Inherited methods show up on doc. ISAM2 for MATLAB now inherets from Bayes Tree

gtsam.h

@@ -898,6 +898,24 @@ class VariableIndex {
   void permuteInPlace(const gtsam::Permutation& permutation);
 };
 
+#include <gtsam/inference/BayesTree.h>
+template<CONDITIONAL, CLIQUE>
+virtual class BayesTree {
+
+    //Constructors
+    BayesTree(); 
+
+    //Standard Interface
+    //bool equals(const gtsam::BayesTree<CONDITIONAL, CLIQUE>& other, double tol) const;
+    void print(string s);
+    size_t size();
+    CLIQUE* root() const;
+    void clear();
+    void insert(const CLIQUE* subtree);
+};
+
+typedef gtsam::BayesTree<gtsam::GaussianConditional, gtsam::ISAM2Clique> ISAM2BayesTree;
+
 //*************************************************************************
 // linear
 //*************************************************************************
@@ -1672,6 +1690,20 @@ class ISAM2Params {
   void setEnablePartialRelinearizationCheck(bool enablePartialRelinearizationCheck);
 };
 
+virtual class ISAM2Clique {
+
+    //Constructors
+    ISAM2Clique(const gtsam::GaussianConditional* conditional);
+
+    //Standard Interface
+    Vector gradientContribution() const;
+    gtsam::ISAM2Clique* clone() const;
+    void print(string s);
+
+    void permuteWithInverse(const gtsam::Permutation& inversePermutation);
+    bool permuteSeparatorWithInverse(const gtsam::Permutation& inversePermutation);
+};
+
 class ISAM2Result {
   ISAM2Result();
 
@@ -1683,7 +1715,7 @@ class ISAM2Result {
   size_t getCliques() const;
 };
 
-class ISAM2 {
+virtual class ISAM2  : gtsam::ISAM2BayesTree {
   ISAM2();
   ISAM2(const gtsam::ISAM2Params& params);
 

gtsam/inference/BayesTree-inl.h

@@ -338,7 +338,7 @@ namespace gtsam {
 	template<class CONDITIONAL, class CLIQUE>
 	void BayesTree<CONDITIONAL,CLIQUE>::print(const std::string& s, const IndexFormatter& indexFormatter) const {
 		if (root_.use_count() == 0) {
-			printf("WARNING: BayesTree.print encountered a forest...\n");
+            std::cout << "WARNING: BayesTree.print encountered a forest..." << std::endl;
 			return;
 		}
 		std::cout << s << ": clique size == " << size() << ", node size == " << nodes_.size() << std::endl;

wrap/Module.cpp

@@ -342,6 +342,15 @@ Module::Module(const string& interfacePath,
     printf("parsing stopped at \n%.20s\n",info.stop); 
     throw ParseFailed((int)info.length); 
   } 
+
+  //Explicitly add methods to the classes from parents so it shows in documentation
+  BOOST_FOREACH(Class& cls, classes)
+  {
+    map<string, Method> inhereted = appendInheretedMethods(cls, classes);
+    cls.methods.insert(inhereted.begin(), inhereted.end());
+  }
+
+
 } 
  
 /* ************************************************************************* */ 
@@ -432,6 +441,7 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
 			// verify parents 
 			if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end()) 
 				throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::")); 
+
 		} 
  
 		// Create type attributes table and check validity 
@@ -472,6 +482,33 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
  
 		wrapperFile.emit(true); 
   } 
+/* ************************************************************************* */ 
+map<string, Method> Module::appendInheretedMethods(const Class& cls, const vector<Class>& classes)
+{
+    map<string, Method> methods;
+    if(!cls.qualifiedParent.empty())
+    {
+        cout << "Class: " << cls.name << " Parent Name: " << cls.qualifiedParent.back() << endl;
+        //Find Class
+        BOOST_FOREACH(const Class& parent, classes)
+        {
+            //We found the class for our parent
+            if(parent.name == cls.qualifiedParent.back())
+            {
+                cout << "Inner class: " << cls.qualifiedParent.back() << endl;
+                Methods inhereted = appendInheretedMethods(parent, classes);
+                methods.insert(inhereted.begin(), inhereted.end());
+            }
+        }
+    }
+    else
+    {
+        cout << "Dead end: " << cls.name << endl;
+        methods.insert(cls.methods.begin(), cls.methods.end());
+    }
+
+    return methods;
+}
  
 /* ************************************************************************* */ 
 	void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const { 

wrap/Module.h

@@ -35,6 +35,7 @@ namespace wrap {
 struct Module {
 
 	typedef std::map<std::string, GlobalFunction> GlobalFunctions;
+	typedef std::map<std::string, Method> Methods;
 
   std::string name;         ///< module name
   std::vector<Class> classes; ///< list of classes
@@ -49,6 +50,9 @@ struct Module {
 	 const std::string& moduleName,
 	 bool enable_verbose=true);
 
+  //Recursive method to append all methods inhereted from parent classes
+  std::map<std::string, Method> appendInheretedMethods(const Class& cls, const std::vector<Class>& classes);
+
   /// MATLAB code generation:
   void matlab_code(
   		 const std::string& path,

wrap/tests/expected/Point2.m

@@ -1,7 +1,10 @@
+%class Point2, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %Point2()
 %Point2(double x, double y)
-% 
+%
 %-------Methods-------
 %argChar(char a) : returns void
 %argUChar(unsigned char a) : returns void
@@ -10,10 +13,7 @@
 %vectorConfusion() : returns VectorNotEigen
 %x() : returns double
 %y() : returns double
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef Point2 < handle
   properties
     ptr_Point2 = 0

wrap/tests/expected/Point3.m

@@ -1,14 +1,16 @@
+%class Point3, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %Point3(double x, double y, double z)
-% 
+%
 %-------Methods-------
 %norm() : returns double
-% 
+%
 %-------Static Methods-------
 %StaticFunctionRet(double z) : returns Point3
 %staticFunction() : returns double
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef Point3 < handle
   properties
     ptr_Point3 = 0

wrap/tests/expected/Test.m

@@ -1,7 +1,10 @@
+%class Test, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %Test()
 %Test(double a, Matrix b)
-% 
+%
 %-------Methods-------
 %arg_EigenConstRef(Matrix value) : returns void
 %create_MixedPtrs() : returns pair< Test, SharedTest >
@@ -22,10 +25,7 @@
 %return_string(string value) : returns string
 %return_vector1(Vector value) : returns Vector
 %return_vector2(Vector value) : returns Vector
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef Test < handle
   properties
     ptr_Test = 0

wrap/tests/expected_namespaces/+ns1/ClassA.m

@@ -1,11 +1,9 @@
+%class ClassA, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassA()
-% 
-%-------Methods-------
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassA < handle
   properties
     ptr_ns1ClassA = 0

wrap/tests/expected_namespaces/+ns1/ClassB.m

@@ -1,11 +1,9 @@
+%class ClassB, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassB()
-% 
-%-------Methods-------
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassB < handle
   properties
     ptr_ns1ClassB = 0

wrap/tests/expected_namespaces/+ns2/+ns3/ClassB.m

@@ -1,11 +1,9 @@
+%class ClassB, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassB()
-% 
-%-------Methods-------
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassB < handle
   properties
     ptr_ns2ns3ClassB = 0

wrap/tests/expected_namespaces/+ns2/ClassA.m

@@ -1,15 +1,17 @@
+%class ClassA, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassA()
-% 
+%
 %-------Methods-------
 %memberFunction() : returns double
 %nsArg(ClassB arg) : returns int
 %nsReturn(double q) : returns ns2::ns3::ClassB
-% 
+%
 %-------Static Methods-------
 %afunction() : returns double
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassA < handle
   properties
     ptr_ns2ClassA = 0

wrap/tests/expected_namespaces/+ns2/ClassC.m

@@ -1,11 +1,9 @@
+%class ClassC, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassC()
-% 
-%-------Methods-------
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassC < handle
   properties
     ptr_ns2ClassC = 0

wrap/tests/expected_namespaces/ClassD.m

@@ -1,11 +1,9 @@
+%class ClassD, see Doxygen page for details
+%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
+%
 %-------Constructors-------
 %ClassD()
-% 
-%-------Methods-------
-% 
-%-------Static Methods-------
 %
-%For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
 classdef ClassD < handle
   properties
     ptr_ClassD = 0