From 445ffb3110cf68de553bbea8b5e0fe10cf824d8f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 09:07:52 -0400
Subject: [PATCH] update wrapped code

---
 gtsam/basis/basis.i | 71 +++++++++++++++++++++++++++------------------
 1 file changed, 43 insertions(+), 28 deletions(-)

diff --git a/gtsam/basis/basis.i b/gtsam/basis/basis.i
index 61ba1eada..ce91f7782 100644
--- a/gtsam/basis/basis.i
+++ b/gtsam/basis/basis.i
@@ -71,44 +71,28 @@ virtual class EvaluationFactor : gtsam::NoiseModelFactor {
                    double x, double a, double b);
 };
 
-template <BASIS, M>
+template <BASIS = {gtsam::Chebyshev2}>
 virtual class VectorEvaluationFactor : gtsam::NoiseModelFactor {
   VectorEvaluationFactor();
   VectorEvaluationFactor(gtsam::Key key, const Vector& z,
-                         const gtsam::noiseModel::Base* model, const size_t N,
-                         double x);
+                         const gtsam::noiseModel::Base* model, const size_t M,
+                         const size_t N, double x);
   VectorEvaluationFactor(gtsam::Key key, const Vector& z,
-                         const gtsam::noiseModel::Base* model, const size_t N,
-                         double x, double a, double b);
+                         const gtsam::noiseModel::Base* model, const size_t M,
+                         const size_t N, double x, double a, double b);
 };
 
-// TODO(Varun) Better way to support arbitrary dimensions?
-// Especially if users mainly do `pip install gtsam` for the Python wrapper.
-typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 3>
-    VectorEvaluationFactorChebyshev2D3;
-typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 4>
-    VectorEvaluationFactorChebyshev2D4;
-typedef gtsam::VectorEvaluationFactor<gtsam::Chebyshev2, 12>
-    VectorEvaluationFactorChebyshev2D12;
-
-template <BASIS, P>
+template <BASIS = {gtsam::Chebyshev2}>
 virtual class VectorComponentFactor : gtsam::NoiseModelFactor {
   VectorComponentFactor();
   VectorComponentFactor(gtsam::Key key, const double z,
-                        const gtsam::noiseModel::Base* model, const size_t N,
-                        size_t i, double x);
+                        const gtsam::noiseModel::Base* model, const size_t M,
+                        const size_t N, size_t i, double x);
   VectorComponentFactor(gtsam::Key key, const double z,
-                        const gtsam::noiseModel::Base* model, const size_t N,
-                        size_t i, double x, double a, double b);
+                        const gtsam::noiseModel::Base* model, const size_t M,
+                        const size_t N, size_t i, double x, double a, double b);
 };
 
-typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 3>
-    VectorComponentFactorChebyshev2D3;
-typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 4>
-    VectorComponentFactorChebyshev2D4;
-typedef gtsam::VectorComponentFactor<gtsam::Chebyshev2, 12>
-    VectorComponentFactorChebyshev2D12;
-
 template <BASIS, T>
 virtual class ManifoldEvaluationFactor : gtsam::NoiseModelFactor {
   ManifoldEvaluationFactor();
@@ -127,8 +111,39 @@ typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Rot3>
 typedef gtsam::ManifoldEvaluationFactor<gtsam::Chebyshev2, gtsam::Pose3>
     ManifoldEvaluationFactorChebyshev2Pose3;
 
-// TODO(gerry): Add `DerivativeFactor`, `VectorDerivativeFactor`, and
-// `ComponentDerivativeFactor`
+template <BASIS = {gtsam::Chebyshev2}>
+virtual class DerivativeFactor : gtsam::NoiseModelFactor {
+  DerivativeFactor();
+  DerivativeFactor(gtsam::Key key, const double z,
+                   const gtsam::noiseModel::Base* model, const size_t N,
+                   double x);
+  DerivativeFactor(gtsam::Key key, const double z,
+                   const gtsam::noiseModel::Base* model, const size_t N,
+                   double x, double a, double b);
+};
+
+template <BASIS = {gtsam::Chebyshev2}>
+virtual class VectorDerivativeFactor : gtsam::NoiseModelFactor {
+  VectorDerivativeFactor();
+  VectorDerivativeFactor(gtsam::Key key, const Vector& z,
+                         const gtsam::noiseModel::Base* model, const size_t M,
+                         const size_t N, double x);
+  VectorDerivativeFactor(gtsam::Key key, const Vector& z,
+                         const gtsam::noiseModel::Base* model, const size_t M,
+                         const size_t N, double x, double a, double b);
+};
+
+template <BASIS = {gtsam::Chebyshev2}>
+virtual class ComponentDerivativeFactor : gtsam::NoiseModelFactor {
+  ComponentDerivativeFactor();
+  ComponentDerivativeFactor(gtsam::Key key, const double z,
+                            const gtsam::noiseModel::Base* model,
+                            const size_t P, const size_t N, size_t i, double x);
+  ComponentDerivativeFactor(gtsam::Key key, const double z,
+                            const gtsam::noiseModel::Base* model,
+                            const size_t P, const size_t N, size_t i, double x,
+                            double a, double b);
+};
 
 #include <gtsam/basis/FitBasis.h>
 template <BASIS = {gtsam::FourierBasis, gtsam::Chebyshev1Basis,