Merging 'master' into 'wrap'

wrap/DOCS.md

@@ -133,9 +133,10 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
       template<T, U> class Class2 { ... };
       typedef Class2<Type1, Type2> MyInstantiatedClass;
       ```
-    - Templates can also be defined for methods, properties and static methods.
+    - Templates can also be defined for constructors, methods, properties and static methods.
     - In the class definition, appearances of the template argument(s) will be replaced with their
       instantiated types, e.g. `void setValue(const T& value);`.
+    - Values scoped within templates are supported. E.g. one can use the form `T::Value` where T is a template, as an argument to a method.
     - To refer to the instantiation of the template class itself, use `This`, i.e. `static This Create();`.
     - To create new instantiations in other modules, you must copy-and-paste the whole class definition
       into the new module, but use only your new instantiation types.

wrap/gtwrap/template_instantiator.py

@@ -9,6 +9,17 @@ from typing import Any, Iterable, List, Sequence
 import gtwrap.interface_parser as parser
 
 
+def is_scoped_template(template_typenames, str_arg_typename):
+    """
+    Check if the template given by `str_arg_typename` is a scoped template,
+    and if so, return what template and index matches the scoped template correctly.
+    """
+    for idx, template in enumerate(template_typenames):
+        if template in str_arg_typename.split("::"):
+            return template, idx
+    return False, -1
+
+
 def instantiate_type(ctype: parser.Type,
                      template_typenames: List[str],
                      instantiations: List[parser.Typename],
@@ -41,9 +52,30 @@ def instantiate_type(ctype: parser.Type,
 
     str_arg_typename = str(ctype.typename)
 
+    # Check if template is a scoped template e.g. T::Value where T is the template
+    scoped_template, scoped_idx = is_scoped_template(template_typenames,
+                                                     str_arg_typename)
+
     # Instantiate templates which have enumerated instantiations in the template.
     # E.g. `template<T={double}>`.
-    if str_arg_typename in template_typenames:
+
+    # Instantiate scoped templates, e.g. T::Value.
+    if scoped_template:
+        # Create a copy of the instantiation so we can modify it.
+        instantiation = deepcopy(instantiations[scoped_idx])
+        # Replace the part of the template with the instantiation
+        instantiation.name = str_arg_typename.replace(scoped_template,
+                                                      instantiation.name)
+        return parser.Type(
+            typename=instantiation,
+            is_const=ctype.is_const,
+            is_shared_ptr=ctype.is_shared_ptr,
+            is_ptr=ctype.is_ptr,
+            is_ref=ctype.is_ref,
+            is_basic=ctype.is_basic,
+        )
+    # Check for exact template match.
+    elif str_arg_typename in template_typenames:
         idx = template_typenames.index(str_arg_typename)
         return parser.Type(
             typename=instantiations[idx],
@@ -418,6 +450,7 @@ class InstantiatedClass(parser.Class):
                     ctor,
                     typenames=typenames,
                     instantiations=self.instantiations)
+
         return instantiated_ctors
 
     def instantiate_static_methods(self, typenames):

wrap/tests/expected/matlab/template_wrapper.cpp

@@ -0,0 +1,225 @@
+#include <gtwrap/matlab.h>
+#include <map>
+
+#include <boost/archive/text_iarchive.hpp>
+#include <boost/archive/text_oarchive.hpp>
+#include <boost/serialization/export.hpp>
+
+
+
+typedef ScopedTemplate<Result> ScopedTemplateResult;
+
+typedef std::set<boost::shared_ptr<TemplatedConstructor>*> Collector_TemplatedConstructor;
+static Collector_TemplatedConstructor collector_TemplatedConstructor;
+typedef std::set<boost::shared_ptr<ScopedTemplateResult>*> Collector_ScopedTemplateResult;
+static Collector_ScopedTemplateResult collector_ScopedTemplateResult;
+
+
+void _deleteAllObjects()
+{
+  mstream mout;
+  std::streambuf *outbuf = std::cout.rdbuf(&mout);
+
+  bool anyDeleted = false;
+  { for(Collector_TemplatedConstructor::iterator iter = collector_TemplatedConstructor.begin();
+      iter != collector_TemplatedConstructor.end(); ) {
+    delete *iter;
+    collector_TemplatedConstructor.erase(iter++);
+    anyDeleted = true;
+  } }
+  { for(Collector_ScopedTemplateResult::iterator iter = collector_ScopedTemplateResult.begin();
+      iter != collector_ScopedTemplateResult.end(); ) {
+    delete *iter;
+    collector_ScopedTemplateResult.erase(iter++);
+    anyDeleted = true;
+  } }
+
+  if(anyDeleted)
+    cout <<
+      "WARNING:  Wrap modules with variables in the workspace have been reloaded due to\n"
+      "calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
+      "module, so that your recompiled module is used instead of the old one." << endl;
+  std::cout.rdbuf(outbuf);
+}
+
+void _template_RTTIRegister() {
+  const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_template_rttiRegistry_created");
+  if(!alreadyCreated) {
+    std::map<std::string, std::string> types;
+
+
+
+    mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
+    if(!registry)
+      registry = mxCreateStructMatrix(1, 1, 0, NULL);
+    typedef std::pair<std::string, std::string> StringPair;
+    for(const StringPair& rtti_matlab: types) {
+      int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
+      if(fieldId < 0) {
+        mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
+      }
+      mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
+      mxSetFieldByNumber(registry, 0, fieldId, matlabName);
+    }
+    if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) {
+      mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
+    }
+    mxDestroyArray(registry);
+
+    mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
+    if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
+      mexErrMsgTxt("gtsam wrap:  Error indexing RTTI types, inheritance will not work correctly");
+    }
+    mxDestroyArray(newAlreadyCreated);
+  }
+}
+
+void TemplatedConstructor_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
+  collector_TemplatedConstructor.insert(self);
+}
+
+void TemplatedConstructor_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  Shared *self = new Shared(new TemplatedConstructor());
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  string& arg = *unwrap_shared_ptr< string >(in[0], "ptr_string");
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  int arg = unwrap< int >(in[0]);
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  double arg = unwrap< double >(in[0]);
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+  checkArguments("delete_TemplatedConstructor",nargout,nargin,1);
+  Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
+  Collector_TemplatedConstructor::iterator item;
+  item = collector_TemplatedConstructor.find(self);
+  if(item != collector_TemplatedConstructor.end()) {
+    delete self;
+    collector_TemplatedConstructor.erase(item);
+  }
+}
+
+void ScopedTemplateResult_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<ScopedTemplate<Result>> Shared;
+
+  Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
+  collector_ScopedTemplateResult.insert(self);
+}
+
+void ScopedTemplateResult_constructor_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<ScopedTemplate<Result>> Shared;
+
+  Result::Value& arg = *unwrap_shared_ptr< Result::Value >(in[0], "ptr_Result::Value");
+  Shared *self = new Shared(new ScopedTemplate<Result>(arg));
+  collector_ScopedTemplateResult.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void ScopedTemplateResult_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  typedef boost::shared_ptr<ScopedTemplate<Result>> Shared;
+  checkArguments("delete_ScopedTemplateResult",nargout,nargin,1);
+  Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
+  Collector_ScopedTemplateResult::iterator item;
+  item = collector_ScopedTemplateResult.find(self);
+  if(item != collector_ScopedTemplateResult.end()) {
+    delete self;
+    collector_ScopedTemplateResult.erase(item);
+  }
+}
+
+
+void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mstream mout;
+  std::streambuf *outbuf = std::cout.rdbuf(&mout);
+
+  _template_RTTIRegister();
+
+  int id = unwrap<int>(in[0]);
+
+  try {
+    switch(id) {
+    case 0:
+      TemplatedConstructor_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
+      break;
+    case 1:
+      TemplatedConstructor_constructor_1(nargout, out, nargin-1, in+1);
+      break;
+    case 2:
+      TemplatedConstructor_constructor_2(nargout, out, nargin-1, in+1);
+      break;
+    case 3:
+      TemplatedConstructor_constructor_3(nargout, out, nargin-1, in+1);
+      break;
+    case 4:
+      TemplatedConstructor_constructor_4(nargout, out, nargin-1, in+1);
+      break;
+    case 5:
+      TemplatedConstructor_deconstructor_5(nargout, out, nargin-1, in+1);
+      break;
+    case 6:
+      ScopedTemplateResult_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1);
+      break;
+    case 7:
+      ScopedTemplateResult_constructor_7(nargout, out, nargin-1, in+1);
+      break;
+    case 8:
+      ScopedTemplateResult_deconstructor_8(nargout, out, nargin-1, in+1);
+      break;
+    }
+  } catch(const std::exception& e) {
+    mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
+  }
+
+  std::cout.rdbuf(outbuf);
+}

wrap/tests/expected/python/templates_pybind.cpp

@@ -0,0 +1,38 @@
+
+
+#include <pybind11/eigen.h>
+#include <pybind11/stl_bind.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/operators.h>
+#include "gtsam/nonlinear/utilities.h"  // for RedirectCout.
+
+
+#include "wrap/serialization.h"
+#include <boost/serialization/export.hpp>
+
+
+
+
+
+using namespace std;
+
+namespace py = pybind11;
+
+PYBIND11_MODULE(templates_py, m_) {
+    m_.doc() = "pybind11 wrapper of templates_py";
+
+
+    py::class_<TemplatedConstructor, std::shared_ptr<TemplatedConstructor>>(m_, "TemplatedConstructor")
+        .def(py::init<>())
+        .def(py::init<const string&>(), py::arg("arg"))
+        .def(py::init<const int&>(), py::arg("arg"))
+        .def(py::init<const double&>(), py::arg("arg"));
+
+    py::class_<ScopedTemplate<Result>, std::shared_ptr<ScopedTemplate<Result>>>(m_, "ScopedTemplateResult")
+        .def(py::init<const Result::Value&>(), py::arg("arg"));
+
+
+#include "python/specializations.h"
+
+}
+

wrap/tests/fixtures/templates.i

@@ -0,0 +1,15 @@
+// Test for templated constructor
+class TemplatedConstructor {
+  TemplatedConstructor();
+
+  template<T={string, int, double}>
+  TemplatedConstructor(const T& arg);
+};
+
+// Test for a scoped value inside a template
+template <T = {Result}>
+class ScopedTemplate {
+  // T should be properly substituted here.
+  ScopedTemplate(const T::Value& arg);
+};
+

wrap/tests/test_matlab_wrapper.py

@@ -123,6 +123,23 @@ class TestWrap(unittest.TestCase):
         for file in files:
             self.compare_and_diff(file)
 
+    def test_templates(self):
+        """Test interface file with template info."""
+        file = osp.join(self.INTERFACE_DIR, 'templates.i')
+
+        wrapper = MatlabWrapper(
+            module_name='template',
+            top_module_namespace=['gtsam'],
+            ignore_classes=[''],
+        )
+
+        wrapper.wrap([file], path=self.MATLAB_ACTUAL_DIR)
+
+        files = ['template_wrapper.cpp']
+
+        for file in files:
+            self.compare_and_diff(file)
+
     def test_inheritance(self):
         """Test interface file with class inheritance definitions."""
         file = osp.join(self.INTERFACE_DIR, 'inheritance.i')

wrap/tests/test_pybind_wrapper.py

@@ -95,6 +95,14 @@ class TestWrap(unittest.TestCase):
 
         self.compare_and_diff('class_pybind.cpp', output)
 
+    def test_templates(self):
+        """Test interface file with templated class."""
+        source = osp.join(self.INTERFACE_DIR, 'templates.i')
+        output = self.wrap_content([source], 'templates_py',
+                                   self.PYTHON_ACTUAL_DIR)
+
+        self.compare_and_diff('templates_pybind.cpp', output)
+
     def test_inheritance(self):
         """Test interface file with class inheritance definitions."""
         source = osp.join(self.INTERFACE_DIR, 'inheritance.i')