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Merging 'master' into 'wrap'

release/4.3a0
Varun Agrawal 2021-04-01 23:20:12 -04:00
parent 8ffad01868 edf7e45071
commit 1144347a04
39 changed files with 1083 additions and 374 deletions
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1
wrap/.gitignore vendored
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@ -1,6 +1,7 @@
__pycache__/
.vscode/
*build*
*install*
*dist*
*.egg-info

83
wrap/CMakeLists.txt
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@ -1,54 +1,83 @@
cmake_minimum_required(VERSION 3.9)
# Set the project name and version
project(GTwrap VERSION 1.0)
project(gtwrap VERSION 1.0)
# ##############################################################################
# General configuration
set(WRAP_PYTHON_VERSION
"Default"
CACHE STRING "The Python version to use for wrapping")
include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/GtwrapUtils.cmake)
gtwrap_get_python_version(${WRAP_PYTHON_VERSION})
# ##############################################################################
# Install the CMake file to be used by other projects
# Set the variables to be used for the cmake config file.
if(WIN32 AND NOT CYGWIN)
set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/CMake")
set(INSTALL_CMAKE_DIR CMake/${PROJECT_NAME})
else()
set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/cmake")
set(INSTALL_CMAKE_DIR lib/cmake/${PROJECT_NAME})
endif()
# Configure the include directory for matlab.h
# This allows the #include to be either gtwrap/matlab.h, wrap/matlab.h or something custom.
if(NOT DEFINED GTWRAP_INCLUDE_NAME)
set(GTWRAP_INCLUDE_NAME "gtwrap" CACHE INTERNAL "Directory name for Matlab includes")
endif()
configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper.tpl)
set(INSTALL_LIB_DIR lib/${PROJECT_NAME})
set(INSTALL_BIN_DIR bin/${PROJECT_NAME})
set(INSTALL_INCLUDE_DIR include/${PROJECT_NAME})
# ##############################################################################
# Package Configuration
# Helper functions for generating the gtwrapConfig.cmake file correctly.
include(CMakePackageConfigHelpers)
# Configure the config file which is used for `find_package`.
configure_package_config_file(
${CMAKE_CURRENT_SOURCE_DIR}/cmake/gtwrapConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake
INSTALL_DESTINATION "${INSTALL_CMAKE_DIR}"
PATH_VARS INSTALL_CMAKE_DIR INSTALL_LIB_DIR INSTALL_BIN_DIR
INSTALL_INCLUDE_DIR
INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
message(STATUS "Package config : ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
# ##############################################################################
# Install the package
message(STATUS "CMake : ${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
# Install CMake scripts to the standard CMake script directory.
install(FILES cmake/gtwrapConfig.cmake cmake/MatlabWrap.cmake
cmake/PybindWrap.cmake cmake/GtwrapUtils.cmake
DESTINATION "${SCRIPT_INSTALL_DIR}/gtwrap")
install(
FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/gtwrapConfig.cmake
cmake/MatlabWrap.cmake cmake/PybindWrap.cmake cmake/GtwrapUtils.cmake
DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}")
# Needed for the CMAKE_INSTALL_X variables used below.
include(GNUInstallDirs)
# Configure the include directory for matlab.h This allows the #include to be
# either gtwrap/matlab.h, wrap/matlab.h or something custom.
if(NOT DEFINED GTWRAP_INCLUDE_NAME)
set(GTWRAP_INCLUDE_NAME
"gtwrap"
CACHE INTERNAL "Directory name for Matlab includes")
endif()
configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in
${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper.tpl)
# Install the gtwrap python package as a directory so it can be found by CMake
# for wrapping.
install(DIRECTORY gtwrap DESTINATION "${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap")
message(STATUS "Lib path : ${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
install(DIRECTORY gtwrap
DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
# Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/gtwrap/pybind11` This
# will allow the gtwrapConfig.cmake file to load it later.
install(DIRECTORY pybind11
DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
# Install wrapping scripts as binaries to `CMAKE_INSTALL_PREFIX/bin` so they can
# be invoked for wrapping. We use DESTINATION (instead of TYPE) so we can
# support older CMake versions.
message(STATUS "Bin path : ${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR}")
install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py
DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
# Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/gtwrap/pybind11` This
# will allow the gtwrapConfig.cmake file to load it later.
install(DIRECTORY pybind11 DESTINATION "${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap")
DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_BIN_DIR}")
# Install the matlab.h file to `CMAKE_INSTALL_PREFIX/lib/gtwrap/matlab.h`.
install(FILES matlab.h DESTINATION "${CMAKE_INSTALL_FULL_INCLUDEDIR}/gtwrap")
message(
STATUS "Header path : ${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
install(FILES matlab.h
DESTINATION "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")

32
wrap/DOCS.md
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@ -51,6 +51,17 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Class variables are read-write so they can be updated directly in Python.
- Operator Overloading (Python only)
- You can overload operators just like in C++.
```cpp
class Overload {
Overload operator*(const Overload& other) const;
};
```
- Supported operators are the intersection of those supported in C++ and in Python.
- Operator overloading definitions have to be marked as `const` methods.
- Pointer types
- To declare a simple/raw pointer, simply add an `@` to the class name, e.g.`Pose3@`.
- To declare a shared pointer (e.g. `gtsam::noiseModel::Base::shared_ptr`), use an asterisk (i.e. `*`). E.g. `gtsam::noiseModel::Base*` to define the wrapping for the `Base` noise model shared pointer.
@ -78,7 +89,7 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Can have multiple functions of the same name in different namespaces.
- Functions can be templated and have multiple template arguments, e.g.
```cpp
template<T, >
template<T, R, S>
```
- Using classes defined in other modules
@ -99,7 +110,7 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
virtual boost::shared_ptr<CLASS_NAME> clone() const;
```
- Class Templates
- Templates
- Basic templates are supported either with an explicit list of types to instantiate,
e.g.
@ -113,18 +124,31 @@ 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.
- In the class definition, appearances of the template argument(s) will be replaced with their
instantiated types, e.g. `void setValue(const T& value);`.
- 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.
- When forward-declaring template instantiations, use the generated/typedefed name, e.g.
- When forward-declaring template instantiations, use the generated/typedef'd name, e.g.
```cpp
class gtsam::Class1Pose2;
class gtsam::MyInstantiatedClass;
```
- Template arguments can be templates themselves, e.g.
```cpp
// Typedef'd PinholeCamera
template<CALIBRATION>
class PinholeCamera { ... };
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
template<CAMERA>
class SfmFactor { ... };
// This is valid.
typedef gtsam::SfmFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>> BasicSfmFactor;
```
- `Boost.serialization` within the wrapper:
- You need to mark classes as being serializable in the markup file (see `gtsam.i` for examples).

10
wrap/cmake/GtwrapUtils.cmake
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@ -63,9 +63,10 @@ macro(configure_python_variables)
endmacro()
# Set the Python version for the wrapper and set the paths to the executable and
# include/library directories. WRAP_PYTHON_VERSION can be "Default" or a
# include/library directories.
# WRAP_PYTHON_VERSION (optionally) can be "Default" or a
# specific major.minor version.
macro(gtwrap_get_python_version WRAP_PYTHON_VERSION)
macro(gtwrap_get_python_version)
# Unset these cached variables to avoid surprises when the python in the
# current environment are different from the cached!
unset(Python_EXECUTABLE CACHE)
@ -74,6 +75,11 @@ macro(gtwrap_get_python_version WRAP_PYTHON_VERSION)
unset(Python_VERSION_MINOR CACHE)
unset(Python_VERSION_PATCH CACHE)
# Set default value if the parameter is not passed in
if(NOT WRAP_PYTHON_VERSION)
set(WRAP_PYTHON_VERSION "Default")
endif()
# Allow override
if(${WRAP_PYTHON_VERSION} STREQUAL "Default")
# Check for Python3 or Python2 in order

11
wrap/cmake/MatlabWrap.cmake
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@ -1,3 +1,12 @@
if(GTWRAP_PYTHON_PACKAGE_DIR)
# packaged
set(GTWRAP_PACKAGE_DIR "${GTWRAP_PYTHON_PACKAGE_DIR}")
else()
set(GTWRAP_PACKAGE_DIR ${CMAKE_CURRENT_LIST_DIR}/..)
endif()
# Macro which finds and configure Matlab before we do any wrapping.
macro(find_and_configure_matlab)
find_package(
Matlab
COMPONENTS MEX_COMPILER
@ -50,10 +59,12 @@ if(WRAP_CUSTOM_MATLAB_PATH)
get_filename_component(MATLAB_ROOT "${mex_path}/.." ABSOLUTE)
endif()
endif()
endmacro()
# Consistent and user-friendly wrap function
function(matlab_wrap interfaceHeader linkLibraries
extraIncludeDirs extraMexFlags ignore_classes)
find_and_configure_matlab()
wrap_and_install_library("${interfaceHeader}" "${linkLibraries}"
"${extraIncludeDirs}" "${extraMexFlags}"
"${ignore_classes}")

32
wrap/cmake/gtwrapConfig.cmake
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@ -1,32 +0,0 @@
# This config file modifies CMAKE_MODULE_PATH so that the wrap cmake files may
# be included This file also allows the use of `find_package(gtwrap)` in CMake.
# Standard includes
include(GNUInstallDirs)
include(CMakePackageConfigHelpers)
include(CMakeDependentOption)
set(GTWRAP_DIR "${CMAKE_CURRENT_LIST_DIR}")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
if(WIN32 AND NOT CYGWIN)
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${CMAKE_INSTALL_FULL_BINDIR})
set(GTWRAP_PYTHON_PACKAGE_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap)
else()
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${CMAKE_INSTALL_FULL_BINDIR})
set(GTWRAP_PYTHON_PACKAGE_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap)
endif()
# Load all the CMake scripts from the standard location
include(${GTWRAP_CMAKE_DIR}/PybindWrap.cmake)
include(${GTWRAP_CMAKE_DIR}/GtwrapUtils.cmake)
# Set the variables for the wrapping scripts to be used in the build.
set(PYBIND_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/pybind_wrap.py")
set(MATLAB_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/matlab_wrap.py")
# Load the pybind11 code from the library installation path
add_subdirectory(${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap/pybind11 pybind11)

24
wrap/cmake/gtwrapConfig.cmake.in Normal file
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@ -0,0 +1,24 @@
# This config file modifies CMAKE_MODULE_PATH so that the wrap cmake files may
# be included This file also allows the use of `find_package(gtwrap)` in CMake.
@PACKAGE_INIT@
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
# Set the path to the Python package directory so we can add it to the PYTHONPATH.
# Used in the *Wrap.cmake files.
set_and_check(GTWRAP_PYTHON_PACKAGE_DIR @PACKAGE_INSTALL_LIB_DIR@)
# Load all the CMake scripts from the standard location
include(@PACKAGE_INSTALL_CMAKE_DIR@/PybindWrap.cmake)
include(@PACKAGE_INSTALL_CMAKE_DIR@/MatlabWrap.cmake)
include(@PACKAGE_INSTALL_CMAKE_DIR@/GtwrapUtils.cmake)
# Set the variables for the wrapping scripts to be used in the build.
set_and_check(PYBIND_WRAP_SCRIPT "@PACKAGE_INSTALL_BIN_DIR@/pybind_wrap.py")
set_and_check(MATLAB_WRAP_SCRIPT "@PACKAGE_INSTALL_BIN_DIR@/matlab_wrap.py")
# Load the pybind11 code from the library installation path
add_subdirectory(@PACKAGE_INSTALL_LIB_DIR@/pybind11 pybind11)
check_required_components(gtwrap)

113
wrap/gtwrap/interface_parser/classes.py
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@ -10,15 +10,15 @@ Parser classes and rules for parsing C++ classes.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from typing import List, Union
from typing import Iterable, List, Union
from pyparsing import Optional, ZeroOrMore
from pyparsing import Optional, ZeroOrMore, Literal
from .function import ArgumentList, ReturnType
from .template import Template
from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, RBRACE,
RPAREN, SEMI_COLON, STATIC, VIRTUAL)
from .type import Type, Typename
RPAREN, SEMI_COLON, STATIC, VIRTUAL, OPERATOR)
from .type import TemplatedType, Type, Typename
class Method:
@ -148,13 +148,13 @@ class Property:
````
"""
rule = (
Type.rule("ctype") #
(Type.rule ^ TemplatedType.rule)("ctype") #
+ IDENT("name") #
+ SEMI_COLON #
).setParseAction(lambda t: Property(t.ctype, t.name))
def __init__(self, ctype: Type, name: str, parent=''):
self.ctype = ctype
self.ctype = ctype[0] # ParseResult is a list
self.name = name
self.parent = parent
@ -162,6 +162,69 @@ class Property:
return '{} {}'.format(self.ctype.__repr__(), self.name)
class Operator:
"""
Rule for parsing operator overloads.
E.g.
```
class Overload {
Vector2 operator+(const Vector2 &v) const;
};
"""
rule = (
ReturnType.rule("return_type") #
+ Literal("operator")("name") #
+ OPERATOR("operator") #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ CONST("is_const") #
+ SEMI_COLON # BR
).setParseAction(lambda t: Operator(t.name, t.operator, t.return_type, t.
args_list, t.is_const))
def __init__(self,
name: str,
operator: str,
return_type: ReturnType,
args: ArgumentList,
is_const: str,
parent: Union[str, "Class"] = ''):
self.name = name
self.operator = operator
self.return_type = return_type
self.args = args
self.is_const = is_const
self.is_unary = len(args) == 0
self.parent = parent
# Check for valid unary operators
if self.is_unary and self.operator not in ('+', '-'):
raise ValueError("Invalid unary operator {} used for {}".format(
self.operator, self))
# Check that number of arguments are either 0 or 1
assert 0 <= len(args) < 2, \
"Operator overload should be at most 1 argument, " \
"{} arguments provided".format(len(args))
# Check to ensure arg and return type are the same.
if len(args) == 1 and self.operator not in ("()", "[]"):
assert args.args_list[0].ctype.typename.name == return_type.type1.typename.name, \
"Mixed type overloading not supported. Both arg and return type must be the same."
def __repr__(self) -> str:
return "Operator: {}{}{}({}) {}".format(
self.return_type,
self.name,
self.operator,
self.args,
self.is_const,
)
def collect_namespaces(obj):
"""
Get the chain of namespaces from the lowest to highest for the given object.
@ -188,21 +251,23 @@ class Class:
};
```
"""
class MethodsAndProperties:
class Members:
"""
Rule for all the methods and properties within a class.
Rule for all the members within a class.
"""
rule = ZeroOrMore(Constructor.rule ^ StaticMethod.rule ^ Method.rule
^ Property.rule).setParseAction(
lambda t: Class.MethodsAndProperties(t.asList()))
^ Property.rule ^ Operator.rule).setParseAction(
lambda t: Class.Members(t.asList()))
def __init__(self, methods_props: List[Union[Constructor, Method,
StaticMethod, Property]]):
def __init__(self,
members: List[Union[Constructor, Method, StaticMethod,
Property, Operator]]):
self.ctors = []
self.methods = []
self.static_methods = []
self.properties = []
for m in methods_props:
self.operators = []
for m in members:
if isinstance(m, Constructor):
self.ctors.append(m)
elif isinstance(m, Method):
@ -211,6 +276,8 @@ class Class:
self.static_methods.append(m)
elif isinstance(m, Property):
self.properties.append(m)
elif isinstance(m, Operator):
self.operators.append(m)
_parent = COLON + Typename.rule("parent_class")
rule = (
@ -220,7 +287,7 @@ class Class:
+ IDENT("name") #
+ Optional(_parent) #
+ LBRACE #
+ MethodsAndProperties.rule("methods_props") #
+ Members.rule("members") #
+ RBRACE #
+ SEMI_COLON # BR
).setParseAction(lambda t: Class(
@ -228,10 +295,11 @@ class Class:
t.is_virtual,
t.name,
t.parent_class,
t.methods_props.ctors,
t.methods_props.methods,
t.methods_props.static_methods,
t.methods_props.properties,
t.members.ctors,
t.members.methods,
t.members.static_methods,
t.members.properties,
t.members.operators,
))
def __init__(
@ -244,13 +312,18 @@ class Class:
methods: List[Method],
static_methods: List[StaticMethod],
properties: List[Property],
operators: List[Operator],
parent: str = '',
):
self.template = template
self.is_virtual = is_virtual
self.name = name
if parent_class:
self.parent_class = Typename.from_parse_result(parent_class)
if isinstance(parent_class, Iterable):
self.parent_class = parent_class[0]
else:
self.parent_class = parent_class
else:
self.parent_class = ''
@ -258,7 +331,9 @@ class Class:
self.methods = methods
self.static_methods = static_methods
self.properties = properties
self.operators = operators
self.parent = parent
# Make sure ctors' names and class name are the same.
for ctor in self.ctors:
if ctor.name != self.name:

2
wrap/gtwrap/interface_parser/declaration.py
View File

@ -48,7 +48,7 @@ class ForwardDeclaration:
parent: str = ''):
self.name = name
if parent_type:
self.parent_type = Typename.from_parse_result(parent_type)
self.parent_type = parent_type
else:
self.parent_type = ''

25
wrap/gtwrap/interface_parser/function.py
View File

@ -10,14 +10,14 @@ Parser classes and rules for parsing C++ functions.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from typing import List, Union
from typing import Iterable, List, Union
from pyparsing import Optional, ParseResults, delimitedList
from .template import Template
from .tokens import (COMMA, IDENT, LOPBRACK, LPAREN, PAIR, ROPBRACK, RPAREN,
SEMI_COLON)
from .type import Type
from .type import TemplatedType, Type
class Argument:
@ -29,16 +29,23 @@ class Argument:
void sayHello(/*`s` is the method argument with type `const string&`*/ const string& s);
```
"""
rule = (Type.rule("ctype") +
rule = ((Type.rule ^ TemplatedType.rule)("ctype") +
IDENT("name")).setParseAction(lambda t: Argument(t.ctype, t.name))
def __init__(self, ctype: Type, name: str):
def __init__(self, ctype: Union[Type, TemplatedType], name: str):
if isinstance(ctype, Iterable):
self.ctype = ctype[0]
else:
self.ctype = ctype
self.name = name
self.parent: Union[ArgumentList, None] = None
def __repr__(self) -> str:
return '{} {}'.format(self.ctype.__repr__(), self.name)
return self.to_cpp()
def to_cpp(self) -> str:
"""Return full C++ representation of argument."""
return '{} {}'.format(repr(self.ctype), self.name)
class ArgumentList:
@ -93,11 +100,13 @@ class ReturnType:
+ Type.rule("type2") #
+ ROPBRACK #
)
rule = (_pair ^ Type.rule("type1")).setParseAction( # BR
rule = (_pair ^
(Type.rule ^ TemplatedType.rule)("type1")).setParseAction( # BR
lambda t: ReturnType(t.type1, t.type2))
def __init__(self, type1: Type, type2: Type):
self.type1 = type1
def __init__(self, type1: Union[Type, TemplatedType], type2: Type):
# If a TemplatedType, the return is a ParseResults, so we extract out the type.
self.type1 = type1[0] if isinstance(type1, ParseResults) else type1
self.type2 = type2
# The parent object which contains the return type
# E.g. Method, StaticMethod, Template, Constructor, GlobalFunction

29
wrap/gtwrap/interface_parser/template.py
View File

@ -16,7 +16,7 @@ from pyparsing import Optional, ParseResults, delimitedList
from .tokens import (EQUAL, IDENT, LBRACE, LOPBRACK, RBRACE, ROPBRACK,
SEMI_COLON, TEMPLATE, TYPEDEF)
from .type import Typename
from .type import Typename, TemplatedType
class Template:
@ -38,7 +38,8 @@ class Template:
+ Optional( #
EQUAL #
+ LBRACE #
+ ((delimitedList(Typename.rule)("instantiations"))) #
+ ((delimitedList(TemplatedType.rule ^ Typename.rule)
("instantiations"))) #
+ RBRACE #
)).setParseAction(lambda t: Template.TypenameAndInstantiations(
t.typename, t.instantiations))
@ -46,10 +47,12 @@ class Template:
def __init__(self, typename: str, instantiations: ParseResults):
self.typename = typename
if instantiations:
self.instantiations = instantiations.asList()
else:
self.instantiations = []
if instantiations:
for inst in instantiations:
x = inst.typename if isinstance(inst,
TemplatedType) else inst
self.instantiations.append(x)
rule = ( # BR
TEMPLATE #
@ -80,11 +83,19 @@ class TypedefTemplateInstantiation:
typedef SuperComplexName<Arg1, Arg2, Arg3> EasierName;
```
"""
rule = (TYPEDEF + Typename.rule("typename") + IDENT("new_name") +
rule = (TYPEDEF + TemplatedType.rule("templated_type") +
IDENT("new_name") +
SEMI_COLON).setParseAction(lambda t: TypedefTemplateInstantiation(
Typename.from_parse_result(t.typename), t.new_name))
t.templated_type[0], t.new_name))
def __init__(self, typename: Typename, new_name: str, parent: str = ''):
self.typename = typename
def __init__(self,
templated_type: TemplatedType,
new_name: str,
parent: str = ''):
self.typename = templated_type.typename
self.new_name = new_name
self.parent = parent
def __repr__(self):
return "Typedef: {new_name} = {typename}".format(
new_name=self.new_name, typename=self.typename)

41
wrap/gtwrap/interface_parser/tokens.py
View File

@ -10,7 +10,7 @@ All the token definitions.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from pyparsing import Keyword, Literal, Suppress, Word, alphanums, alphas, nums
from pyparsing import Keyword, Literal, Suppress, Word, alphanums, alphas, nums, Or
# rule for identifiers (e.g. variable names)
IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)
@ -46,3 +46,42 @@ BASIS_TYPES = map(
"float",
],
)
OPERATOR = Or(
map(
Literal,
[
'+', # __add__, __pos__
'-', # __sub__, __neg__
'*', # __mul__
'/', # __truediv__
'%', # __mod__
'^', # __xor__
'&', # __and__
'|', # __or__
# '~', # __invert__
'+=', # __iadd__
'-=', # __isub__
'*=', # __imul__
'/=', # __itruediv__
'%=', # __imod__
'^=', # __ixor__
'&=', # __iand__
'|=', # __ior__
'<<', # __lshift__
'<<=', # __ilshift__
'>>', # __rshift__
'>>=', # __irshift__
'==', # __eq__
'!=', # __ne__
'<', # __lt__
'>', # __gt__
'<=', # __le__
'>=', # __ge__
# '!', # Use `not` in python
# '&&', # Use `and` in python
# '||', # Use `or` in python
'()', # __call__
'[]', # __getitem__
],
))

193
wrap/gtwrap/interface_parser/type.py
View File

@ -12,7 +12,7 @@ Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellae
# pylint: disable=unnecessary-lambda, expression-not-assigned
from typing import Iterable, Union
from typing import Iterable, List, Union
from pyparsing import Forward, Optional, Or, ParseResults, delimitedList
@ -42,20 +42,15 @@ class Typename:
namespaces_name_rule = delimitedList(IDENT, "::")
instantiation_name_rule = delimitedList(IDENT, "::")
rule = Forward()
rule << (
rule = (
namespaces_name_rule("namespaces_and_name") #
+ Optional(
(LOPBRACK + delimitedList(rule, ",")
("instantiations") + ROPBRACK))).setParseAction(
lambda t: Typename(t.namespaces_and_name, t.instantiations))
).setParseAction(lambda t: Typename(t))
def __init__(self,
namespaces_and_name: ParseResults,
t: ParseResults,
instantiations: Union[tuple, list, str, ParseResults] = ()):
self.name = namespaces_and_name[
-1] # the name is the last element in this list
self.namespaces = namespaces_and_name[:-1]
self.name = t[-1] # the name is the last element in this list
self.namespaces = t[:-1]
if instantiations:
if isinstance(instantiations, Iterable):
@ -83,6 +78,10 @@ class Typename:
res += instantiation.instantiated_name()
return res
def qualified_name(self):
"""Return the fully qualified name, e.g. `gtsam::internal::PoseKey`."""
return "::".join(self.namespaces + [self.name])
def to_cpp(self) -> str:
"""Generate the C++ code for wrapping."""
idx = 1 if self.namespaces and not self.namespaces[0] else 0
@ -108,25 +107,9 @@ class Typename:
return not res
class QualifiedType:
"""Type with qualifiers, such as `const`."""
rule = (
Typename.rule("typename") #
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref"))).setParseAction(lambda t: QualifiedType(t))
def __init__(self, t: ParseResults):
self.typename = Typename.from_parse_result(t.typename)
self.is_shared_ptr = t.is_shared_ptr
self.is_ptr = t.is_ptr
self.is_ref = t.is_ref
class BasisType:
class BasicType:
"""
Basis types are the built-in types in C++ such as double, int, char, etc.
Basic types are the fundamental built-in types in C++ such as double, int, char, etc.
When using templates, the basis type will take on the same form as the template.
@ -145,35 +128,55 @@ class BasisType:
```
"""
rule = (
Or(BASIS_TYPES)("typename") #
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref")) #
).setParseAction(lambda t: BasisType(t))
rule = (Or(BASIS_TYPES)("typename")).setParseAction(lambda t: BasicType(t))
def __init__(self, t: ParseResults):
self.typename = Typename([t.typename])
self.is_ptr = t.is_ptr
self.is_shared_ptr = t.is_shared_ptr
self.is_ref = t.is_ref
self.typename = Typename(t.asList())
class CustomType:
"""
Custom defined types with the namespace.
Essentially any C++ data type that is not a BasicType.
E.g.
```
gtsam::Matrix wTc;
```
Here `gtsam::Matrix` is a custom type.
"""
rule = (Typename.rule("typename")).setParseAction(lambda t: CustomType(t))
def __init__(self, t: ParseResults):
self.typename = Typename(t)
class Type:
"""The type value that is parsed, e.g. void, string, size_t."""
"""
Parsed datatype, can be either a fundamental type or a custom datatype.
E.g. void, double, size_t, Matrix.
The type can optionally be a raw pointer, shared pointer or reference.
Can also be optionally qualified with a `const`, e.g. `const int`.
"""
rule = (
Optional(CONST("is_const")) #
+ (BasisType.rule("basis") | QualifiedType.rule("qualified")) # BR
+ (BasicType.rule("basis") | CustomType.rule("qualified")) # BR
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref")) #
).setParseAction(lambda t: Type.from_parse_result(t))
def __init__(self, typename: Typename, is_const: str, is_shared_ptr: str,
is_ptr: str, is_ref: str, is_basis: bool):
is_ptr: str, is_ref: str, is_basic: bool):
self.typename = typename
self.is_const = is_const
self.is_shared_ptr = is_shared_ptr
self.is_ptr = is_ptr
self.is_ref = is_ref
self.is_basis = is_basis
self.is_basic = is_basic
@staticmethod
def from_parse_result(t: ParseResults):
@ -182,26 +185,26 @@ class Type:
return Type(
typename=t.basis.typename,
is_const=t.is_const,
is_shared_ptr=t.basis.is_shared_ptr,
is_ptr=t.basis.is_ptr,
is_ref=t.basis.is_ref,
is_basis=True,
is_shared_ptr=t.is_shared_ptr,
is_ptr=t.is_ptr,
is_ref=t.is_ref,
is_basic=True,
)
elif t.qualified:
return Type(
typename=t.qualified.typename,
is_const=t.is_const,
is_shared_ptr=t.qualified.is_shared_ptr,
is_ptr=t.qualified.is_ptr,
is_ref=t.qualified.is_ref,
is_basis=False,
is_shared_ptr=t.is_shared_ptr,
is_ptr=t.is_ptr,
is_ref=t.is_ref,
is_basic=False,
)
else:
raise ValueError("Parse result is not a Type")
def __repr__(self) -> str:
return "{self.typename} " \
"{self.is_const}{self.is_shared_ptr}{self.is_ptr}{self.is_ref}".format(
return "{self.is_const} {self.typename} " \
"{self.is_shared_ptr}{self.is_ptr}{self.is_ref}".format(
self=self)
def to_cpp(self, use_boost: bool) -> str:
@ -210,12 +213,14 @@ class Type:
Treat all pointers as "const shared_ptr<T>&"
Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp.
Args:
use_boost: Flag indicating whether to use boost::shared_ptr or std::shared_ptr.
"""
shared_ptr_ns = "boost" if use_boost else "std"
if self.is_shared_ptr:
# always pass by reference: https://stackoverflow.com/a/8741626/1236990
typename = "{ns}::shared_ptr<{typename}>&".format(
typename = "{ns}::shared_ptr<{typename}>".format(
ns=shared_ptr_ns, typename=self.typename.to_cpp())
elif self.is_ptr:
typename = "{typename}*".format(typename=self.typename.to_cpp())
@ -230,3 +235,81 @@ class Type:
(self.is_const
or self.typename.name in ["Matrix", "Vector"]) else "",
typename=typename))
class TemplatedType:
"""
Parser rule for data types which are templated.
This is done so that the template parameters can be pointers/references.
E.g. std::vector<double>, BearingRange<Pose3, Point3>
"""
rule = Forward()
rule << (
Optional(CONST("is_const")) #
+ Typename.rule("typename") #
+ (
LOPBRACK #
+ delimitedList(Type.rule ^ rule, ",")("template_params") #
+ ROPBRACK) #
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref")) #
).setParseAction(lambda t: TemplatedType.from_parse_result(t))
def __init__(self, typename: Typename, template_params: List[Type],
is_const: str, is_shared_ptr: str, is_ptr: str, is_ref: str):
instantiations = [param.typename for param in template_params]
# Recreate the typename but with the template params as instantiations.
self.typename = Typename(typename.namespaces + [typename.name],
instantiations)
self.template_params = template_params
self.is_const = is_const
self.is_shared_ptr = is_shared_ptr
self.is_ptr = is_ptr
self.is_ref = is_ref
@staticmethod
def from_parse_result(t: ParseResults):
"""Get the TemplatedType from the parser results."""
return TemplatedType(t.typename, t.template_params, t.is_const,
t.is_shared_ptr, t.is_ptr, t.is_ref)
def __repr__(self):
return "TemplatedType({typename.namespaces}::{typename.name})".format(
typename=self.typename)
def to_cpp(self, use_boost: bool):
"""
Generate the C++ code for wrapping.
Args:
use_boost: Flag indicating whether to use boost::shared_ptr or std::shared_ptr.
"""
# Use Type.to_cpp to do the heavy lifting for the template parameters.
template_args = ", ".join(
[t.to_cpp(use_boost) for t in self.template_params])
typename = "{typename}<{template_args}>".format(
typename=self.typename.qualified_name(),
template_args=template_args)
shared_ptr_ns = "boost" if use_boost else "std"
if self.is_shared_ptr:
typename = "{ns}::shared_ptr<{typename}>".format(ns=shared_ptr_ns,
typename=typename)
elif self.is_ptr:
typename = "{typename}*".format(typename=typename)
elif self.is_ref or self.typename.name in ["Matrix", "Vector"]:
typename = typename = "{typename}&".format(typename=typename)
else:
pass
return ("{const}{typename}".format(
const="const " if
(self.is_const
or self.typename.name in ["Matrix", "Vector"]) else "",
typename=typename))

29
wrap/gtwrap/pybind_wrapper.py
View File

@ -193,6 +193,24 @@ class PybindWrapper:
))
return res
def wrap_operators(self, operators, cpp_class, prefix='\n' + ' ' * 8):
"""Wrap all the overloaded operators in the `cpp_class`."""
res = ""
template = "{prefix}.def({{0}})".format(prefix=prefix)
for op in operators:
if op.operator == "[]": # __getitem__
res += "{prefix}.def(\"__getitem__\", &{cpp_class}::operator[])".format(
prefix=prefix, cpp_class=cpp_class)
elif op.operator == "()": # __call__
res += "{prefix}.def(\"__call__\", &{cpp_class}::operator())".format(
prefix=prefix, cpp_class=cpp_class)
elif op.is_unary:
res += template.format("{0}py::self".format(op.operator))
else:
res += template.format("py::self {0} py::self".format(
op.operator))
return res
def wrap_instantiated_class(self, instantiated_class):
"""Wrap the class."""
module_var = self._gen_module_var(instantiated_class.namespaces())
@ -205,12 +223,14 @@ class PybindWrapper:
'{wrapped_ctors}'
'{wrapped_methods}'
'{wrapped_static_methods}'
'{wrapped_properties};\n'.format(
'{wrapped_properties}'
'{wrapped_operators};\n'.format(
shared_ptr_type=('boost' if self.use_boost else 'std'),
cpp_class=cpp_class,
class_name=instantiated_class.name,
class_parent=str(instantiated_class.parent_class) +
(', ' if instantiated_class.parent_class else ''),
class_parent="{instantiated_class.parent_class}, ".format(
instantiated_class=instantiated_class)
if instantiated_class.parent_class else '',
module_var=module_var,
wrapped_ctors=self.wrap_ctors(instantiated_class),
wrapped_methods=self.wrap_methods(instantiated_class.methods,
@ -219,7 +239,8 @@ class PybindWrapper:
instantiated_class.static_methods, cpp_class),
wrapped_properties=self.wrap_properties(
instantiated_class.properties, cpp_class),
))
wrapped_operators=self.wrap_operators(
instantiated_class.operators, cpp_class)))
def wrap_stl_class(self, stl_class):
"""Wrap STL containers."""

53
wrap/gtwrap/template_instantiator.py
View File

@ -48,7 +48,7 @@ def instantiate_type(ctype: parser.Type,
is_shared_ptr=ctype.is_shared_ptr,
is_ptr=ctype.is_ptr,
is_ref=ctype.is_ref,
is_basis=ctype.is_basis,
is_basic=ctype.is_basic,
)
elif str_arg_typename == 'This':
if instantiated_class:
@ -68,7 +68,7 @@ def instantiate_type(ctype: parser.Type,
is_shared_ptr=ctype.is_shared_ptr,
is_ptr=ctype.is_ptr,
is_ref=ctype.is_ref,
is_basis=ctype.is_basis,
is_basic=ctype.is_basic,
)
else:
return ctype
@ -292,11 +292,15 @@ class InstantiatedClass(parser.Class):
# This will allow the `This` keyword to be used in both templated and non-templated classes.
typenames = self.original.template.typenames if self.original.template else []
# Instantiate the constructors, static methods, properties
# and instance methods, respectively.
# Instantiate the constructors, static methods, properties, respectively.
self.ctors = self.instantiate_ctors(typenames)
self.static_methods = self.instantiate_static_methods(typenames)
self.properties = self.instantiate_properties(typenames)
# Instantiate all operator overloads
self.operators = self.instantiate_operators(typenames)
# Instantiate all instance methods
instantiated_methods = \
self.instantiate_class_templates_in_methods(typenames)
@ -323,6 +327,7 @@ class InstantiatedClass(parser.Class):
self.methods,
self.static_methods,
self.properties,
self.operators,
parent=self.parent,
)
@ -333,10 +338,11 @@ class InstantiatedClass(parser.Class):
name=self.name,
cpp_class=self.cpp_class(),
parent_class=self.parent,
ctors="\n".join([ctor.__repr__() for ctor in self.ctors]),
methods="\n".join([m.__repr__() for m in self.methods]),
static_methods="\n".join([m.__repr__()
ctors="\n".join([repr(ctor) for ctor in self.ctors]),
methods="\n".join([repr(m) for m in self.methods]),
static_methods="\n".join([repr(m)
for m in self.static_methods]),
operators="\n".join([repr(op) for op in self.operators])
)
def instantiate_ctors(self, typenames):
@ -435,6 +441,39 @@ class InstantiatedClass(parser.Class):
))
return class_instantiated_methods
def instantiate_operators(self, typenames):
"""
Instantiate the class-level template in the operator overload.
Args:
typenames: List of template types to instantiate.
Return: List of methods instantiated with provided template args on the class.
"""
instantiated_operators = []
for operator in self.original.operators:
instantiated_args = instantiate_args_list(
operator.args.args_list,
typenames,
self.instantiations,
self.cpp_typename(),
)
instantiated_operators.append(
parser.Operator(
name=operator.name,
operator=operator.operator,
return_type=instantiate_return_type(
operator.return_type,
typenames,
self.instantiations,
self.cpp_typename(),
),
args=parser.ArgumentList(instantiated_args),
is_const=operator.is_const,
parent=self,
))
return instantiated_operators
def instantiate_properties(self, typenames):
"""
Instantiate the class properties.

1
wrap/templates/pybind_wrapper.tpl.example
View File

@ -3,6 +3,7 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include "gtsam/base/serialization.h"
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.

4
wrap/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m
View File

@ -9,7 +9,7 @@ classdef PinholeCameraCal3Bundler < handle
function obj = PinholeCameraCal3Bundler(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
special_cases_wrapper(3, my_ptr);
special_cases_wrapper(5, my_ptr);
else
error('Arguments do not match any overload of gtsam.PinholeCameraCal3Bundler constructor');
end
@ -17,7 +17,7 @@ classdef PinholeCameraCal3Bundler < handle
end
function delete(obj)
special_cases_wrapper(4, obj.ptr_gtsamPinholeCameraCal3Bundler);
special_cases_wrapper(6, obj.ptr_gtsamPinholeCameraCal3Bundler);
end
function display(obj), obj.print(''); end

4
wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m
View File

@ -9,7 +9,7 @@ classdef MultipleTemplatesIntDouble < handle
function obj = MultipleTemplatesIntDouble(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(44, my_ptr);
class_wrapper(48, my_ptr);
else
error('Arguments do not match any overload of MultipleTemplatesIntDouble constructor');
end
@ -17,7 +17,7 @@ classdef MultipleTemplatesIntDouble < handle
end
function delete(obj)
class_wrapper(45, obj.ptr_MultipleTemplatesIntDouble);
class_wrapper(49, obj.ptr_MultipleTemplatesIntDouble);
end
function display(obj), obj.print(''); end

4
wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m
View File

@ -9,7 +9,7 @@ classdef MultipleTemplatesIntFloat < handle
function obj = MultipleTemplatesIntFloat(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(46, my_ptr);
class_wrapper(50, my_ptr);
else
error('Arguments do not match any overload of MultipleTemplatesIntFloat constructor');
end
@ -17,7 +17,7 @@ classdef MultipleTemplatesIntFloat < handle
end
function delete(obj)
class_wrapper(47, obj.ptr_MultipleTemplatesIntFloat);
class_wrapper(51, obj.ptr_MultipleTemplatesIntFloat);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected/matlab/MyFactorPosePoint2.m
View File

@ -12,9 +12,9 @@ classdef MyFactorPosePoint2 < handle
function obj = MyFactorPosePoint2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(48, my_ptr);
class_wrapper(52, my_ptr);
elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base')
my_ptr = class_wrapper(49, varargin{1}, varargin{2}, varargin{3}, varargin{4});
my_ptr = class_wrapper(53, varargin{1}, varargin{2}, varargin{3}, varargin{4});
else
error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
end
@ -22,7 +22,7 @@ classdef MyFactorPosePoint2 < handle
end
function delete(obj)
class_wrapper(50, obj.ptr_MyFactorPosePoint2);
class_wrapper(54, obj.ptr_MyFactorPosePoint2);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected/matlab/MyVector12.m
View File

@ -12,9 +12,9 @@ classdef MyVector12 < handle
function obj = MyVector12(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(41, my_ptr);
class_wrapper(45, my_ptr);
elseif nargin == 0
my_ptr = class_wrapper(42);
my_ptr = class_wrapper(46);
else
error('Arguments do not match any overload of MyVector12 constructor');
end
@ -22,7 +22,7 @@ classdef MyVector12 < handle
end
function delete(obj)
class_wrapper(43, obj.ptr_MyVector12);
class_wrapper(47, obj.ptr_MyVector12);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected/matlab/MyVector3.m
View File

@ -12,9 +12,9 @@ classdef MyVector3 < handle
function obj = MyVector3(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(38, my_ptr);
class_wrapper(42, my_ptr);
elseif nargin == 0
my_ptr = class_wrapper(39);
my_ptr = class_wrapper(43);
else
error('Arguments do not match any overload of MyVector3 constructor');
end
@ -22,7 +22,7 @@ classdef MyVector3 < handle
end
function delete(obj)
class_wrapper(40, obj.ptr_MyVector3);
class_wrapper(44, obj.ptr_MyVector3);
end
function display(obj), obj.print(''); end

8
wrap/tests/expected/matlab/PrimitiveRefDouble.m
View File

@ -19,9 +19,9 @@ classdef PrimitiveRefDouble < handle
function obj = PrimitiveRefDouble(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(34, my_ptr);
class_wrapper(38, my_ptr);
elseif nargin == 0
my_ptr = class_wrapper(35);
my_ptr = class_wrapper(39);
else
error('Arguments do not match any overload of PrimitiveRefDouble constructor');
end
@ -29,7 +29,7 @@ classdef PrimitiveRefDouble < handle
end
function delete(obj)
class_wrapper(36, obj.ptr_PrimitiveRefDouble);
class_wrapper(40, obj.ptr_PrimitiveRefDouble);
end
function display(obj), obj.print(''); end
@ -43,7 +43,7 @@ classdef PrimitiveRefDouble < handle
% BRUTAL usage: Brutal(double t) : returns PrimitiveRefdouble
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = class_wrapper(37, varargin{:});
varargout{1} = class_wrapper(41, varargin{:});
return
end

70
wrap/tests/expected/matlab/Test.m
View File

@ -9,6 +9,7 @@
%arg_EigenConstRef(Matrix value) : returns void
%create_MixedPtrs() : returns pair< Test, Test >
%create_ptrs() : returns pair< Test, Test >
%get_container() : returns std::vector<testing::Test>
%print() : returns void
%return_Point2Ptr(bool value) : returns Point2
%return_Test(Test value) : returns Test
@ -26,6 +27,9 @@
%return_string(string value) : returns string
%return_vector1(Vector value) : returns Vector
%return_vector2(Vector value) : returns Vector
%set_container(vector<Test> container) : returns void
%set_container(vector<Test> container) : returns void
%set_container(vector<Test> container) : returns void
%
classdef Test < handle
properties
@ -84,11 +88,21 @@ classdef Test < handle
error('Arguments do not match any overload of function Test.create_ptrs');
end
function varargout = get_container(this, varargin)
% GET_CONTAINER usage: get_container() : returns std.vectorTest
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = class_wrapper(17, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.get_container');
end
function varargout = print(this, varargin)
% PRINT usage: print() : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
class_wrapper(17, this, varargin{:});
class_wrapper(18, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.print');
@ -98,7 +112,7 @@ classdef Test < handle
% RETURN_POINT2PTR usage: return_Point2Ptr(bool value) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'logical')
varargout{1} = class_wrapper(18, this, varargin{:});
varargout{1} = class_wrapper(19, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_Point2Ptr');
@ -108,7 +122,7 @@ classdef Test < handle
% RETURN_TEST usage: return_Test(Test value) : returns Test
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = class_wrapper(19, this, varargin{:});
varargout{1} = class_wrapper(20, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_Test');
@ -118,7 +132,7 @@ classdef Test < handle
% RETURN_TESTPTR usage: return_TestPtr(Test value) : returns Test
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = class_wrapper(20, this, varargin{:});
varargout{1} = class_wrapper(21, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_TestPtr');
@ -128,7 +142,7 @@ classdef Test < handle
% RETURN_BOOL usage: return_bool(bool value) : returns bool
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'logical')
varargout{1} = class_wrapper(21, this, varargin{:});
varargout{1} = class_wrapper(22, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_bool');
@ -138,7 +152,7 @@ classdef Test < handle
% RETURN_DOUBLE usage: return_double(double value) : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = class_wrapper(22, this, varargin{:});
varargout{1} = class_wrapper(23, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_double');
@ -148,7 +162,7 @@ classdef Test < handle
% RETURN_FIELD usage: return_field(Test t) : returns bool
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = class_wrapper(23, this, varargin{:});
varargout{1} = class_wrapper(24, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_field');
@ -158,7 +172,7 @@ classdef Test < handle
% RETURN_INT usage: return_int(int value) : returns int
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = class_wrapper(24, this, varargin{:});
varargout{1} = class_wrapper(25, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_int');
@ -168,7 +182,7 @@ classdef Test < handle
% RETURN_MATRIX1 usage: return_matrix1(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = class_wrapper(25, this, varargin{:});
varargout{1} = class_wrapper(26, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_matrix1');
@ -178,7 +192,7 @@ classdef Test < handle
% RETURN_MATRIX2 usage: return_matrix2(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = class_wrapper(26, this, varargin{:});
varargout{1} = class_wrapper(27, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_matrix2');
@ -188,13 +202,13 @@ classdef Test < handle
% RETURN_PAIR usage: return_pair(Vector v, Matrix A) : returns pair< Vector, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},2)==1 && isa(varargin{2},'double')
[ varargout{1} varargout{2} ] = class_wrapper(27, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(28, this, varargin{:});
return
end
% RETURN_PAIR usage: return_pair(Vector v) : returns pair< Vector, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
[ varargout{1} varargout{2} ] = class_wrapper(28, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(29, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_pair');
@ -204,7 +218,7 @@ classdef Test < handle
% RETURN_PTRS usage: return_ptrs(Test p1, Test p2) : returns pair< Test, Test >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test')
[ varargout{1} varargout{2} ] = class_wrapper(29, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(30, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_ptrs');
@ -214,7 +228,7 @@ classdef Test < handle
% RETURN_SIZE_T usage: return_size_t(size_t value) : returns size_t
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = class_wrapper(30, this, varargin{:});
varargout{1} = class_wrapper(31, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_size_t');
@ -224,7 +238,7 @@ classdef Test < handle
% RETURN_STRING usage: return_string(string value) : returns string
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
varargout{1} = class_wrapper(31, this, varargin{:});
varargout{1} = class_wrapper(32, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_string');
@ -234,7 +248,7 @@ classdef Test < handle
% RETURN_VECTOR1 usage: return_vector1(Vector value) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = class_wrapper(32, this, varargin{:});
varargout{1} = class_wrapper(33, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_vector1');
@ -244,12 +258,34 @@ classdef Test < handle
% RETURN_VECTOR2 usage: return_vector2(Vector value) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = class_wrapper(33, this, varargin{:});
varargout{1} = class_wrapper(34, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_vector2');
end
function varargout = set_container(this, varargin)
% SET_CONTAINER usage: set_container(vector<Test> container) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'std.vectorTest')
class_wrapper(35, this, varargin{:});
return
end
% SET_CONTAINER usage: set_container(vector<Test> container) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'std.vectorTest')
class_wrapper(36, this, varargin{:});
return
end
% SET_CONTAINER usage: set_container(vector<Test> container) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'std.vectorTest')
class_wrapper(37, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.set_container');
end
end
methods(Static = true)

177
wrap/tests/expected/matlab/class_wrapper.cpp
View File

@ -297,14 +297,21 @@ void Test_create_ptrs_16(int nargout, mxArray *out[], int nargin, const mxArray
out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
}
void Test_print_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_get_container_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("get_container",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
out[0] = wrap_shared_ptr(boost::make_shared<std::vector<testing::Test>>(obj->get_container()),"std.vectorTest", false);
}
void Test_print_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
obj->print();
}
void Test_return_Point2Ptr_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_Point2Ptr_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Point2Ptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -315,7 +322,7 @@ void Test_return_Point2Ptr_18(int nargout, mxArray *out[], int nargin, const mxA
}
}
void Test_return_Test_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_Test_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Test",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -323,7 +330,7 @@ void Test_return_Test_19(int nargout, mxArray *out[], int nargin, const mxArray
out[0] = wrap_shared_ptr(boost::make_shared<Test>(obj->return_Test(value)),"Test", false);
}
void Test_return_TestPtr_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_TestPtr_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_TestPtr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -331,7 +338,7 @@ void Test_return_TestPtr_20(int nargout, mxArray *out[], int nargin, const mxArr
out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false);
}
void Test_return_bool_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_bool_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_bool",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -339,7 +346,7 @@ void Test_return_bool_21(int nargout, mxArray *out[], int nargin, const mxArray
out[0] = wrap< bool >(obj->return_bool(value));
}
void Test_return_double_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_double_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_double",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -347,7 +354,7 @@ void Test_return_double_22(int nargout, mxArray *out[], int nargin, const mxArra
out[0] = wrap< double >(obj->return_double(value));
}
void Test_return_field_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_field_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_field",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -355,7 +362,7 @@ void Test_return_field_23(int nargout, mxArray *out[], int nargin, const mxArray
out[0] = wrap< bool >(obj->return_field(t));
}
void Test_return_int_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_int_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_int",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -363,7 +370,7 @@ void Test_return_int_24(int nargout, mxArray *out[], int nargin, const mxArray *
out[0] = wrap< int >(obj->return_int(value));
}
void Test_return_matrix1_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_matrix1_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_matrix1",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -371,7 +378,7 @@ void Test_return_matrix1_25(int nargout, mxArray *out[], int nargin, const mxArr
out[0] = wrap< Matrix >(obj->return_matrix1(value));
}
void Test_return_matrix2_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_matrix2_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_matrix2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -379,7 +386,7 @@ void Test_return_matrix2_26(int nargout, mxArray *out[], int nargin, const mxArr
out[0] = wrap< Matrix >(obj->return_matrix2(value));
}
void Test_return_pair_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_pair_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_pair",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -390,7 +397,7 @@ void Test_return_pair_27(int nargout, mxArray *out[], int nargin, const mxArray
out[1] = wrap< Matrix >(pairResult.second);
}
void Test_return_pair_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_pair_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_pair",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -400,7 +407,7 @@ void Test_return_pair_28(int nargout, mxArray *out[], int nargin, const mxArray
out[1] = wrap< Matrix >(pairResult.second);
}
void Test_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_ptrs_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_ptrs",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -411,7 +418,7 @@ void Test_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray
out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
}
void Test_return_size_t_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_size_t_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_size_t",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -419,7 +426,7 @@ void Test_return_size_t_30(int nargout, mxArray *out[], int nargin, const mxArra
out[0] = wrap< size_t >(obj->return_size_t(value));
}
void Test_return_string_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_string_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_string",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -427,7 +434,7 @@ void Test_return_string_31(int nargout, mxArray *out[], int nargin, const mxArra
out[0] = wrap< string >(obj->return_string(value));
}
void Test_return_vector1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_vector1_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_vector1",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -435,7 +442,7 @@ void Test_return_vector1_32(int nargout, mxArray *out[], int nargin, const mxArr
out[0] = wrap< Vector >(obj->return_vector1(value));
}
void Test_return_vector2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_return_vector2_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_vector2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
@ -443,7 +450,31 @@ void Test_return_vector2_33(int nargout, mxArray *out[], int nargin, const mxArr
out[0] = wrap< Vector >(obj->return_vector2(value));
}
void PrimitiveRefDouble_collectorInsertAndMakeBase_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void Test_set_container_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("set_container",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<std::vector<testing::Test>> container = unwrap_shared_ptr< std::vector<testing::Test> >(in[1], "ptr_stdvectorTest");
obj->set_container(*container);
}
void Test_set_container_36(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("set_container",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<std::vector<testing::Test>> container = unwrap_shared_ptr< std::vector<testing::Test> >(in[1], "ptr_stdvectorTest");
obj->set_container(*container);
}
void Test_set_container_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("set_container",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<std::vector<testing::Test>> container = unwrap_shared_ptr< std::vector<testing::Test> >(in[1], "ptr_stdvectorTest");
obj->set_container(*container);
}
void PrimitiveRefDouble_collectorInsertAndMakeBase_38(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@ -452,7 +483,7 @@ void PrimitiveRefDouble_collectorInsertAndMakeBase_34(int nargout, mxArray *out[
collector_PrimitiveRefDouble.insert(self);
}
void PrimitiveRefDouble_constructor_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void PrimitiveRefDouble_constructor_39(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@ -463,7 +494,7 @@ void PrimitiveRefDouble_constructor_35(int nargout, mxArray *out[], int nargin,
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void PrimitiveRefDouble_deconstructor_36(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void PrimitiveRefDouble_deconstructor_40(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1);
@ -476,14 +507,14 @@ void PrimitiveRefDouble_deconstructor_36(int nargout, mxArray *out[], int nargin
}
}
void PrimitiveRefDouble_Brutal_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void PrimitiveRefDouble_Brutal_41(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("PrimitiveRefDouble.Brutal",nargout,nargin,1);
double t = unwrap< double >(in[0]);
out[0] = wrap_shared_ptr(boost::make_shared<PrimitiveRef<double>>(PrimitiveRef<double>::Brutal(t)),"PrimitiveRefdouble", false);
}
void MyVector3_collectorInsertAndMakeBase_38(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector3_collectorInsertAndMakeBase_42(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<3>> Shared;
@ -492,7 +523,7 @@ void MyVector3_collectorInsertAndMakeBase_38(int nargout, mxArray *out[], int na
collector_MyVector3.insert(self);
}
void MyVector3_constructor_39(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector3_constructor_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<3>> Shared;
@ -503,7 +534,7 @@ void MyVector3_constructor_39(int nargout, mxArray *out[], int nargin, const mxA
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyVector3_deconstructor_40(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector3_deconstructor_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyVector<3>> Shared;
checkArguments("delete_MyVector3",nargout,nargin,1);
@ -516,7 +547,7 @@ void MyVector3_deconstructor_40(int nargout, mxArray *out[], int nargin, const m
}
}
void MyVector12_collectorInsertAndMakeBase_41(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector12_collectorInsertAndMakeBase_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<12>> Shared;
@ -525,7 +556,7 @@ void MyVector12_collectorInsertAndMakeBase_41(int nargout, mxArray *out[], int n
collector_MyVector12.insert(self);
}
void MyVector12_constructor_42(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector12_constructor_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<12>> Shared;
@ -536,7 +567,7 @@ void MyVector12_constructor_42(int nargout, mxArray *out[], int nargin, const mx
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyVector12_deconstructor_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyVector12_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyVector<12>> Shared;
checkArguments("delete_MyVector12",nargout,nargin,1);
@ -549,7 +580,7 @@ void MyVector12_deconstructor_43(int nargout, mxArray *out[], int nargin, const
}
}
void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
@ -558,7 +589,7 @@ void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_44(int nargout, mxArr
collector_MultipleTemplatesIntDouble.insert(self);
}
void MultipleTemplatesIntDouble_deconstructor_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MultipleTemplatesIntDouble_deconstructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1);
@ -571,7 +602,7 @@ void MultipleTemplatesIntDouble_deconstructor_45(int nargout, mxArray *out[], in
}
}
void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
@ -580,7 +611,7 @@ void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_46(int nargout, mxArra
collector_MultipleTemplatesIntFloat.insert(self);
}
void MultipleTemplatesIntFloat_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MultipleTemplatesIntFloat_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1);
@ -593,7 +624,7 @@ void MultipleTemplatesIntFloat_deconstructor_47(int nargout, mxArray *out[], int
}
}
void MyFactorPosePoint2_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@ -602,7 +633,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_48(int nargout, mxArray *out[
collector_MyFactorPosePoint2.insert(self);
}
void MyFactorPosePoint2_constructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_constructor_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@ -617,7 +648,7 @@ void MyFactorPosePoint2_constructor_49(int nargout, mxArray *out[], int nargin,
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyFactorPosePoint2_deconstructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_deconstructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@ -694,106 +725,118 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
Test_create_ptrs_16(nargout, out, nargin-1, in+1);
break;
case 17:
Test_print_17(nargout, out, nargin-1, in+1);
Test_get_container_17(nargout, out, nargin-1, in+1);
break;
case 18:
Test_return_Point2Ptr_18(nargout, out, nargin-1, in+1);
Test_print_18(nargout, out, nargin-1, in+1);
break;
case 19:
Test_return_Test_19(nargout, out, nargin-1, in+1);
Test_return_Point2Ptr_19(nargout, out, nargin-1, in+1);
break;
case 20:
Test_return_TestPtr_20(nargout, out, nargin-1, in+1);
Test_return_Test_20(nargout, out, nargin-1, in+1);
break;
case 21:
Test_return_bool_21(nargout, out, nargin-1, in+1);
Test_return_TestPtr_21(nargout, out, nargin-1, in+1);
break;
case 22:
Test_return_double_22(nargout, out, nargin-1, in+1);
Test_return_bool_22(nargout, out, nargin-1, in+1);
break;
case 23:
Test_return_field_23(nargout, out, nargin-1, in+1);
Test_return_double_23(nargout, out, nargin-1, in+1);
break;
case 24:
Test_return_int_24(nargout, out, nargin-1, in+1);
Test_return_field_24(nargout, out, nargin-1, in+1);
break;
case 25:
Test_return_matrix1_25(nargout, out, nargin-1, in+1);
Test_return_int_25(nargout, out, nargin-1, in+1);
break;
case 26:
Test_return_matrix2_26(nargout, out, nargin-1, in+1);
Test_return_matrix1_26(nargout, out, nargin-1, in+1);
break;
case 27:
Test_return_pair_27(nargout, out, nargin-1, in+1);
Test_return_matrix2_27(nargout, out, nargin-1, in+1);
break;
case 28:
Test_return_pair_28(nargout, out, nargin-1, in+1);
break;
case 29:
Test_return_ptrs_29(nargout, out, nargin-1, in+1);
Test_return_pair_29(nargout, out, nargin-1, in+1);
break;
case 30:
Test_return_size_t_30(nargout, out, nargin-1, in+1);
Test_return_ptrs_30(nargout, out, nargin-1, in+1);
break;
case 31:
Test_return_string_31(nargout, out, nargin-1, in+1);
Test_return_size_t_31(nargout, out, nargin-1, in+1);
break;
case 32:
Test_return_vector1_32(nargout, out, nargin-1, in+1);
Test_return_string_32(nargout, out, nargin-1, in+1);
break;
case 33:
Test_return_vector2_33(nargout, out, nargin-1, in+1);
Test_return_vector1_33(nargout, out, nargin-1, in+1);
break;
case 34:
PrimitiveRefDouble_collectorInsertAndMakeBase_34(nargout, out, nargin-1, in+1);
Test_return_vector2_34(nargout, out, nargin-1, in+1);
break;
case 35:
PrimitiveRefDouble_constructor_35(nargout, out, nargin-1, in+1);
Test_set_container_35(nargout, out, nargin-1, in+1);
break;
case 36:
PrimitiveRefDouble_deconstructor_36(nargout, out, nargin-1, in+1);
Test_set_container_36(nargout, out, nargin-1, in+1);
break;
case 37:
PrimitiveRefDouble_Brutal_37(nargout, out, nargin-1, in+1);
Test_set_container_37(nargout, out, nargin-1, in+1);
break;
case 38:
MyVector3_collectorInsertAndMakeBase_38(nargout, out, nargin-1, in+1);
PrimitiveRefDouble_collectorInsertAndMakeBase_38(nargout, out, nargin-1, in+1);
break;
case 39:
MyVector3_constructor_39(nargout, out, nargin-1, in+1);
PrimitiveRefDouble_constructor_39(nargout, out, nargin-1, in+1);
break;
case 40:
MyVector3_deconstructor_40(nargout, out, nargin-1, in+1);
PrimitiveRefDouble_deconstructor_40(nargout, out, nargin-1, in+1);
break;
case 41:
MyVector12_collectorInsertAndMakeBase_41(nargout, out, nargin-1, in+1);
PrimitiveRefDouble_Brutal_41(nargout, out, nargin-1, in+1);
break;
case 42:
MyVector12_constructor_42(nargout, out, nargin-1, in+1);
MyVector3_collectorInsertAndMakeBase_42(nargout, out, nargin-1, in+1);
break;
case 43:
MyVector12_deconstructor_43(nargout, out, nargin-1, in+1);
MyVector3_constructor_43(nargout, out, nargin-1, in+1);
break;
case 44:
MultipleTemplatesIntDouble_collectorInsertAndMakeBase_44(nargout, out, nargin-1, in+1);
MyVector3_deconstructor_44(nargout, out, nargin-1, in+1);
break;
case 45:
MultipleTemplatesIntDouble_deconstructor_45(nargout, out, nargin-1, in+1);
MyVector12_collectorInsertAndMakeBase_45(nargout, out, nargin-1, in+1);
break;
case 46:
MultipleTemplatesIntFloat_collectorInsertAndMakeBase_46(nargout, out, nargin-1, in+1);
MyVector12_constructor_46(nargout, out, nargin-1, in+1);
break;
case 47:
MultipleTemplatesIntFloat_deconstructor_47(nargout, out, nargin-1, in+1);
MyVector12_deconstructor_47(nargout, out, nargin-1, in+1);
break;
case 48:
MyFactorPosePoint2_collectorInsertAndMakeBase_48(nargout, out, nargin-1, in+1);
MultipleTemplatesIntDouble_collectorInsertAndMakeBase_48(nargout, out, nargin-1, in+1);
break;
case 49:
MyFactorPosePoint2_constructor_49(nargout, out, nargin-1, in+1);
MultipleTemplatesIntDouble_deconstructor_49(nargout, out, nargin-1, in+1);
break;
case 50:
MyFactorPosePoint2_deconstructor_50(nargout, out, nargin-1, in+1);
MultipleTemplatesIntFloat_collectorInsertAndMakeBase_50(nargout, out, nargin-1, in+1);
break;
case 51:
MultipleTemplatesIntFloat_deconstructor_51(nargout, out, nargin-1, in+1);
break;
case 52:
MyFactorPosePoint2_collectorInsertAndMakeBase_52(nargout, out, nargin-1, in+1);
break;
case 53:
MyFactorPosePoint2_constructor_53(nargout, out, nargin-1, in+1);
break;
case 54:
MyFactorPosePoint2_deconstructor_54(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {

81
wrap/tests/expected/matlab/special_cases_wrapper.cpp
View File

@ -25,6 +25,7 @@ typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
@ -71,8 +72,12 @@ typedef std::set<boost::shared_ptr<ClassD>*> Collector_ClassD;
static Collector_ClassD collector_ClassD;
typedef std::set<boost::shared_ptr<gtsam::NonlinearFactorGraph>*> Collector_gtsamNonlinearFactorGraph;
static Collector_gtsamNonlinearFactorGraph collector_gtsamNonlinearFactorGraph;
typedef std::set<boost::shared_ptr<gtsam::SfmTrack>*> Collector_gtsamSfmTrack;
static Collector_gtsamSfmTrack collector_gtsamSfmTrack;
typedef std::set<boost::shared_ptr<PinholeCameraCal3Bundler>*> Collector_gtsamPinholeCameraCal3Bundler;
static Collector_gtsamPinholeCameraCal3Bundler collector_gtsamPinholeCameraCal3Bundler;
typedef std::set<boost::shared_ptr<GeneralSFMFactorCal3Bundler>*> Collector_gtsamGeneralSFMFactorCal3Bundler;
static Collector_gtsamGeneralSFMFactorCal3Bundler collector_gtsamGeneralSFMFactorCal3Bundler;
void _deleteAllObjects()
{
@ -206,12 +211,24 @@ void _deleteAllObjects()
collector_gtsamNonlinearFactorGraph.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamSfmTrack::iterator iter = collector_gtsamSfmTrack.begin();
iter != collector_gtsamSfmTrack.end(); ) {
delete *iter;
collector_gtsamSfmTrack.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPinholeCameraCal3Bundler::iterator iter = collector_gtsamPinholeCameraCal3Bundler.begin();
iter != collector_gtsamPinholeCameraCal3Bundler.end(); ) {
delete *iter;
collector_gtsamPinholeCameraCal3Bundler.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamGeneralSFMFactorCal3Bundler::iterator iter = collector_gtsamGeneralSFMFactorCal3Bundler.begin();
iter != collector_gtsamGeneralSFMFactorCal3Bundler.end(); ) {
delete *iter;
collector_gtsamGeneralSFMFactorCal3Bundler.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
@ -282,7 +299,29 @@ void gtsamNonlinearFactorGraph_addPrior_2(int nargout, mxArray *out[], int nargi
obj->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key,prior,noiseModel);
}
void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void gtsamSfmTrack_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::SfmTrack> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamSfmTrack.insert(self);
}
void gtsamSfmTrack_deconstructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::SfmTrack> Shared;
checkArguments("delete_gtsamSfmTrack",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamSfmTrack::iterator item;
item = collector_gtsamSfmTrack.find(self);
if(item != collector_gtsamSfmTrack.end()) {
delete self;
collector_gtsamSfmTrack.erase(item);
}
}
void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
@ -291,7 +330,7 @@ void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_3(int nargout, mxA
collector_gtsamPinholeCameraCal3Bundler.insert(self);
}
void gtsamPinholeCameraCal3Bundler_deconstructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void gtsamPinholeCameraCal3Bundler_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
checkArguments("delete_gtsamPinholeCameraCal3Bundler",nargout,nargin,1);
@ -304,6 +343,28 @@ void gtsamPinholeCameraCal3Bundler_deconstructor_4(int nargout, mxArray *out[],
}
}
void gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamGeneralSFMFactorCal3Bundler.insert(self);
}
void gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>> Shared;
checkArguments("delete_gtsamGeneralSFMFactorCal3Bundler",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamGeneralSFMFactorCal3Bundler::iterator item;
item = collector_gtsamGeneralSFMFactorCal3Bundler.find(self);
if(item != collector_gtsamGeneralSFMFactorCal3Bundler.end()) {
delete self;
collector_gtsamGeneralSFMFactorCal3Bundler.erase(item);
}
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
@ -326,10 +387,22 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
gtsamNonlinearFactorGraph_addPrior_2(nargout, out, nargin-1, in+1);
break;
case 3:
gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
gtsamSfmTrack_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
break;
case 4:
gtsamPinholeCameraCal3Bundler_deconstructor_4(nargout, out, nargin-1, in+1);
gtsamSfmTrack_deconstructor_4(nargout, out, nargin-1, in+1);
break;
case 5:
gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_5(nargout, out, nargin-1, in+1);
break;
case 6:
gtsamPinholeCameraCal3Bundler_deconstructor_6(nargout, out, nargin-1, in+1);
break;
case 7:
gtsamGeneralSFMFactorCal3Bundler_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
break;
case 8:
gtsamGeneralSFMFactorCal3Bundler_deconstructor_8(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {

13
wrap/tests/expected/python/class_pybind.cpp
View File

@ -3,6 +3,7 @@
#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 "folder/path/to/Test.h"
@ -48,12 +49,12 @@ PYBIND11_MODULE(class_py, m_) {
.def("return_matrix2",[](Test* self, const gtsam::Matrix& value){return self->return_matrix2(value);}, py::arg("value"))
.def("arg_EigenConstRef",[](Test* self, const gtsam::Matrix& value){ self->arg_EigenConstRef(value);}, py::arg("value"))
.def("return_field",[](Test* self, const Test& t){return self->return_field(t);}, py::arg("t"))
.def("return_TestPtr",[](Test* self, const std::shared_ptr<Test>& value){return self->return_TestPtr(value);}, py::arg("value"))
.def("return_Test",[](Test* self, std::shared_ptr<Test>& value){return self->return_Test(value);}, py::arg("value"))
.def("return_TestPtr",[](Test* self, const std::shared_ptr<Test> value){return self->return_TestPtr(value);}, py::arg("value"))
.def("return_Test",[](Test* self, std::shared_ptr<Test> value){return self->return_Test(value);}, py::arg("value"))
.def("return_Point2Ptr",[](Test* self, bool value){return self->return_Point2Ptr(value);}, py::arg("value"))
.def("create_ptrs",[](Test* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](Test* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](Test* self, std::shared_ptr<Test>& p1, std::shared_ptr<Test>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("return_ptrs",[](Test* self, std::shared_ptr<Test> p1, std::shared_ptr<Test> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("print_",[](Test* self){ self->print();})
.def("__repr__",
[](const Test &a) {
@ -61,6 +62,10 @@ PYBIND11_MODULE(class_py, m_) {
a.print();
return redirect.str();
})
.def("set_container",[](Test* self, std::vector<testing::Test> container){ self->set_container(container);}, py::arg("container"))
.def("set_container",[](Test* self, std::vector<std::shared_ptr<testing::Test>> container){ self->set_container(container);}, py::arg("container"))
.def("set_container",[](Test* self, std::vector<testing::Test&> container){ self->set_container(container);}, py::arg("container"))
.def("get_container",[](Test* self){return self->get_container();})
.def_readwrite("model_ptr", &Test::model_ptr);
py::class_<PrimitiveRef<double>, std::shared_ptr<PrimitiveRef<double>>>(m_, "PrimitiveRefDouble")
@ -78,7 +83,7 @@ PYBIND11_MODULE(class_py, m_) {
py::class_<MultipleTemplates<int, float>, std::shared_ptr<MultipleTemplates<int, float>>>(m_, "MultipleTemplatesIntFloat");
py::class_<MyFactor<gtsam::Pose2, gtsam::Matrix>, std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>>(m_, "MyFactorPosePoint2")
.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>&>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"));
.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"));
#include "python/specializations.h"

5
wrap/tests/expected/python/functions_pybind.cpp
View File

@ -3,6 +3,7 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
@ -21,8 +22,8 @@ PYBIND11_MODULE(functions_py, m_) {
m_.doc() = "pybind11 wrapper of functions_py";
m_.def("load2D",[](string filename, std::shared_ptr<Test>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, const std::shared_ptr<gtsam::noiseModel::Diagonal>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, std::shared_ptr<Test> model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, const std::shared_ptr<gtsam::noiseModel::Diagonal> model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, gtsam::noiseModel::Diagonal* model){return ::load2D(filename, model);}, py::arg("filename"), py::arg("model"));
m_.def("aGlobalFunction",[](){return ::aGlobalFunction();});
m_.def("overloadedGlobalFunction",[](int a){return ::overloadedGlobalFunction(a);}, py::arg("a"));

5
wrap/tests/expected/python/geometry_pybind.cpp
View File

@ -3,6 +3,7 @@
#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 "gtsam/geometry/Point2.h"
@ -34,10 +35,10 @@ PYBIND11_MODULE(geometry_py, m_) {
.def("dim",[](gtsam::Point2* self){return self->dim();})
.def("returnChar",[](gtsam::Point2* self){return self->returnChar();})
.def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, std::shared_ptr<char>& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, char& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, char* a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const std::shared_ptr<char>& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const std::shared_ptr<char> a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const char& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const char* a){ self->argChar(a);}, py::arg("a"))
.def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a"))

13
wrap/tests/expected/python/inheritance_pybind.cpp
View File

@ -3,6 +3,7 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
@ -30,12 +31,12 @@ PYBIND11_MODULE(inheritance_py, m_) {
.def("templatedMethodVector",[](MyTemplate<gtsam::Point2>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Point2>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Point2>* self, const gtsam::Point2& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2> value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2> value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Point2>* self, gtsam::Point2* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Point2>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Point2>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& p1, std::shared_ptr<gtsam::Point2>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("return_ptrs",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2> p1, std::shared_ptr<gtsam::Point2> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Point2& K){return MyTemplate<gtsam::Point2>::Level(K);}, py::arg("K"));
py::class_<MyTemplate<gtsam::Matrix>, MyBase, std::shared_ptr<MyTemplate<gtsam::Matrix>>>(m_, "MyTemplateMatrix")
@ -45,12 +46,12 @@ PYBIND11_MODULE(inheritance_py, m_) {
.def("templatedMethodVector",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& p1, const std::shared_ptr<gtsam::Matrix>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> p1, const std::shared_ptr<gtsam::Matrix> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Matrix& K){return MyTemplate<gtsam::Matrix>::Level(K);}, py::arg("K"));

1
wrap/tests/expected/python/namespaces_pybind.cpp
View File

@ -3,6 +3,7 @@
#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 "path/to/ns1.h"

40
wrap/tests/expected/python/operator_pybind.cpp Normal file
View File

@ -0,0 +1,40 @@
#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 "gtsam/geometry/Pose3.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(operator_py, m_) {
m_.doc() = "pybind11 wrapper of operator_py";
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
py::class_<gtsam::Pose3, std::shared_ptr<gtsam::Pose3>>(m_gtsam, "Pose3")
.def(py::init<>())
.def(py::init<gtsam::Rot3, gtsam::Point3>(), py::arg("R"), py::arg("t"))
.def(py::self * py::self);
py::class_<gtsam::Container<gtsam::Matrix>, std::shared_ptr<gtsam::Container<gtsam::Matrix>>>(m_gtsam, "ContainerMatrix")
.def("__call__", &gtsam::Container<gtsam::Matrix>::operator())
.def("__getitem__", &gtsam::Container<gtsam::Matrix>::operator[]);
#include "python/specializations.h"
}

8
wrap/tests/expected/python/special_cases_pybind.cpp
View File

@ -3,6 +3,7 @@
#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 "gtsam/geometry/Cal3Bundler.h"
@ -24,10 +25,15 @@ PYBIND11_MODULE(special_cases_py, m_) {
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
py::class_<gtsam::NonlinearFactorGraph, std::shared_ptr<gtsam::NonlinearFactorGraph>>(m_gtsam, "NonlinearFactorGraph")
.def("addPriorPinholeCameraCal3Bundler",[](gtsam::NonlinearFactorGraph* self, size_t key, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& prior, const std::shared_ptr<gtsam::noiseModel::Base>& noiseModel){ self->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key, prior, noiseModel);}, py::arg("key"), py::arg("prior"), py::arg("noiseModel"));
.def("addPriorPinholeCameraCal3Bundler",[](gtsam::NonlinearFactorGraph* self, size_t key, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& prior, const std::shared_ptr<gtsam::noiseModel::Base> noiseModel){ self->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key, prior, noiseModel);}, py::arg("key"), py::arg("prior"), py::arg("noiseModel"));
py::class_<gtsam::SfmTrack, std::shared_ptr<gtsam::SfmTrack>>(m_gtsam, "SfmTrack")
.def_readwrite("measurements", &gtsam::SfmTrack::measurements);
py::class_<gtsam::PinholeCamera<gtsam::Cal3Bundler>, std::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(m_gtsam, "PinholeCameraCal3Bundler");
py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>>(m_gtsam, "GeneralSFMFactorCal3Bundler");
#include "python/specializations.h"

5
wrap/tests/fixtures/class.i vendored
View File

@ -63,6 +63,11 @@ class Test {
void print() const;
void set_container(std::vector<testing::Test> container);
void set_container(std::vector<testing::Test*> container);
void set_container(std::vector<testing::Test&> container);
std::vector<testing::Test*> get_container() const;
// comments at the end!
// even more comments at the end!

16
wrap/tests/fixtures/operator.i vendored Normal file
View File

@ -0,0 +1,16 @@
namespace gtsam {
#include <gtsam/geometry/Pose3.h>
class Pose3 {
Pose3();
Pose3(gtsam::Rot3 R, gtsam::Point3 t);
gtsam::Pose3 operator*(gtsam::Pose3 other) const;
};
template<T = {Matrix}>
class Container {
gtsam::JacobianFactor operator()(const T& m) const;
T operator[](size_t idx) const;
};
}

15
wrap/tests/fixtures/special_cases.i vendored
View File

@ -11,7 +11,18 @@ typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
class NonlinearFactorGraph {
template <T = {gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
void addPrior(size_t key, const T& prior,
const gtsam::noiseModel::Base* noiseModel);
};
}
// Typedef with template as template arg.
template<CALIBRATION, POINT>
class GeneralSFMFactor {};
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
// Template as template arg for class property.
class SfmTrack {
std::vector<std::pair<size_t, gtsam::Point2>> measurements;
};
} // namespace gtsam

1
wrap/tests/pybind_wrapper.tpl
View File

@ -3,6 +3,7 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
{includes}

158
wrap/tests/test_interface_parser.py
View File

@ -21,7 +21,8 @@ sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from gtwrap.interface_parser import (ArgumentList, Class, Constructor,
ForwardDeclaration, GlobalFunction,
Include, Method, Module, Namespace,
ReturnType, StaticMethod, Type,
Operator, ReturnType, StaticMethod,
TemplatedType, Type,
TypedefTemplateInstantiation, Typename)
@ -32,28 +33,104 @@ class TestInterfaceParser(unittest.TestCase):
typename = Typename.rule.parseString("size_t")[0]
self.assertEqual("size_t", typename.name)
typename = Typename.rule.parseString(
"gtsam::PinholeCamera<gtsam::Cal3S2>")[0]
self.assertEqual("PinholeCamera", typename.name)
self.assertEqual(["gtsam"], typename.namespaces)
self.assertEqual("Cal3S2", typename.instantiations[0].name)
self.assertEqual(["gtsam"], typename.instantiations[0].namespaces)
def test_type(self):
"""Test for Type."""
def test_basic_type(self):
"""Tests for BasicType."""
# Check basis type
t = Type.rule.parseString("int x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_basis)
t = Type.rule.parseString("T x")[0]
self.assertEqual("T", t.typename.name)
self.assertTrue(not t.is_basis)
self.assertTrue(t.is_basic)
# Check const
t = Type.rule.parseString("const int x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_basis)
self.assertTrue(t.is_basic)
self.assertTrue(t.is_const)
# Check shared pointer
t = Type.rule.parseString("int* x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_shared_ptr)
# Check raw pointer
t = Type.rule.parseString("int@ x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_ptr)
# Check reference
t = Type.rule.parseString("int& x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_ref)
# Check const reference
t = Type.rule.parseString("const int& x")[0]
self.assertEqual("int", t.typename.name)
self.assertTrue(t.is_const)
self.assertTrue(t.is_ref)
def test_custom_type(self):
"""Tests for CustomType."""
# Check qualified type
t = Type.rule.parseString("gtsam::Pose3 x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(not t.is_basic)
# Check const
t = Type.rule.parseString("const gtsam::Pose3 x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(t.is_const)
# Check shared pointer
t = Type.rule.parseString("gtsam::Pose3* x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(t.is_shared_ptr)
self.assertEqual("std::shared_ptr<gtsam::Pose3>",
t.to_cpp(use_boost=False))
self.assertEqual("boost::shared_ptr<gtsam::Pose3>",
t.to_cpp(use_boost=True))
# Check raw pointer
t = Type.rule.parseString("gtsam::Pose3@ x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(t.is_ptr)
# Check reference
t = Type.rule.parseString("gtsam::Pose3& x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(t.is_ref)
# Check const reference
t = Type.rule.parseString("const gtsam::Pose3& x")[0]
self.assertEqual("Pose3", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertTrue(t.is_const)
self.assertTrue(t.is_ref)
def test_templated_type(self):
"""Test a templated type."""
t = TemplatedType.rule.parseString("Eigen::Matrix<double, 3, 4>")[0]
self.assertEqual("Matrix", t.typename.name)
self.assertEqual(["Eigen"], t.typename.namespaces)
self.assertEqual("double", t.typename.instantiations[0].name)
self.assertEqual("3", t.typename.instantiations[1].name)
self.assertEqual("4", t.typename.instantiations[2].name)
t = TemplatedType.rule.parseString(
"gtsam::PinholeCamera<gtsam::Cal3S2>")[0]
self.assertEqual("PinholeCamera", t.typename.name)
self.assertEqual(["gtsam"], t.typename.namespaces)
self.assertEqual("Cal3S2", t.typename.instantiations[0].name)
self.assertEqual(["gtsam"], t.typename.instantiations[0].namespaces)
t = TemplatedType.rule.parseString("PinholeCamera<Cal3S2*>")[0]
self.assertEqual("PinholeCamera", t.typename.name)
self.assertEqual("Cal3S2", t.typename.instantiations[0].name)
self.assertTrue(t.template_params[0].is_shared_ptr)
def test_empty_arguments(self):
"""Test no arguments."""
empty_args = ArgumentList.rule.parseString("")[0]
@ -89,28 +166,41 @@ class TestInterfaceParser(unittest.TestCase):
self.assertTrue(args[6].ctype.is_ref and args[6].ctype.is_const)
self.assertTrue(args[7].ctype.is_ptr and args[7].ctype.is_const)
def test_argument_list_templated(self):
"""Test arguments list where the arguments can be templated."""
arg_string = "std::pair<string, double> steps, vector<T*> vector_of_pointers"
args = ArgumentList.rule.parseString(arg_string)[0]
args_list = args.args_list
self.assertEqual(2, len(args_list))
self.assertEqual("std::pair<string, double>",
args_list[0].ctype.to_cpp(False))
self.assertEqual("vector<std::shared_ptr<T>>",
args_list[1].ctype.to_cpp(False))
self.assertEqual("vector<boost::shared_ptr<T>>",
args_list[1].ctype.to_cpp(True))
def test_return_type(self):
"""Test ReturnType"""
# Test void
return_type = ReturnType.rule.parseString("void")[0]
self.assertEqual("void", return_type.type1.typename.name)
self.assertTrue(return_type.type1.is_basis)
self.assertTrue(return_type.type1.is_basic)
# Test basis type
return_type = ReturnType.rule.parseString("size_t")[0]
self.assertEqual("size_t", return_type.type1.typename.name)
self.assertTrue(not return_type.type2)
self.assertTrue(return_type.type1.is_basis)
self.assertTrue(return_type.type1.is_basic)
# Test with qualifiers
return_type = ReturnType.rule.parseString("int&")[0]
self.assertEqual("int", return_type.type1.typename.name)
self.assertTrue(return_type.type1.is_basis
self.assertTrue(return_type.type1.is_basic
and return_type.type1.is_ref)
return_type = ReturnType.rule.parseString("const int")[0]
self.assertEqual("int", return_type.type1.typename.name)
self.assertTrue(return_type.type1.is_basis
self.assertTrue(return_type.type1.is_basic
and return_type.type1.is_const)
# Test pair return
@ -157,6 +247,32 @@ class TestInterfaceParser(unittest.TestCase):
self.assertEqual("f", ret.name)
self.assertEqual(3, len(ret.args))
def test_operator_overload(self):
"""Test for operator overloading."""
# Unary operator
wrap_string = "gtsam::Vector2 operator-() const;"
ret = Operator.rule.parseString(wrap_string)[0]
self.assertEqual("operator", ret.name)
self.assertEqual("-", ret.operator)
self.assertEqual("Vector2", ret.return_type.type1.typename.name)
self.assertEqual("gtsam::Vector2",
ret.return_type.type1.typename.to_cpp())
self.assertTrue(len(ret.args) == 0)
self.assertTrue(ret.is_unary)
# Binary operator
wrap_string = "gtsam::Vector2 operator*(const gtsam::Vector2 &v) const;"
ret = Operator.rule.parseString(wrap_string)[0]
self.assertEqual("operator", ret.name)
self.assertEqual("*", ret.operator)
self.assertEqual("Vector2", ret.return_type.type1.typename.name)
self.assertEqual("gtsam::Vector2",
ret.return_type.type1.typename.to_cpp())
self.assertTrue(len(ret.args) == 1)
self.assertEqual("const gtsam::Vector2 &",
repr(ret.args.args_list[0].ctype))
self.assertTrue(not ret.is_unary)
def test_typedef_template_instantiation(self):
"""Test for typedef'd instantiation of a template."""
typedef = TypedefTemplateInstantiation.rule.parseString("""
@ -283,7 +399,7 @@ class TestInterfaceParser(unittest.TestCase):
fwd = ForwardDeclaration.rule.parseString(
"virtual class Test:gtsam::Point3;")[0]
fwd_name = fwd.name.asList()[0]
fwd_name = fwd.name
self.assertEqual("Test", fwd_name.name)
self.assertTrue(fwd.is_virtual)

12
wrap/tests/test_pybind_wrapper.py
View File

@ -134,6 +134,18 @@ class TestWrap(unittest.TestCase):
self.compare_and_diff('namespaces_pybind.cpp', output)
def test_operator_overload(self):
"""
Tests for operator overloading.
"""
with open(osp.join(self.INTERFACE_DIR, 'operator.i'), 'r') as f:
content = f.read()
output = self.wrap_content(content, 'operator_py',
self.PYTHON_ACTUAL_DIR)
self.compare_and_diff('operator_pybind.cpp', output)
def test_special_cases(self):
"""
Tests for some unique, non-trivial features.