass pass
else: if (self.CMyVector3_.use_count()==0):
raise TypeError('MyVector3 construction failed!') raise TypeError('MyVector3 construction failed!')
def MyVector3_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CMyVector3_ = shared_ptr[CMyVector3](new CMyVector3())
return True
@staticmethod @staticmethod
cdef MyVector3 cyCreateFromShared(const shared_ptr[CMyVector3]& other): cdef MyVector3 cyCreateFromShared(const shared_ptr[CMyVector3]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyVector3 ret = MyVector3(cyCreateFromShared=True) cdef MyVector3 return_value = MyVector3(cyCreateFromShared=True)
ret.shared_CMyVector3_ = other return_value.CMyVector3_ = other
return ret return return_value
cdef class MyVector12: cdef class MyVector12:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyVector12_ = shared_ptr[CMyVector12]() cdef list __params
self.CMyVector12_ = shared_ptr[CMyVector12]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.MyVector12_0(*args, **kwargs): try:
__params = process_args([], args, kwargs)
self.CMyVector12_ = shared_ptr[CMyVector12](new CMyVector12())
except:
pass pass
else: if (self.CMyVector12_.use_count()==0):
raise TypeError('MyVector12 construction failed!') raise TypeError('MyVector12 construction failed!')
def MyVector12_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=0:
return False
self.shared_CMyVector12_ = shared_ptr[CMyVector12](new CMyVector12())
return True
@staticmethod @staticmethod
cdef MyVector12 cyCreateFromShared(const shared_ptr[CMyVector12]& other): cdef MyVector12 cyCreateFromShared(const shared_ptr[CMyVector12]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyVector12 ret = MyVector12(cyCreateFromShared=True) cdef MyVector12 return_value = MyVector12(cyCreateFromShared=True)
ret.shared_CMyVector12_ = other return_value.CMyVector12_ = other
return ret return return_value
cdef class MyFactorPosePoint2: cdef class MyFactorPosePoint2:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
self.shared_CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2]() cdef list __params
self.CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2]()
if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'): if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):
return return
elif self.MyFactorPosePoint2_0(*args, **kwargs):
pass
else:
raise TypeError('MyFactorPosePoint2 construction failed!')
def MyFactorPosePoint2_0(self, *args, **kwargs):
if len(args)+len(kwargs) !=4:
return False
__params = kwargs.copy()
__names = ['key1', 'key2', 'measured', 'noiseModel']
for i in range(len(args)):
__params[__names[i]] = args[i]
if not isinstance(__params[__names[3]], noiseModel_Base):
return False
try: try:
key1 = <size_t>(__params['key1']) __params = process_args(['key1', 'key2', 'measured', 'noiseModel'], args, kwargs)
key2 = <size_t>(__params['key2']) key1 = <size_t>(__params[0])
measured = <double>(__params['measured']) key2 = <size_t>(__params[1])
noiseModel = <noiseModel_Base>(__params['noiseModel']) measured = <double>(__params[2])
noiseModel = <noiseModel_Base>(__params[3])
assert isinstance(noiseModel, noiseModel_Base)
self.CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2](new CMyFactorPosePoint2(key1, key2, measured, noiseModel.CnoiseModel_Base_))
except: except:
return False pass
self.shared_CMyFactorPosePoint2_ = shared_ptr[CMyFactorPosePoint2](new CMyFactorPosePoint2(key1, key2, measured, noiseModel.shared_CnoiseModel_Base_)) if (self.CMyFactorPosePoint2_.use_count()==0):
return True raise TypeError('MyFactorPosePoint2 construction failed!')
@staticmethod @staticmethod
cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other): cdef MyFactorPosePoint2 cyCreateFromShared(const shared_ptr[CMyFactorPosePoint2]& other):
if other.get() == NULL: if other.get() == NULL:
raise RuntimeError('Cannot create object from a nullptr!') raise RuntimeError('Cannot create object from a nullptr!')
cdef MyFactorPosePoint2 ret = MyFactorPosePoint2(cyCreateFromShared=True) cdef MyFactorPosePoint2 return_value = MyFactorPosePoint2(cyCreateFromShared=True)
ret.shared_CMyFactorPosePoint2_ = other return_value.CMyFactorPosePoint2_ = other
return ret return return_value
@ -489,37 +449,33 @@ def aGlobalFunction():
cdef VectorXd ret = pxd_aGlobalFunction() cdef VectorXd ret = pxd_aGlobalFunction()
return ndarray_copy(ret).squeeze() return ndarray_copy(ret).squeeze()
def overloadedGlobalFunction(*args, **kwargs): def overloadedGlobalFunction(*args, **kwargs):
success, results = overloadedGlobalFunction_0(*args, **kwargs) success, results = overloadedGlobalFunction_0(args, kwargs)
if success: if success:
return results return results
success, results = overloadedGlobalFunction_1(*args, **kwargs) success, results = overloadedGlobalFunction_1(args, kwargs)
if success: if success:
return results return results
raise TypeError('Could not find the correct overload') raise TypeError('Could not find the correct overload')
def overloadedGlobalFunction_0(*args, **kwargs): def overloadedGlobalFunction_0(args, kwargs):
if len(args)+len(kwargs) !=1: cdef list __params
return False, None cdef VectorXd return_value
__params = kwargs.copy()
__names = ['a']
for i in range(len(args)):
__params[__names[i]] = args[i]
try: try:
a = <int>(__params['a']) __params = process_args(['a'], args, kwargs)
a = <int>(__params[0])
return_value = pxd_overloadedGlobalFunction(a)
return True, ndarray_copy(return_value).squeeze()
except: except:
return False, None return False, None
cdef VectorXd ret = pxd_overloadedGlobalFunction(a)
return True, ndarray_copy(ret).squeeze() def overloadedGlobalFunction_1(args, kwargs):
def overloadedGlobalFunction_1(*args, **kwargs): cdef list __params
if len(args)+len(kwargs) !=2: cdef VectorXd return_value
return False, None
__params = kwargs.copy()
__names = ['a', 'b']
for i in range(len(args)):
__params[__names[i]] = args[i]
try: try:
a = <int>(__params['a']) __params = process_args(['a', 'b'], args, kwargs)
b = <double>(__params['b']) a = <int>(__params[0])
b = <double>(__params[1])
return_value = pxd_overloadedGlobalFunction(a, b)
return True, ndarray_copy(return_value).squeeze()
except: except:
return False, None return False, None
cdef VectorXd ret = pxd_overloadedGlobalFunction(a, b)
return True, ndarray_copy(ret).squeeze()