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Merge pull request #1712 from borglab/update-wrap

release/4.3a0
Varun Agrawal 2024-01-16 23:52:27 -05:00 committed by GitHub
parent f1913887db 6cc16a3943
commit 2dfd15e16c
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
18 changed files with 295 additions and 152 deletions
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1
gtsam/3rdparty/cephes/CMakeLists.txt vendored
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@ -8,7 +8,6 @@ project(
set(CEPHES_HEADER_FILES
cephes.h
cephes/cephes_names.h
cephes/dd_idefs.h
cephes/dd_real.h
cephes/dd_real_idefs.h

1
gtsam/3rdparty/cephes/cephes.h vendored
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@ -1,7 +1,6 @@
#ifndef CEPHES_H
#define CEPHES_H
#include "cephes/cephes_names.h"
#include "dllexport.h"
#ifdef __cplusplus

114
gtsam/3rdparty/cephes/cephes/cephes_names.h vendored
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@ -1,114 +0,0 @@
#ifndef CEPHES_NAMES_H
#define CEPHES_NAMES_H
#define airy cephes_airy
#define bdtrc cephes_bdtrc
#define bdtr cephes_bdtr
#define bdtri cephes_bdtri
#define besselpoly cephes_besselpoly
#define beta cephes_beta
#define lbeta cephes_lbeta
#define btdtr cephes_btdtr
#define cbrt cephes_cbrt
#define chdtrc cephes_chdtrc
#define chbevl cephes_chbevl
#define chdtr cephes_chdtr
#define chdtri cephes_chdtri
#define dawsn cephes_dawsn
#define ellie cephes_ellie
#define ellik cephes_ellik
#define ellpe cephes_ellpe
#define ellpj cephes_ellpj
#define ellpk cephes_ellpk
#define exp10 cephes_exp10
#define exp2 cephes_exp2
#define expn cephes_expn
#define fdtrc cephes_fdtrc
#define fdtr cephes_fdtr
#define fdtri cephes_fdtri
#define fresnl cephes_fresnl
#define Gamma cephes_Gamma
#define lgam cephes_lgam
#define lgam_sgn cephes_lgam_sgn
#define gammasgn cephes_gammasgn
#define gdtr cephes_gdtr
#define gdtrc cephes_gdtrc
#define gdtri cephes_gdtri
#define hyp2f1 cephes_hyp2f1
#define hyperg cephes_hyperg
#define i0 cephes_i0
#define i0e cephes_i0e
#define i1 cephes_i1
#define i1e cephes_i1e
#define igamc cephes_igamc
#define igam cephes_igam
#define igami cephes_igami
#define incbet cephes_incbet
#define incbi cephes_incbi
#define iv cephes_iv
#define j0 cephes_j0
#define y0 cephes_y0
#define j1 cephes_j1
#define y1 cephes_y1
#define jn cephes_jn
#define jv cephes_jv
#define k0 cephes_k0
#define k0e cephes_k0e
#define k1 cephes_k1
#define k1e cephes_k1e
#define kn cephes_kn
#define nbdtrc cephes_nbdtrc
#define nbdtr cephes_nbdtr
#define nbdtri cephes_nbdtri
#define ndtr cephes_ndtr
#define erfc cephes_erfc
#define erf cephes_erf
#define erfinv cephes_erfinv
#define erfcinv cephes_erfcinv
#define ndtri cephes_ndtri
#define pdtrc cephes_pdtrc
#define pdtr cephes_pdtr
#define pdtri cephes_pdtri
#define poch cephes_poch
#define psi cephes_psi
#define rgamma cephes_rgamma
#define riemann_zeta cephes_riemann_zeta
// #define round cephes_round // Commented out since it clashes with std::round
#define shichi cephes_shichi
#define sici cephes_sici
#define radian cephes_radian
#define sindg cephes_sindg
#define sinpi cephes_sinpi
#define cosdg cephes_cosdg
#define cospi cephes_cospi
#define sincos cephes_sincos
#define spence cephes_spence
#define stdtr cephes_stdtr
#define stdtri cephes_stdtri
#define struve_h cephes_struve_h
#define struve_l cephes_struve_l
#define struve_power_series cephes_struve_power_series
#define struve_asymp_large_z cephes_struve_asymp_large_z
#define struve_bessel_series cephes_struve_bessel_series
#define yv cephes_yv
#define tandg cephes_tandg
#define cotdg cephes_cotdg
#define log1p cephes_log1p
#define expm1 cephes_expm1
#define cosm1 cephes_cosm1
#define yn cephes_yn
#define zeta cephes_zeta
#define zetac cephes_zetac
#define smirnov cephes_smirnov
#define smirnovc cephes_smirnovc
#define smirnovi cephes_smirnovi
#define smirnovci cephes_smirnovci
#define smirnovp cephes_smirnovp
#define kolmogorov cephes_kolmogorov
#define kolmogi cephes_kolmogi
#define kolmogp cephes_kolmogp
#define kolmogc cephes_kolmogc
#define kolmogci cephes_kolmogci
#define owens_t cephes_owens_t
#endif

1
gtsam/3rdparty/cephes/cephes/mconf.h vendored
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@ -56,7 +56,6 @@
#include <math.h>
#include <stdlib.h>
#include "cephes_names.h"
#include "cephes.h"
#include "polevl.h"
#include "sf_error.h"

15
gtsam/gtsam.i
View File

@ -39,6 +39,11 @@ class KeyList {
void remove(size_t key);
void serialize() const;
// Special dunder methods for Python wrapping
__len__();
__contains__(size_t key);
__iter__();
};
// Actually a FastSet<Key>
@ -64,6 +69,11 @@ class KeySet {
bool count(size_t key) const; // returns true if value exists
void serialize() const;
// Special dunder methods for Python wrapping
__len__();
__contains__(size_t key);
__iter__();
};
// Actually a vector<Key>, needed for Matlab
@ -85,6 +95,11 @@ class KeyVector {
void push_back(size_t key) const;
void serialize() const;
// Special dunder methods for Python wrapping
__len__();
__contains__(size_t key);
__iter__();
};
// Actually a FastMap<Key,int>

36
python/gtsam/tests/test_Utilities.py
View File

@ -12,13 +12,14 @@ Author: Varun Agrawal
import unittest
import numpy as np
from gtsam.utils.test_case import GtsamTestCase
import gtsam
from gtsam.utils.test_case import GtsamTestCase
class TestUtilites(GtsamTestCase):
"""Test various GTSAM utilities."""
def test_createKeyList(self):
"""Test createKeyList."""
I = [0, 1, 2]
@ -28,6 +29,17 @@ class TestUtilites(GtsamTestCase):
kl = gtsam.utilities.createKeyList("s", I)
self.assertEqual(kl.size(), 3)
def test_KeyList_iteration(self):
"""Tests for KeyList iteration"""
I = [0, 1, 2]
kl = gtsam.utilities.createKeyList(I)
self.assertEqual(len(kl), len(I))
for i, key in enumerate(kl):
self.assertTrue(key in kl)
self.assertEqual(I[i], key)
def test_createKeyVector(self):
"""Test createKeyVector."""
I = [0, 1, 2]
@ -37,6 +49,17 @@ class TestUtilites(GtsamTestCase):
kl = gtsam.utilities.createKeyVector("s", I)
self.assertEqual(len(kl), 3)
def test_KeyVector_iteration(self):
"""Tests for KeyVector iteration"""
I = [0, 1, 2]
kv = gtsam.utilities.createKeyVector(I)
self.assertEqual(len(kv), len(I))
for i, key in enumerate(kv):
self.assertTrue(key in kv)
self.assertEqual(I[i], key)
def test_createKeySet(self):
"""Test createKeySet."""
I = [0, 1, 2]
@ -46,6 +69,17 @@ class TestUtilites(GtsamTestCase):
kl = gtsam.utilities.createKeySet("s", I)
self.assertEqual(kl.size(), 3)
def test_KeySet_iteration(self):
"""Tests for KeySet iteration"""
I = [0, 1, 2]
ks = gtsam.utilities.createKeySet(I)
self.assertEqual(len(ks), len(I))
for i, key in enumerate(ks):
self.assertTrue(key in ks)
self.assertEqual(I[i], key)
def test_extractPoint2(self):
"""Test extractPoint2."""
initial = gtsam.Values()

48
wrap/gtwrap/interface_parser/classes.py
View File

@ -12,13 +12,14 @@ Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellae
from typing import Any, Iterable, List, Union
from pyparsing import Literal, Optional, ZeroOrMore # type: ignore
from pyparsing import ZeroOrMore # type: ignore
from pyparsing import Literal, Optional, Word, alphas
from .enum import Enum
from .function import ArgumentList, ReturnType
from .template import Template
from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, OPERATOR,
RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL)
from .tokens import (CLASS, COLON, CONST, DUNDER, IDENT, LBRACE, LPAREN,
OPERATOR, RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL)
from .type import TemplatedType, Typename
from .utils import collect_namespaces
from .variable import Variable
@ -212,6 +213,26 @@ class Operator:
)
class DunderMethod:
"""Special Python double-underscore (dunder) methods, e.g. __iter__, __contains__"""
rule = (
DUNDER #
+ (Word(alphas))("name") #
+ DUNDER #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ SEMI_COLON # BR
).setParseAction(lambda t: DunderMethod(t.name, t.args_list))
def __init__(self, name: str, args: ArgumentList):
self.name = name
self.args = args
def __repr__(self) -> str:
return f"DunderMethod: __{self.name}__({self.args})"
class Class:
"""
Rule to parse a class defined in the interface file.
@ -223,11 +244,13 @@ class Class:
};
```
"""
class Members:
"""
Rule for all the members within a class.
"""
rule = ZeroOrMore(Constructor.rule #
rule = ZeroOrMore(DunderMethod.rule #
^ Constructor.rule #
^ Method.rule #
^ StaticMethod.rule #
^ Variable.rule #
@ -235,11 +258,12 @@ class Class:
^ Enum.rule #
).setParseAction(lambda t: Class.Members(t.asList()))
def __init__(self,
members: List[Union[Constructor, Method, StaticMethod,
Variable, Operator]]):
def __init__(self, members: List[Union[Constructor, Method,
StaticMethod, Variable,
Operator, Enum, DunderMethod]]):
self.ctors = []
self.methods = []
self.dunder_methods = []
self.static_methods = []
self.properties = []
self.operators = []
@ -251,6 +275,8 @@ class Class:
self.methods.append(m)
elif isinstance(m, StaticMethod):
self.static_methods.append(m)
elif isinstance(m, DunderMethod):
self.dunder_methods.append(m)
elif isinstance(m, Variable):
self.properties.append(m)
elif isinstance(m, Operator):
@ -271,8 +297,8 @@ class Class:
+ SEMI_COLON # BR
).setParseAction(lambda t: Class(
t.template, t.is_virtual, t.name, t.parent_class, t.members.ctors, t.
members.methods, t.members.static_methods, t.members.properties, t.
members.operators, t.members.enums))
members.methods, t.members.static_methods, t.members.dunder_methods, t.
members.properties, t.members.operators, t.members.enums))
def __init__(
self,
@ -283,6 +309,7 @@ class Class:
ctors: List[Constructor],
methods: List[Method],
static_methods: List[StaticMethod],
dunder_methods: List[DunderMethod],
properties: List[Variable],
operators: List[Operator],
enums: List[Enum],
@ -308,6 +335,7 @@ class Class:
self.ctors = ctors
self.methods = methods
self.static_methods = static_methods
self.dunder_methods = dunder_methods
self.properties = properties
self.operators = operators
self.enums = enums
@ -326,6 +354,8 @@ class Class:
method.parent = self
for static_method in self.static_methods:
static_method.parent = self
for dunder_method in self.dunder_methods:
dunder_method.parent = self
for _property in self.properties:
_property.parent = self

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

@ -82,7 +82,7 @@ class ArgumentList:
return ArgumentList([])
def __repr__(self) -> str:
return repr(tuple(self.args_list))
return ",".join([repr(x) for x in self.args_list])
def __len__(self) -> int:
return len(self.args_list)

1
wrap/gtwrap/interface_parser/tokens.py
View File

@ -22,6 +22,7 @@ RAW_POINTER, SHARED_POINTER, REF = map(Literal, "@*&")
LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;")
LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=")
DUNDER = Suppress(Literal("__"))
# Default argument passed to functions/methods.
# Allow anything up to ',' or ';' except when they

64
wrap/gtwrap/pybind_wrapper.py
View File

@ -45,6 +45,8 @@ class PybindWrapper:
'continue', 'global', 'pass'
]
self.dunder_methods = ('len', 'contains', 'iter')
# amount of indentation to add before each function/method declaration.
self.method_indent = '\n' + (' ' * 8)
@ -153,6 +155,51 @@ class PybindWrapper:
suffix=suffix)
return ret
def _wrap_dunder(self,
method,
cpp_class,
prefix,
suffix,
method_suffix=""):
"""
Wrap a Python double-underscore (dunder) method.
E.g. __len__() gets wrapped as `.def("__len__", [](gtsam::KeySet* self) {return self->size();})`
Supported methods are:
- __contains__(T x)
- __len__()
- __iter__()
"""
py_method = method.name + method_suffix
args_names = method.args.names()
py_args_names = self._py_args_names(method.args)
args_signature_with_names = self._method_args_signature(method.args)
if method.name == 'len':
function_call = "return std::distance(self->begin(), self->end());"
elif method.name == 'contains':
function_call = f"return std::find(self->begin(), self->end(), {method.args.args_list[0].name}) != self->end();"
elif method.name == 'iter':
function_call = "return py::make_iterator(self->begin(), self->end());"
ret = ('{prefix}.def("__{py_method}__",'
'[]({self}{opt_comma}{args_signature_with_names}){{'
'{function_call}'
'}}'
'{py_args_names}){suffix}'.format(
prefix=prefix,
py_method=py_method,
self=f"{cpp_class}* self",
opt_comma=', ' if args_names else '',
args_signature_with_names=args_signature_with_names,
function_call=function_call,
py_args_names=py_args_names,
suffix=suffix,
))
return ret
def _wrap_method(self,
method,
cpp_class,
@ -235,6 +282,20 @@ class PybindWrapper:
return ret
def wrap_dunder_methods(self,
methods,
cpp_class,
prefix='\n' + ' ' * 8,
suffix=''):
res = ""
for method in methods:
res += self._wrap_dunder(method=method,
cpp_class=cpp_class,
prefix=prefix,
suffix=suffix)
return res
def wrap_methods(self,
methods,
cpp_class,
@ -398,6 +459,7 @@ class PybindWrapper:
'{wrapped_ctors}'
'{wrapped_methods}'
'{wrapped_static_methods}'
'{wrapped_dunder_methods}'
'{wrapped_properties}'
'{wrapped_operators};\n'.format(
class_declaration=class_declaration,
@ -406,6 +468,8 @@ class PybindWrapper:
instantiated_class.methods, cpp_class),
wrapped_static_methods=self.wrap_methods(
instantiated_class.static_methods, cpp_class),
wrapped_dunder_methods=self.wrap_dunder_methods(
instantiated_class.dunder_methods, cpp_class),
wrapped_properties=self.wrap_properties(
instantiated_class.properties, cpp_class),
wrapped_operators=self.wrap_operators(

3
wrap/gtwrap/template_instantiator/classes.py
View File

@ -57,6 +57,8 @@ class InstantiatedClass(parser.Class):
# Instantiate all instance methods
self.methods = self.instantiate_methods(typenames)
self.dunder_methods = original.dunder_methods
super().__init__(
self.template,
@ -66,6 +68,7 @@ class InstantiatedClass(parser.Class):
self.ctors,
self.methods,
self.static_methods,
self.dunder_methods,
self.properties,
self.operators,
self.enums,

2
wrap/requirements.txt
View File

@ -1,2 +1,2 @@
pyparsing==2.4.7
pyparsing==3.1.1
pytest>=6.2.4

36
wrap/tests/expected/matlab/FastSet.m Normal file
View File

@ -0,0 +1,36 @@
%class FastSet, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%FastSet()
%
classdef FastSet < handle
properties
ptr_FastSet = 0
end
methods
function obj = FastSet(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(73, my_ptr);
elseif nargin == 0
my_ptr = class_wrapper(74);
else
error('Arguments do not match any overload of FastSet constructor');
end
obj.ptr_FastSet = my_ptr;
end
function delete(obj)
class_wrapper(75, obj.ptr_FastSet);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

12
wrap/tests/expected/matlab/MyFactorPosePoint2.m
View File

@ -15,9 +15,9 @@ classdef MyFactorPosePoint2 < handle
function obj = MyFactorPosePoint2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(73, my_ptr);
class_wrapper(76, 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(74, varargin{1}, varargin{2}, varargin{3}, varargin{4});
my_ptr = class_wrapper(77, varargin{1}, varargin{2}, varargin{3}, varargin{4});
else
error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
end
@ -25,7 +25,7 @@ classdef MyFactorPosePoint2 < handle
end
function delete(obj)
class_wrapper(75, obj.ptr_MyFactorPosePoint2);
class_wrapper(78, obj.ptr_MyFactorPosePoint2);
end
function display(obj), obj.print(''); end
@ -36,19 +36,19 @@ classdef MyFactorPosePoint2 < handle
% PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
class_wrapper(76, this, varargin{:});
class_wrapper(79, this, varargin{:});
return
end
% PRINT usage: print(string s) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
class_wrapper(77, this, varargin{:});
class_wrapper(80, this, varargin{:});
return
end
% PRINT usage: print() : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
class_wrapper(78, this, varargin{:});
class_wrapper(81, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyFactorPosePoint2.print');

74
wrap/tests/expected/matlab/class_wrapper.cpp
View File

@ -31,6 +31,8 @@ typedef std::set<std::shared_ptr<ForwardKinematics>*> Collector_ForwardKinematic
static Collector_ForwardKinematics collector_ForwardKinematics;
typedef std::set<std::shared_ptr<TemplatedConstructor>*> Collector_TemplatedConstructor;
static Collector_TemplatedConstructor collector_TemplatedConstructor;
typedef std::set<std::shared_ptr<FastSet>*> Collector_FastSet;
static Collector_FastSet collector_FastSet;
typedef std::set<std::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
@ -101,6 +103,12 @@ void _deleteAllObjects()
collector_TemplatedConstructor.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FastSet::iterator iter = collector_FastSet.begin();
iter != collector_FastSet.end(); ) {
delete *iter;
collector_FastSet.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
@ -844,7 +852,40 @@ void TemplatedConstructor_deconstructor_72(int nargout, mxArray *out[], int narg
delete self;
}
void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void FastSet_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<FastSet> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_FastSet.insert(self);
}
void FastSet_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<FastSet> Shared;
Shared *self = new Shared(new FastSet());
collector_FastSet.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void FastSet_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef std::shared_ptr<FastSet> Shared;
checkArguments("delete_FastSet",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_FastSet::iterator item;
item = collector_FastSet.find(self);
if(item != collector_FastSet.end()) {
collector_FastSet.erase(item);
}
delete self;
}
void MyFactorPosePoint2_collectorInsertAndMakeBase_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@ -853,7 +894,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[
collector_MyFactorPosePoint2.insert(self);
}
void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_constructor_77(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@ -868,7 +909,7 @@ void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin,
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_deconstructor_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@ -881,7 +922,7 @@ void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin
delete self;
}
void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_79(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@ -890,7 +931,7 @@ void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const
obj->print(s,keyFormatter);
}
void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_80(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@ -898,7 +939,7 @@ void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const
obj->print(s,gtsam::DefaultKeyFormatter);
}
void MyFactorPosePoint2_print_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_81(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@ -1137,22 +1178,31 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
TemplatedConstructor_deconstructor_72(nargout, out, nargin-1, in+1);
break;
case 73:
MyFactorPosePoint2_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1);
FastSet_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1);
break;
case 74:
MyFactorPosePoint2_constructor_74(nargout, out, nargin-1, in+1);
FastSet_constructor_74(nargout, out, nargin-1, in+1);
break;
case 75:
MyFactorPosePoint2_deconstructor_75(nargout, out, nargin-1, in+1);
FastSet_deconstructor_75(nargout, out, nargin-1, in+1);
break;
case 76:
MyFactorPosePoint2_print_76(nargout, out, nargin-1, in+1);
MyFactorPosePoint2_collectorInsertAndMakeBase_76(nargout, out, nargin-1, in+1);
break;
case 77:
MyFactorPosePoint2_print_77(nargout, out, nargin-1, in+1);
MyFactorPosePoint2_constructor_77(nargout, out, nargin-1, in+1);
break;
case 78:
MyFactorPosePoint2_print_78(nargout, out, nargin-1, in+1);
MyFactorPosePoint2_deconstructor_78(nargout, out, nargin-1, in+1);
break;
case 79:
MyFactorPosePoint2_print_79(nargout, out, nargin-1, in+1);
break;
case 80:
MyFactorPosePoint2_print_80(nargout, out, nargin-1, in+1);
break;
case 81:
MyFactorPosePoint2_print_81(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {

6
wrap/tests/expected/python/class_pybind.cpp
View File

@ -91,6 +91,12 @@ PYBIND11_MODULE(class_py, m_) {
.def(py::init<const int&>(), py::arg("arg"))
.def(py::init<const double&>(), py::arg("arg"));
py::class_<FastSet, std::shared_ptr<FastSet>>(m_, "FastSet")
.def(py::init<>())
.def("__len__",[](FastSet* self){return std::distance(self->begin(), self->end());})
.def("__contains__",[](FastSet* self, size_t key){return std::find(self->begin(), self->end(), key) != self->end();}, py::arg("key"))
.def("__iter__",[](FastSet* self){return py::make_iterator(self->begin(), self->end());});
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("print",[](MyFactor<gtsam::Pose2, gtsam::Matrix>* self, const string& s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter)

9
wrap/tests/fixtures/class.i vendored
View File

@ -145,3 +145,12 @@ class TemplatedConstructor {
class SuperCoolFactor;
typedef SuperCoolFactor<gtsam::Pose3> SuperCoolFactorPose3;
/// @brief class with dunder methods for container behavior
class FastSet {
FastSet();
__len__();
__contains__(size_t key);
__iter__();
};

22
wrap/tests/test_interface_parser.py
View File

@ -18,11 +18,12 @@ import unittest
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from gtwrap.interface_parser import (ArgumentList, Class, Constructor, Enum,
Enumerator, ForwardDeclaration,
GlobalFunction, Include, Method, Module,
Namespace, Operator, ReturnType,
StaticMethod, TemplatedType, Type,
from gtwrap.interface_parser import (ArgumentList, Class, Constructor,
DunderMethod, Enum, Enumerator,
ForwardDeclaration, GlobalFunction,
Include, Method, Module, Namespace,
Operator, ReturnType, StaticMethod,
TemplatedType, Type,
TypedefTemplateInstantiation, Typename,
Variable)
from gtwrap.template_instantiator.classes import InstantiatedClass
@ -344,6 +345,17 @@ class TestInterfaceParser(unittest.TestCase):
self.assertEqual(1, len(ret.args))
self.assertEqual("const T & name", ret.args.args_list[0].to_cpp())
def test_dunder_method(self):
"""Test for special python dunder methods."""
iter_string = "__iter__();"
ret = DunderMethod.rule.parse_string(iter_string)[0]
self.assertEqual("iter", ret.name)
contains_string = "__contains__(size_t key);"
ret = DunderMethod.rule.parse_string(contains_string)[0]
self.assertEqual("contains", ret.name)
self.assertTrue(len(ret.args) == 1)
def test_operator_overload(self):
"""Test for operator overloading."""
# Unary operator