From 134e82836e0ff19cd0a2cfeb91d91f3502d74b10 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 1 Feb 2022 19:08:46 -0500
Subject: [PATCH] Fixes to get matlab wrapper working properly

---
 gtsam/discrete/discrete.i         | 2 +-
 gtsam/slam/slam.i                 | 8 ++++----
 matlab/CMakeLists.txt             | 2 ++
 python/gtsam/preamble/inference.h | 3 ---
 4 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/gtsam/discrete/discrete.i b/gtsam/discrete/discrete.i
index 93979bba1..325a8a3ab 100644
--- a/gtsam/discrete/discrete.i
+++ b/gtsam/discrete/discrete.i
@@ -97,7 +97,7 @@ virtual class DiscreteConditional : gtsam::DecisionTreeFactor {
                       const gtsam::Ordering& orderedKeys);
   gtsam::DiscreteConditional operator*(
       const gtsam::DiscreteConditional& other) const;
-  DiscreteConditional marginal(gtsam::Key key) const;
+  gtsam::DiscreteConditional marginal(gtsam::Key key) const;
   void print(string s = "Discrete Conditional\n",
              const gtsam::KeyFormatter& keyFormatter =
                  gtsam::DefaultKeyFormatter) const;
diff --git a/gtsam/slam/slam.i b/gtsam/slam/slam.i
index 2785a3fb3..4e943253e 100644
--- a/gtsam/slam/slam.i
+++ b/gtsam/slam/slam.i
@@ -223,12 +223,12 @@ enum KernelFunctionType {
   KernelFunctionTypeTUKEY
 };
 
-std::pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
+pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(
     string filename, gtsam::noiseModel::Diagonal* model = nullptr,
     size_t maxIndex = 0, bool addNoise = false, bool smart = true,
-    gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormatAUTO,
+    gtsam::NoiseFormat noiseFormat = gtsam::NoiseFormat::NoiseFormatAUTO,
     gtsam::KernelFunctionType kernelFunctionType =
-        gtsam::KernelFunctionTypeNONE);
+        gtsam::KernelFunctionType::KernelFunctionTypeNONE);
 
 void save2D(const gtsam::NonlinearFactorGraph& graph,
             const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
@@ -259,7 +259,7 @@ pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
 pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(
     string filename, const bool is3D = false,
     gtsam::KernelFunctionType kernelFunctionType =
-        gtsam::KernelFunctionTypeNONE);
+        gtsam::KernelFunctionType::KernelFunctionTypeNONE);
 void writeG2o(const gtsam::NonlinearFactorGraph& graph,
               const gtsam::Values& estimate, string filename);
 
diff --git a/matlab/CMakeLists.txt b/matlab/CMakeLists.txt
index 749ad870a..a37b12f37 100644
--- a/matlab/CMakeLists.txt
+++ b/matlab/CMakeLists.txt
@@ -68,6 +68,8 @@ set(interface_files
     ${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
     ${GTSAM_SOURCE_DIR}/gtsam/base/base.i
     ${GTSAM_SOURCE_DIR}/gtsam/basis/basis.i
+    ${PROJECT_SOURCE_DIR}/gtsam/inference/inference.i
+    # ${PROJECT_SOURCE_DIR}/gtsam/discrete/discrete.i  #TODO Matlab wrapper has a bug for raw pointers
     ${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
     ${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
     ${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i
diff --git a/python/gtsam/preamble/inference.h b/python/gtsam/preamble/inference.h
index 320e0ac71..d07a75f6f 100644
--- a/python/gtsam/preamble/inference.h
+++ b/python/gtsam/preamble/inference.h
@@ -10,6 +10,3 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-
-#include <pybind11/stl.h>
-