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Merge branch 'develop' into release/4.2a5

release/4.3a0
Frank Dellaert 2022-02-05 17:36:01 -05:00
parent f65bc05905 efe922bc85
commit 4a1ec24de5
36 changed files with 403 additions and 153 deletions
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20
gtsam/discrete/discrete.i
View File

@ -70,7 +70,7 @@ virtual class DecisionTreeFactor : gtsam::DiscreteFactor {
string dot(
const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter,
bool showZero = true) const;
std::vector<std::pair<DiscreteValues, double>> enumerate() const;
std::vector<std::pair<gtsam::DiscreteValues, double>> enumerate() const;
string markdown(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
string markdown(const gtsam::KeyFormatter& keyFormatter,
@ -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;
@ -269,16 +269,16 @@ class DiscreteFactorGraph {
gtsam::DiscreteLookupDAG maxProduct(gtsam::Ordering::OrderingType type);
gtsam::DiscreteLookupDAG maxProduct(const gtsam::Ordering& ordering);
gtsam::DiscreteBayesNet eliminateSequential();
gtsam::DiscreteBayesNet eliminateSequential(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesNet eliminateSequential(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesNet, gtsam::DiscreteFactorGraph>
gtsam::DiscreteBayesNet* eliminateSequential();
gtsam::DiscreteBayesNet* eliminateSequential(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesNet* eliminateSequential(const gtsam::Ordering& ordering);
pair<gtsam::DiscreteBayesNet*, gtsam::DiscreteFactorGraph*>
eliminatePartialSequential(const gtsam::Ordering& ordering);
gtsam::DiscreteBayesTree eliminateMultifrontal();
gtsam::DiscreteBayesTree eliminateMultifrontal(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesTree eliminateMultifrontal(const gtsam::Ordering& ordering);
std::pair<gtsam::DiscreteBayesTree, gtsam::DiscreteFactorGraph>
gtsam::DiscreteBayesTree* eliminateMultifrontal();
gtsam::DiscreteBayesTree* eliminateMultifrontal(gtsam::Ordering::OrderingType type);
gtsam::DiscreteBayesTree* eliminateMultifrontal(const gtsam::Ordering& ordering);
pair<gtsam::DiscreteBayesTree*, gtsam::DiscreteFactorGraph*>
eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
string dot(

3
gtsam/geometry/Cal3Bundler.h
View File

@ -41,6 +41,9 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
public:
enum { dimension = 3 };
///< shared pointer to stereo calibration object
using shared_ptr = boost::shared_ptr<Cal3Bundler>;
/// @name Standard Constructors
/// @{

3
gtsam/geometry/Cal3DS2.h
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@ -37,6 +37,9 @@ class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
public:
enum { dimension = 9 };
///< shared pointer to stereo calibration object
using shared_ptr = boost::shared_ptr<Cal3DS2>;
/// @name Standard Constructors
/// @{

3
gtsam/geometry/Cal3DS2_Base.h
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@ -47,6 +47,9 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
public:
enum { dimension = 9 };
///< shared pointer to stereo calibration object
using shared_ptr = boost::shared_ptr<Cal3DS2_Base>;
/// @name Standard Constructors
/// @{

3
gtsam/geometry/Cal3Unified.h
View File

@ -52,6 +52,9 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
public:
enum { dimension = 10 };
///< shared pointer to stereo calibration object
using shared_ptr = boost::shared_ptr<Cal3Unified>;
/// @name Standard Constructors
/// @{

27
gtsam/nonlinear/ISAM2Params.h
View File

@ -300,18 +300,10 @@ struct GTSAM_EXPORT ISAM2Params {
RelinearizationThreshold getRelinearizeThreshold() const {
return relinearizeThreshold;
}
int getRelinearizeSkip() const { return relinearizeSkip; }
bool isEnableRelinearization() const { return enableRelinearization; }
bool isEvaluateNonlinearError() const { return evaluateNonlinearError; }
std::string getFactorization() const {
return factorizationTranslator(factorization);
}
bool isCacheLinearizedFactors() const { return cacheLinearizedFactors; }
KeyFormatter getKeyFormatter() const { return keyFormatter; }
bool isEnableDetailedResults() const { return enableDetailedResults; }
bool isEnablePartialRelinearizationCheck() const {
return enablePartialRelinearizationCheck;
}
void setOptimizationParams(OptimizationParams optimizationParams) {
this->optimizationParams = optimizationParams;
@ -319,31 +311,12 @@ struct GTSAM_EXPORT ISAM2Params {
void setRelinearizeThreshold(RelinearizationThreshold relinearizeThreshold) {
this->relinearizeThreshold = relinearizeThreshold;
}
void setRelinearizeSkip(int relinearizeSkip) {
this->relinearizeSkip = relinearizeSkip;
}
void setEnableRelinearization(bool enableRelinearization) {
this->enableRelinearization = enableRelinearization;
}
void setEvaluateNonlinearError(bool evaluateNonlinearError) {
this->evaluateNonlinearError = evaluateNonlinearError;
}
void setFactorization(const std::string& factorization) {
this->factorization = factorizationTranslator(factorization);
}
void setCacheLinearizedFactors(bool cacheLinearizedFactors) {
this->cacheLinearizedFactors = cacheLinearizedFactors;
}
void setKeyFormatter(KeyFormatter keyFormatter) {
this->keyFormatter = keyFormatter;
}
void setEnableDetailedResults(bool enableDetailedResults) {
this->enableDetailedResults = enableDetailedResults;
}
void setEnablePartialRelinearizationCheck(
bool enablePartialRelinearizationCheck) {
this->enablePartialRelinearizationCheck = enablePartialRelinearizationCheck;
}
GaussianFactorGraph::Eliminate getEliminationFunction() const {
return factorization == CHOLESKY

24
gtsam/nonlinear/nonlinear.i
View File

@ -588,21 +588,19 @@ class ISAM2Params {
void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params);
void setRelinearizeThreshold(double threshold);
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
int getRelinearizeSkip() const;
void setRelinearizeSkip(int relinearizeSkip);
bool isEnableRelinearization() const;
void setEnableRelinearization(bool enableRelinearization);
bool isEvaluateNonlinearError() const;
void setEvaluateNonlinearError(bool evaluateNonlinearError);
string getFactorization() const;
void setFactorization(string factorization);
bool isCacheLinearizedFactors() const;
void setCacheLinearizedFactors(bool cacheLinearizedFactors);
bool isEnableDetailedResults() const;
void setEnableDetailedResults(bool enableDetailedResults);
bool isEnablePartialRelinearizationCheck() const;
void setEnablePartialRelinearizationCheck(
bool enablePartialRelinearizationCheck);
int relinearizeSkip;
bool enableRelinearization;
bool evaluateNonlinearError;
bool cacheLinearizedFactors;
bool enableDetailedResults;
bool enablePartialRelinearizationCheck;
bool findUnusedFactorSlots;
enum Factorization { CHOLESKY, QR };
Factorization factorization;
};
class ISAM2Clique {

3
gtsam/slam/PoseRotationPrior.h
View File

@ -39,6 +39,9 @@ protected:
public:
/** default constructor - only use for serialization */
PoseRotationPrior() {}
/** standard constructor */
PoseRotationPrior(Key key, const Rotation& rot_z, const SharedNoiseModel& model)
: Base(model, key), measured_(rot_z) {}

8
gtsam/slam/slam.i
View File

@ -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);

15
gtsam_unstable/gtsam_unstable.i
View File

@ -566,7 +566,13 @@ virtual class FixedLagSmoother {
gtsam::FixedLagSmootherKeyTimestampMap timestamps() const;
double smootherLag() const;
gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph& newFactors, const gtsam::Values& newTheta, const gtsam::FixedLagSmootherKeyTimestampMap& timestamps);
gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
const gtsam::Values &newTheta,
const gtsam::FixedLagSmootherKeyTimestampMap &timestamps);
gtsam::FixedLagSmootherResult update(const gtsam::NonlinearFactorGraph &newFactors,
const gtsam::Values &newTheta,
const gtsam::FixedLagSmootherKeyTimestampMap &timestamps,
const gtsam::FactorIndices &factorsToRemove);
gtsam::Values calculateEstimate() const;
};
@ -576,6 +582,8 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
BatchFixedLagSmoother(double smootherLag);
BatchFixedLagSmoother(double smootherLag, const gtsam::LevenbergMarquardtParams& params);
void print(string s = "BatchFixedLagSmoother:\n") const;
gtsam::LevenbergMarquardtParams params() const;
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
@ -589,7 +597,12 @@ virtual class IncrementalFixedLagSmoother : gtsam::FixedLagSmoother {
IncrementalFixedLagSmoother(double smootherLag);
IncrementalFixedLagSmoother(double smootherLag, const gtsam::ISAM2Params& params);
void print(string s = "IncrementalFixedLagSmoother:\n") const;
gtsam::ISAM2Params params() const;
gtsam::NonlinearFactorGraph getFactors() const;
gtsam::ISAM2 getISAM2() const;
};
#include <gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.h>

3
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
View File

@ -113,6 +113,9 @@ public:
/// Get results of latest isam2 update
const ISAM2Result& getISAM2Result() const{ return isamResult_; }
/// Get the iSAM2 object which is used for the inference internally
const ISAM2& getISAM2() const { return isam_; }
protected:
/** Create default parameters */

2
matlab/+gtsam/VisualISAMInitialize.m
View File

@ -7,7 +7,7 @@ import gtsam.*
%% Initialize iSAM
params = gtsam.ISAM2Params;
if options.alwaysRelinearize
params.setRelinearizeSkip(1);
params.relinearizeSkip = 1;
end
isam = ISAM2(params);

2
matlab/CMakeLists.txt
View File

@ -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
${GTSAM_SOURCE_DIR}/gtsam/geometry/geometry.i
${GTSAM_SOURCE_DIR}/gtsam/linear/linear.i
${GTSAM_SOURCE_DIR}/gtsam/nonlinear/nonlinear.i

2
matlab/gtsam_examples/IMUKittiExampleGPS.m
View File

@ -52,7 +52,7 @@ IMU_params.setOmegaCoriolis(w_coriolis);
%% Solver object
isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10);
isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph;
newValues = Values;

2
matlab/unstable_examples/+imuSimulator/IMUComparison.m
View File

@ -46,7 +46,7 @@ posesIMUbody(1).R = poses(1).R;
%% Solver object
isamParams = ISAM2Params;
isamParams.setRelinearizeSkip(1);
isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams);
initialValues = Values;

2
matlab/unstable_examples/+imuSimulator/IMUComparison_with_cov.m
View File

@ -34,7 +34,7 @@ poses(1).R = currentPoseGlobal.rotation.matrix;
%% Solver object
isamParams = ISAM2Params;
isamParams.setRelinearizeSkip(1);
isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams);
sigma_init_x = 1.0;

2
matlab/unstable_examples/+imuSimulator/coriolisExample.m
View File

@ -119,7 +119,7 @@ h = figure;
% Solver object
isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10);
isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph;
newValues = Values;

2
matlab/unstable_examples/IMUKittiExampleAdvanced.m
View File

@ -82,7 +82,7 @@ w_coriolis = [0;0;0];
%% Solver object
isamParams = ISAM2Params;
isamParams.setFactorization('QR');
isamParams.setRelinearizeSkip(1);
isamParams.relinearizeSkip = 1;
isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph;
newValues = Values;

2
matlab/unstable_examples/IMUKittiExampleVO.m
View File

@ -58,7 +58,7 @@ w_coriolis = [0;0;0];
%% Solver object
isamParams = ISAM2Params;
isamParams.setFactorization('CHOLESKY');
isamParams.setRelinearizeSkip(10);
isamParams.relinearizeSkip = 10;
isam = gtsam.ISAM2(isamParams);
newFactors = NonlinearFactorGraph;
newValues = Values;

2
python/gtsam/examples/IMUKittiExampleGPS.py
View File

@ -203,7 +203,7 @@ def optimize(gps_measurements: List[GpsMeasurement],
# Set ISAM2 parameters and create ISAM2 solver object
isam_params = gtsam.ISAM2Params()
isam_params.setFactorization("CHOLESKY")
isam_params.setRelinearizeSkip(10)
isam_params.relinearizeSkip = 10
isam = gtsam.ISAM2(isam_params)

2
python/gtsam/examples/Pose2ISAM2Example.py
View File

@ -111,7 +111,7 @@ def Pose2SLAM_ISAM2_example():
# update calls are required to perform the relinearization.
parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.1)
parameters.setRelinearizeSkip(1)
parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters)
# Create the ground truth odometry measurements of the robot during the trajectory.

2
python/gtsam/examples/Pose3ISAM2Example.py
View File

@ -140,7 +140,7 @@ def Pose3_ISAM2_example():
# update calls are required to perform the relinearization.
parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.1)
parameters.setRelinearizeSkip(1)
parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters)
# Create the ground truth poses of the robot trajectory.

2
python/gtsam/examples/VisualISAM2Example.py
View File

@ -81,7 +81,7 @@ def visual_ISAM2_example():
# will approach the batch result.
parameters = gtsam.ISAM2Params()
parameters.setRelinearizeThreshold(0.01)
parameters.setRelinearizeSkip(1)
parameters.relinearizeSkip = 1
isam = gtsam.ISAM2(parameters)
# Create a Factor Graph and Values to hold the new data

3
python/gtsam/preamble/inference.h
View File

@ -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>

14
python/gtsam/tests/test_SfmData.py
View File

@ -14,10 +14,9 @@ from __future__ import print_function
import unittest
import numpy as np
import gtsam
from gtsam import SfmData, SfmTrack, Point2, Point3
import numpy as np
from gtsam import Point2, Point3, SfmData, SfmTrack
from gtsam.utils.test_case import GtsamTestCase
@ -57,7 +56,6 @@ class TestSfmData(GtsamTestCase):
self.tracks.point3()
)
def test_data(self):
"""Test functions in SfmData"""
# Create new track with 3 measurements
@ -86,8 +84,11 @@ class TestSfmData(GtsamTestCase):
self.assertEqual(cam_idx, i1)
def test_Balbianello(self):
""" Check that we can successfully read a bundler file and create a
factor graph from it
"""
# The structure where we will save the SfM data
filename = gtsam.findExampleDataFile("Balbianello")
filename = gtsam.findExampleDataFile("Balbianello.out")
sfm_data = SfmData.FromBundlerFile(filename)
# Check number of things
@ -104,7 +105,8 @@ class TestSfmData(GtsamTestCase):
self.gtsamAssertEquals(expected, actual, 1)
# We share *one* noiseModel between all projection factors
model = gtsam.noiseModel.Isotropic.Sigma(2, 1.0) # one pixel in u and v
model = gtsam.noiseModel.Isotropic.Sigma(
2, 1.0) # one pixel in u and v
# Convert to NonlinearFactorGraph
graph = sfm_data.sfmFactorGraph(model)

11
python/gtsam/utils/visual_data_generator.py
View File

@ -1,12 +1,12 @@
from __future__ import print_function
from typing import Tuple
import math
import numpy as np
from math import pi
from typing import Tuple
import gtsam
from gtsam import Point3, Pose3, PinholeCameraCal3_S2, Cal3_S2
import numpy as np
from gtsam import Cal3_S2, PinholeCameraCal3_S2, Point3, Pose3
class Options:
@ -36,7 +36,7 @@ class GroundTruth:
self.cameras = [Pose3()] * nrCameras
self.points = [Point3(0, 0, 0)] * nrPoints
def print(self, s="") -> None:
def print(self, s: str = "") -> None:
print(s)
print("K = ", self.K)
print("Cameras: ", len(self.cameras))
@ -88,7 +88,8 @@ def generate_data(options) -> Tuple[Data, GroundTruth]:
r = 10
for j in range(len(truth.points)):
theta = j * 2 * pi / nrPoints
truth.points[j] = Point3(r * math.cos(theta), r * math.sin(theta), 0)
truth.points[j] = Point3(
r * math.cos(theta), r * math.sin(theta), 0)
else: # 3D landmarks as vertices of a cube
truth.points = [
Point3(10, 10, 10), Point3(-10, 10, 10),

2
python/gtsam/utils/visual_isam.py
View File

@ -17,7 +17,7 @@ def initialize(data, truth, options):
# Initialize iSAM
params = gtsam.ISAM2Params()
if options.alwaysRelinearize:
params.setRelinearizeSkip(1)
params.relinearizeSkip = 1
isam = gtsam.ISAM2(params=params)
# Add constraints/priors

21
wrap/gtwrap/matlab_wrapper/mixins.py
View File

@ -26,25 +26,30 @@ class CheckMixin:
return True
return False
def can_be_pointer(self, arg_type: parser.Type):
"""
Determine if the `arg_type` can have a pointer to it.
E.g. `Pose3` can have `Pose3*` but
`Matrix` should not have `Matrix*`.
"""
return (arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')
def is_shared_ptr(self, arg_type: parser.Type):
"""
Determine if the `interface_parser.Type` should be treated as a
shared pointer in the wrapper.
"""
return arg_type.is_shared_ptr or (
arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')
return arg_type.is_shared_ptr
def is_ptr(self, arg_type: parser.Type):
"""
Determine if the `interface_parser.Type` should be treated as a
raw pointer in the wrapper.
"""
return arg_type.is_ptr or (
arg_type.typename.name not in self.not_ptr_type
and arg_type.typename.name not in self.ignore_namespace
and arg_type.typename.name != 'string')
return arg_type.is_ptr
def is_ref(self, arg_type: parser.Type):
"""

84
wrap/gtwrap/matlab_wrapper/wrapper.py
View File

@ -147,11 +147,13 @@ class MatlabWrapper(CheckMixin, FormatMixin):
"""
def args_copy(args):
return ArgumentList([copy.copy(arg) for arg in args.list()])
def method_copy(method):
method2 = copy.copy(method)
method2.args = args_copy(method.args)
method2.args.backup = method.args.backup
return method2
if save_backup:
method.args.backup = args_copy(method.args)
method = method_copy(method)
@ -162,7 +164,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
method.args.list().remove(arg)
return [
methodWithArg,
*MatlabWrapper._expand_default_arguments(method, save_backup=False)
*MatlabWrapper._expand_default_arguments(method,
save_backup=False)
]
break
assert all(arg.default is None for arg in method.args.list()), \
@ -180,9 +183,12 @@ class MatlabWrapper(CheckMixin, FormatMixin):
if method_index is None:
method_map[method.name] = len(method_out)
method_out.append(MatlabWrapper._expand_default_arguments(method))
method_out.append(
MatlabWrapper._expand_default_arguments(method))
else:
method_out[method_index] += MatlabWrapper._expand_default_arguments(method)
method_out[
method_index] += MatlabWrapper._expand_default_arguments(
method)
return method_out
@ -337,43 +343,42 @@ class MatlabWrapper(CheckMixin, FormatMixin):
body_args = ''
for arg in args.list():
if self.is_ref(arg.ctype): # and not constructor:
ctype_camel = self._format_type_name(arg.ctype.typename,
separator='')
body_args += textwrap.indent(textwrap.dedent('''\
{ctype}& {name} = *unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");
'''.format(ctype=self._format_type_name(arg.ctype.typename),
ctype_camel=ctype_camel,
name=arg.name,
id=arg_id)),
prefix=' ')
ctype_sep = self._format_type_name(arg.ctype.typename)
elif (self.is_shared_ptr(arg.ctype) or self.is_ptr(arg.ctype)) and \
if self.is_ref(arg.ctype): # and not constructor:
arg_type = "{ctype}&".format(ctype=ctype_sep)
unwrap = '*unwrap_shared_ptr< {ctype} >(in[{id}], "ptr_{ctype_camel}");'.format(
ctype=ctype_sep, ctype_camel=ctype_camel, id=arg_id)
elif self.is_ptr(arg.ctype) and \
arg.ctype.typename.name not in self.ignore_namespace:
arg_type = "{ctype_sep}*".format(ctype_sep=ctype_sep)
unwrap = 'unwrap_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
elif (self.is_shared_ptr(arg.ctype) or self.can_be_pointer(arg.ctype)) and \
arg.ctype.typename.name not in self.ignore_namespace:
if arg.ctype.is_shared_ptr:
call_type = arg.ctype.is_shared_ptr
else:
call_type = arg.ctype.is_ptr
body_args += textwrap.indent(textwrap.dedent('''\
{std_boost}::shared_ptr<{ctype_sep}> {name} = unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");
'''.format(std_boost='boost' if constructor else 'boost',
ctype_sep=self._format_type_name(
arg.ctype.typename),
ctype=self._format_type_name(arg.ctype.typename,
separator=''),
name=arg.name,
id=arg_id)),
prefix=' ')
arg_type = "{std_boost}::shared_ptr<{ctype_sep}>".format(
std_boost='boost' if constructor else 'boost',
ctype_sep=ctype_sep)
unwrap = 'unwrap_shared_ptr< {ctype_sep} >(in[{id}], "ptr_{ctype}");'.format(
ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
else:
body_args += textwrap.indent(textwrap.dedent('''\
{ctype} {name} = unwrap< {ctype} >(in[{id}]);
'''.format(ctype=arg.ctype.typename.name,
name=arg.name,
id=arg_id)),
prefix=' ')
arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
ctype=arg.ctype.typename.name, id=arg_id)
body_args += textwrap.indent(textwrap.dedent('''\
{arg_type} {name} = {unwrap}
'''.format(arg_type=arg_type, name=arg.name,
unwrap=unwrap)),
prefix=' ')
arg_id += 1
params = ''
@ -383,12 +388,14 @@ class MatlabWrapper(CheckMixin, FormatMixin):
if params != '':
params += ','
if (arg.default is not None) and (arg.name not in explicit_arg_names):
if (arg.default is not None) and (arg.name
not in explicit_arg_names):
params += arg.default
continue
if (not self.is_ref(arg.ctype)) and (self.is_shared_ptr(arg.ctype)) and (self.is_ptr(
arg.ctype)) and (arg.ctype.typename.name not in self.ignore_namespace):
if not self.is_ref(arg.ctype) and (self.is_shared_ptr(arg.ctype) or \
self.is_ptr(arg.ctype) or self.can_be_pointer(arg.ctype))and \
arg.ctype.typename.name not in self.ignore_namespace:
if arg.ctype.is_shared_ptr:
call_type = arg.ctype.is_shared_ptr
else:
@ -601,7 +608,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
if not isinstance(ctors, Iterable):
ctors = [ctors]
ctors = sum((MatlabWrapper._expand_default_arguments(ctor) for ctor in ctors), [])
ctors = sum((MatlabWrapper._expand_default_arguments(ctor)
for ctor in ctors), [])
methods_wrap = textwrap.indent(textwrap.dedent("""\
methods
@ -1079,7 +1087,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
pair_value = 'first' if func_id == 0 else 'second'
new_line = '\n' if func_id == 0 else ''
if self.is_shared_ptr(return_type) or self.is_ptr(return_type):
if self.is_shared_ptr(return_type) or self.is_ptr(return_type) or \
self.can_be_pointer(return_type):
shared_obj = 'pairResult.' + pair_value
if not (return_type.is_shared_ptr or return_type.is_ptr):
@ -1145,7 +1154,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
if return_1_name != 'void':
if return_count == 1:
if self.is_shared_ptr(return_1) or self.is_ptr(return_1):
if self.is_shared_ptr(return_1) or self.is_ptr(return_1) or \
self.can_be_pointer(return_1):
sep_method_name = partial(self._format_type_name,
return_1.typename,
include_namespace=True)

8
wrap/matlab.h
View File

@ -477,6 +477,14 @@ boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& pro
return *spp;
}
template <typename Class>
Class* unwrap_ptr(const mxArray* obj, const string& propertyName) {
mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str());
Class* x = reinterpret_cast<Class*> (mxGetData(mxh));
return x;
}
//// throw an error if unwrap_shared_ptr is attempted for an Eigen Vector
//template <>
//Vector unwrap_shared_ptr<Vector>(const mxArray* obj, const string& propertyName) {

6
wrap/tests/expected/matlab/ForwardKinematicsFactor.m
View File

@ -11,9 +11,9 @@ classdef ForwardKinematicsFactor < gtsam.BetweenFactor<gtsam.Pose3>
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = inheritance_wrapper(36, varargin{2});
my_ptr = inheritance_wrapper(52, varargin{2});
end
base_ptr = inheritance_wrapper(35, my_ptr);
base_ptr = inheritance_wrapper(51, my_ptr);
else
error('Arguments do not match any overload of ForwardKinematicsFactor constructor');
end
@ -22,7 +22,7 @@ classdef ForwardKinematicsFactor < gtsam.BetweenFactor<gtsam.Pose3>
end
function delete(obj)
inheritance_wrapper(37, obj.ptr_ForwardKinematicsFactor);
inheritance_wrapper(53, obj.ptr_ForwardKinematicsFactor);
end
function display(obj), obj.print(''); end

2
wrap/tests/expected/matlab/functions_wrapper.cpp
View File

@ -86,7 +86,7 @@ void load2D_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("load2D",nargout,nargin,2);
string filename = unwrap< string >(in[0]);
boost::shared_ptr<gtsam::noiseModel::Diagonal> model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
gtsam::noiseModel::Diagonal* model = unwrap_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
auto pairResult = load2D(filename,model);
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);

4
wrap/tests/expected/matlab/geometry_wrapper.cpp
View File

@ -151,7 +151,7 @@ void gtsamPoint2_argChar_7(int nargout, mxArray *out[], int nargin, const mxArra
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
char* a = unwrap_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}
@ -175,7 +175,7 @@ void gtsamPoint2_argChar_10(int nargout, mxArray *out[], int nargin, const mxArr
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
char* a = unwrap_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}

220
wrap/tests/expected/matlab/inheritance_wrapper.cpp
View File

@ -9,6 +9,7 @@
typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
typedef MyTemplate<A> MyTemplateA;
typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
static Collector_MyBase collector_MyBase;
@ -16,6 +17,8 @@ typedef std::set<boost::shared_ptr<MyTemplatePoint2>*> Collector_MyTemplatePoint
static Collector_MyTemplatePoint2 collector_MyTemplatePoint2;
typedef std::set<boost::shared_ptr<MyTemplateMatrix>*> Collector_MyTemplateMatrix;
static Collector_MyTemplateMatrix collector_MyTemplateMatrix;
typedef std::set<boost::shared_ptr<MyTemplateA>*> Collector_MyTemplateA;
static Collector_MyTemplateA collector_MyTemplateA;
typedef std::set<boost::shared_ptr<ForwardKinematicsFactor>*> Collector_ForwardKinematicsFactor;
static Collector_ForwardKinematicsFactor collector_ForwardKinematicsFactor;
@ -44,6 +47,12 @@ void _deleteAllObjects()
collector_MyTemplateMatrix.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplateA::iterator iter = collector_MyTemplateA.begin();
iter != collector_MyTemplateA.end(); ) {
delete *iter;
collector_MyTemplateA.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ForwardKinematicsFactor::iterator iter = collector_ForwardKinematicsFactor.begin();
iter != collector_ForwardKinematicsFactor.end(); ) {
delete *iter;
@ -67,6 +76,7 @@ void _inheritance_RTTIRegister() {
types.insert(std::make_pair(typeid(MyBase).name(), "MyBase"));
types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2"));
types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
types.insert(std::make_pair(typeid(MyTemplateA).name(), "MyTemplateA"));
types.insert(std::make_pair(typeid(ForwardKinematicsFactor).name(), "ForwardKinematicsFactor"));
@ -462,7 +472,157 @@ void MyTemplateMatrix_Level_34(int nargout, mxArray *out[], int nargin, const mx
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<Matrix>>(MyTemplate<gtsam::Matrix>::Level(K)),"MyTemplateMatrix", false);
}
void ForwardKinematicsFactor_collectorInsertAndMakeBase_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyTemplateA_collectorInsertAndMakeBase_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<A>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyTemplateA.insert(self);
typedef boost::shared_ptr<MyBase> SharedBase;
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}
void MyTemplateA_upcastFromVoid_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<A>> Shared;
boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
Shared *self = new Shared(boost::static_pointer_cast<MyTemplate<A>>(*asVoid));
*reinterpret_cast<Shared**>(mxGetData(out[0])) = self;
}
void MyTemplateA_constructor_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<A>> Shared;
Shared *self = new Shared(new MyTemplate<A>());
collector_MyTemplateA.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
typedef boost::shared_ptr<MyBase> SharedBase;
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
}
void MyTemplateA_deconstructor_38(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplate<A>> Shared;
checkArguments("delete_MyTemplateA",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyTemplateA::iterator item;
item = collector_MyTemplateA.find(self);
if(item != collector_MyTemplateA.end()) {
collector_MyTemplateA.erase(item);
}
delete self;
}
void MyTemplateA_accept_T_39(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
A& value = *unwrap_shared_ptr< A >(in[1], "ptr_A");
obj->accept_T(value);
}
void MyTemplateA_accept_Tptr_40(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
boost::shared_ptr<A> value = unwrap_shared_ptr< A >(in[1], "ptr_A");
obj->accept_Tptr(value);
}
void MyTemplateA_create_MixedPtrs_41(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_MixedPtrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
auto pairResult = obj->create_MixedPtrs();
out[0] = wrap_shared_ptr(boost::make_shared<A>(pairResult.first),"A", false);
out[1] = wrap_shared_ptr(pairResult.second,"A", false);
}
void MyTemplateA_create_ptrs_42(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_ptrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
auto pairResult = obj->create_ptrs();
out[0] = wrap_shared_ptr(pairResult.first,"A", false);
out[1] = wrap_shared_ptr(pairResult.second,"A", false);
}
void MyTemplateA_return_T_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
A* value = unwrap_ptr< A >(in[1], "ptr_A");
out[0] = wrap_shared_ptr(boost::make_shared<A>(obj->return_T(value)),"A", false);
}
void MyTemplateA_return_Tptr_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
boost::shared_ptr<A> value = unwrap_shared_ptr< A >(in[1], "ptr_A");
out[0] = wrap_shared_ptr(obj->return_Tptr(value),"A", false);
}
void MyTemplateA_return_ptrs_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_ptrs",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
boost::shared_ptr<A> p1 = unwrap_shared_ptr< A >(in[1], "ptr_A");
boost::shared_ptr<A> p2 = unwrap_shared_ptr< A >(in[2], "ptr_A");
auto pairResult = obj->return_ptrs(p1,p2);
out[0] = wrap_shared_ptr(pairResult.first,"A", false);
out[1] = wrap_shared_ptr(pairResult.second,"A", false);
}
void MyTemplateA_templatedMethod_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
Matrix t = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->templatedMethod<gtsam::Matrix>(t));
}
void MyTemplateA_templatedMethod_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
Point2 t = unwrap< Point2 >(in[1]);
out[0] = wrap< Point2 >(obj->templatedMethod<gtsam::Point2>(t));
}
void MyTemplateA_templatedMethod_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
Point3 t = unwrap< Point3 >(in[1]);
out[0] = wrap< Point3 >(obj->templatedMethod<gtsam::Point3>(t));
}
void MyTemplateA_templatedMethod_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodVector",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<A>>(in[0], "ptr_MyTemplateA");
Vector t = unwrap< Vector >(in[1]);
out[0] = wrap< Vector >(obj->templatedMethod<gtsam::Vector>(t));
}
void MyTemplateA_Level_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("MyTemplate<A>.Level",nargout,nargin,1);
A& K = *unwrap_shared_ptr< A >(in[0], "ptr_A");
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<A>>(MyTemplate<A>::Level(K)),"MyTemplateA", false);
}
void ForwardKinematicsFactor_collectorInsertAndMakeBase_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ForwardKinematicsFactor> Shared;
@ -475,7 +635,7 @@ void ForwardKinematicsFactor_collectorInsertAndMakeBase_35(int nargout, mxArray
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}
void ForwardKinematicsFactor_upcastFromVoid_36(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
void ForwardKinematicsFactor_upcastFromVoid_52(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ForwardKinematicsFactor> Shared;
boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));
@ -484,7 +644,7 @@ void ForwardKinematicsFactor_upcastFromVoid_36(int nargout, mxArray *out[], int
*reinterpret_cast<Shared**>(mxGetData(out[0])) = self;
}
void ForwardKinematicsFactor_deconstructor_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void ForwardKinematicsFactor_deconstructor_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ForwardKinematicsFactor> Shared;
checkArguments("delete_ForwardKinematicsFactor",nargout,nargin,1);
@ -615,13 +775,61 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
MyTemplateMatrix_Level_34(nargout, out, nargin-1, in+1);
break;
case 35:
ForwardKinematicsFactor_collectorInsertAndMakeBase_35(nargout, out, nargin-1, in+1);
MyTemplateA_collectorInsertAndMakeBase_35(nargout, out, nargin-1, in+1);
break;
case 36:
ForwardKinematicsFactor_upcastFromVoid_36(nargout, out, nargin-1, in+1);
MyTemplateA_upcastFromVoid_36(nargout, out, nargin-1, in+1);
break;
case 37:
ForwardKinematicsFactor_deconstructor_37(nargout, out, nargin-1, in+1);
MyTemplateA_constructor_37(nargout, out, nargin-1, in+1);
break;
case 38:
MyTemplateA_deconstructor_38(nargout, out, nargin-1, in+1);
break;
case 39:
MyTemplateA_accept_T_39(nargout, out, nargin-1, in+1);
break;
case 40:
MyTemplateA_accept_Tptr_40(nargout, out, nargin-1, in+1);
break;
case 41:
MyTemplateA_create_MixedPtrs_41(nargout, out, nargin-1, in+1);
break;
case 42:
MyTemplateA_create_ptrs_42(nargout, out, nargin-1, in+1);
break;
case 43:
MyTemplateA_return_T_43(nargout, out, nargin-1, in+1);
break;
case 44:
MyTemplateA_return_Tptr_44(nargout, out, nargin-1, in+1);
break;
case 45:
MyTemplateA_return_ptrs_45(nargout, out, nargin-1, in+1);
break;
case 46:
MyTemplateA_templatedMethod_46(nargout, out, nargin-1, in+1);
break;
case 47:
MyTemplateA_templatedMethod_47(nargout, out, nargin-1, in+1);
break;
case 48:
MyTemplateA_templatedMethod_48(nargout, out, nargin-1, in+1);
break;
case 49:
MyTemplateA_templatedMethod_49(nargout, out, nargin-1, in+1);
break;
case 50:
MyTemplateA_Level_50(nargout, out, nargin-1, in+1);
break;
case 51:
ForwardKinematicsFactor_collectorInsertAndMakeBase_51(nargout, out, nargin-1, in+1);
break;
case 52:
ForwardKinematicsFactor_upcastFromVoid_52(nargout, out, nargin-1, in+1);
break;
case 53:
ForwardKinematicsFactor_deconstructor_53(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {

15
wrap/tests/expected/python/inheritance_pybind.cpp
View File

@ -54,6 +54,21 @@ PYBIND11_MODULE(inheritance_py, m_) {
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> p1, const std::shared_ptr<gtsam::Matrix> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Matrix& K){return MyTemplate<gtsam::Matrix>::Level(K);}, py::arg("K"));
py::class_<MyTemplate<A>, MyBase, std::shared_ptr<MyTemplate<A>>>(m_, "MyTemplateA")
.def(py::init<>())
.def("templatedMethodPoint2",[](MyTemplate<A>* self, const gtsam::Point2& t){return self->templatedMethod<gtsam::Point2>(t);}, py::arg("t"))
.def("templatedMethodPoint3",[](MyTemplate<A>* self, const gtsam::Point3& t){return self->templatedMethod<gtsam::Point3>(t);}, py::arg("t"))
.def("templatedMethodVector",[](MyTemplate<A>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<A>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<A>* self, const A& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<A>* self, std::shared_ptr<A> value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<A>* self, std::shared_ptr<A> value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<A>* self, A* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<A>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<A>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<A>* self, std::shared_ptr<A> p1, std::shared_ptr<A> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const A& K){return MyTemplate<A>::Level(K);}, py::arg("K"));
py::class_<ForwardKinematicsFactor, gtsam::BetweenFactor<gtsam::Pose3>, std::shared_ptr<ForwardKinematicsFactor>>(m_, "ForwardKinematicsFactor");

2
wrap/tests/fixtures/inheritance.i vendored
View File

@ -4,7 +4,7 @@ virtual class MyBase {
};
// A templated class
template<T = {gtsam::Point2, Matrix}>
template<T = {gtsam::Point2, Matrix, A}>
virtual class MyTemplate : MyBase {
MyTemplate();