wrap_mods_inheritance branch: in progress with inheritance in matlab wrapper

gtsam.h

@@ -64,7 +64,18 @@ namespace gtsam {
 // base
 //*************************************************************************
 
-class LieVector {
+class Value {
+	// Testable
+	void print(string s) const;
+	bool equals(const gtsam::Value& expected, double tol) const;
+
+	// Manifold
+	size_t dim() const;
+	gtsam::Value retract(Vector v) const;
+	Vector localCoordinates(const gtsam::Value& t2) const;
+};
+
+class LieVector : gtsam::Value {
 	// Standard constructors
 	LieVector();
 	LieVector(Vector v);

wrap/Argument.cpp

@@ -64,7 +64,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const {
 		file.oss << cppType << " " << name << " = unwrap< ";
 
 	file.oss << cppType << " >(" << matlabName;
-  if (is_ptr || is_ref) file.oss << ", \"" << matlabType << "\"";
+  if (is_ptr || is_ref) file.oss << ", \"ptr_" << matlabType << "\"";
   file.oss << ");" << endl;
 }
 

wrap/Class.cpp

@@ -39,9 +39,11 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil
 
   // emit class proxy code
   // we want our class to inherit the handle class for memory purposes
-  proxyFile.oss << "classdef " << matlabName << " < handle" << endl;
+	const string parent = qualifiedParent.empty() ?
+		"handle" : ::wrap::qualifiedName("", qualifiedParent);
+  proxyFile.oss << "classdef " << matlabName << " < " << parent << endl;
   proxyFile.oss << "  properties" << endl;
-  proxyFile.oss << "    self = 0" << endl;
+  proxyFile.oss << "    ptr_" << matlabName << " = 0" << endl;
   proxyFile.oss << "  end" << endl;
   proxyFile.oss << "  methods" << endl;
 
@@ -116,10 +118,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil
 
 /* ************************************************************************* */
 string Class::qualifiedName(const string& delim) const {
-	string result;
-	BOOST_FOREACH(const string& ns, namespaces)
-		result += ns + delim;
-	return result + name;
+	return ::wrap::qualifiedName(delim, namespaces, name);
 }
 
 /* ************************************************************************* */
@@ -136,14 +135,14 @@ string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& w
 		(uint64_t('r'));
 
   const string matlabName = qualifiedName(), cppName = qualifiedName("::");
-	const string wrapFunctionName = matlabName + "_constructor_" + boost::lexical_cast<string>(id);
+	const string wrapFunctionName = matlabName + "_collectorInsert_" + boost::lexical_cast<string>(id);
 
 	// MATLAB constructor that assigns pointer to matlab object then calls c++
 	// function to add the object to the collector.
 	proxyFile.oss << "      if nargin == 2 && isa(varargin{1}, 'uint64') && ";
 	proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n";
 	proxyFile.oss << "        obj.self = varargin{2};\n";
-	proxyFile.oss << "        " << wrapperName << "(obj.self);\n";
+	proxyFile.oss << "        " << wrapperName << "(" << id << ", obj.self);\n";
 
 	// C++ function to add pointer from MATLAB to collector.  The pointer always
 	// comes from a C++ return value; this mechanism allows the object to be added

wrap/Class.h

@@ -38,6 +38,7 @@ struct Class {
 
 	// Then the instance variables are set directly by the Module constructor
   std::string name;                         ///< Class name
+	std::vector<std::string> qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack
   Methods methods;                          ///< Class methods
   StaticMethods static_methods;             ///< Static methods
   std::vector<std::string> namespaces;      ///< Stack of namespaces

wrap/Method.cpp

@@ -43,7 +43,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF
 																		 const vector<string>& using_namespaces,
 																		 vector<string>& functionNames) const {
 
-	proxyFile.oss << "    function varargout = " << name << "(self, varargin)\n";
+	proxyFile.oss << "    function varargout = " << name << "(this, varargin)\n";
 
 	for(size_t overload = 0; overload < argLists.size(); ++overload) {
 		const ArgumentList& args = argLists[overload];
@@ -74,7 +74,7 @@ void Method::proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperF
 			output = "";
 		else
 			output = "varargout{1} = ";
-		proxyFile.oss << "        " << output << wrapperName << "(" << id << ", self, varargin{:});\n";
+		proxyFile.oss << "        " << output << wrapperName << "(" << id << ", this, varargin{:});\n";
 
 		// Output C++ wrapper code
 		
@@ -135,7 +135,7 @@ string Method::wrapper_fragment(FileWriter& file,
 
   // get class pointer
   // example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
-  file.oss << "  Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"" << cppClassName << "\");" << endl;
+  file.oss << "  Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabClassName << "\");" << endl;
   // unwrap arguments, see Argument.cpp
   args.matlab_unwrap(file,1);
 

wrap/Module.cpp

@@ -93,7 +93,7 @@ Module::Module(const string& interfacePath,
   Rule eigenType_p =
     (str_p("Vector") | "Matrix");
 
-  Rule className_p  = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p)[assign_a(class_name)];
+  Rule className_p  = (lexeme_d[upper_p >> *(alnum_p | '_')] - eigenType_p - keywords_p);
 
   Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p;
 
@@ -114,6 +114,10 @@ Module::Module(const string& interfacePath,
     className_p[assign_a(arg.type)] >>
     (ch_p('*')[assign_a(arg.is_ptr,true)] | ch_p('&')[assign_a(arg.is_ref,true)]);
 
+	Rule classParent_p =
+		*(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >>
+		className_p[push_back_a(cls.qualifiedParent)];
+
   Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
 
   Rule argument_p = 
@@ -198,7 +202,7 @@ Module::Module(const string& interfacePath,
   		(!*include_p
   		>> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)]
   		>> className_p[assign_a(cls.name)]
-      >> '{'
+			>> ((':' >> classParent_p >> '{') | '{') // By having (parent >> '{' | '{') here instead of (!parent >> '{'), we trigger a parse error on a badly-formed parent spec
   		>> *(functions_p | comments_p)
   		>> str_p("};"))
         [assign_a(constructor.name, cls.name)]

wrap/matlab.h

@@ -342,9 +342,14 @@ gtsam::Matrix unwrap< gtsam::Matrix >(const mxArray* array) {
  [create_object] creates a MATLAB proxy class object with a mexhandle
  in the self property. Matlab does not allow the creation of matlab
  objects from within mex files, hence we resort to an ugly trick: we
- invoke the proxy class constructor by calling MATLAB, and pass 13
- dummy arguments to let the constructor know we want an object without
- the self property initialized. We then assign the mexhandle to self.
+ invoke the proxy class constructor by calling MATLAB with a special
+ uint64 value ptr_constructor_key and the pointer itself.  MATLAB
+ allocates the object.  Then, the special constructor in our wrap code
+ that is activated when the ptr_constructor_key is passed in passes
+ the pointer back into a C++ function to add the pointer to its
+ collector.  We go through this extra "C++ to MATLAB to C++ step" in
+ order to be able to add to the collector could be in a different wrap
+ module.
 */
 mxArray* create_object(const char *classname, void *pointer) {
   mxArray *result;
@@ -376,9 +381,9 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *cla
 }
 
 template <typename Class>
-boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& className) {
+boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& propertyName) {
 
-  mxArray* mxh = mxGetProperty(obj,0,"self");
+  mxArray* mxh = mxGetProperty(obj,0, propertyName);
   if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh)
     || mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error(
     "Parameter is not an Shared type.");

wrap/utilities.cpp

@@ -135,6 +135,17 @@ void generateIncludes(FileWriter& file, const string& class_name,
 }
 
 /* ************************************************************************* */
+string qualifiedName(const string& separator, const vector<string>& names, const string& finalName) {
+	string result;
+	for(size_t i = 0; i < names.size() - 1; ++i)
+		result += (names[i] + separator);
+	if(finalName.empty())
+		result += names.back();
+	else
+		result += (names.back() + separator + finalName);
+	return result;
+}
 
+/* ************************************************************************* */
 
 } // \namespace wrap

wrap/utilities.h

@@ -98,4 +98,10 @@ void generateUsingNamespace(FileWriter& file, const std::vector<std::string>& us
 void generateIncludes(FileWriter& file, const std::string& class_name,
 		const std::vector<std::string>& includes);
 
+/**
+ * Return a qualified name, if finalName is empty, only the names vector will
+ * be used (i.e. there won't be a trailing separator on the qualified name).
+ */
+std::string qualifiedName(const std::string& separator, const std::vector<std::string>& names, const std::string& finalName = "");
+
 } // \namespace wrap