Merging 'master' into 'wrap'

wrap/gtwrap/interface_parser/classes.py

@@ -119,24 +119,27 @@ class Constructor:
     Can have 0 or more arguments.
     """
     rule = (
-        IDENT("name")  #
+        Optional(Template.rule("template"))  #
+        + IDENT("name")  #
         + LPAREN  #
         + ArgumentList.rule("args_list")  #
         + RPAREN  #
         + SEMI_COLON  # BR
-    ).setParseAction(lambda t: Constructor(t.name, t.args_list))
+    ).setParseAction(lambda t: Constructor(t.name, t.args_list, t.template))
 
     def __init__(self,
                  name: str,
                  args: ArgumentList,
+                 template: Union[Template, Any],
                  parent: Union["Class", Any] = ''):
         self.name = name
         self.args = args
+        self.template = template
 
         self.parent = parent
 
     def __repr__(self) -> str:
-        return "Constructor: {}".format(self.name)
+        return "Constructor: {}{}".format(self.name, self.args)
 
 
 class Operator:
@@ -260,17 +263,9 @@ class Class:
         + RBRACE  #
         + SEMI_COLON  # BR
     ).setParseAction(lambda t: Class(
-        t.template,
+        t.template, t.is_virtual, t.name, t.parent_class, t.members.ctors, t.
-        t.is_virtual,
+        members.methods, t.members.static_methods, t.members.properties, t.
-        t.name,
+        members.operators, t.members.enums))
-        t.parent_class,
-        t.members.ctors,
-        t.members.methods,
-        t.members.static_methods,
-        t.members.properties,
-        t.members.operators,
-        t.members.enums
-    ))
 
     def __init__(
         self,

wrap/gtwrap/interface_parser/function.py

@@ -81,7 +81,7 @@ class ArgumentList:
             return ArgumentList([])
 
     def __repr__(self) -> str:
-        return self.args_list.__repr__()
+        return repr(tuple(self.args_list))
 
     def __len__(self) -> int:
         return len(self.args_list)

wrap/gtwrap/template_instantiator.py

@@ -41,6 +41,8 @@ def instantiate_type(ctype: parser.Type,
 
     str_arg_typename = str(ctype.typename)
 
+    # Instantiate templates which have enumerated instantiations in the template.
+    # E.g. `template<T={double}>`.
     if str_arg_typename in template_typenames:
         idx = template_typenames.index(str_arg_typename)
         return parser.Type(
@@ -51,14 +53,15 @@ def instantiate_type(ctype: parser.Type,
             is_ref=ctype.is_ref,
             is_basic=ctype.is_basic,
         )
+
+    # If a method has the keyword `This`, we replace it with the (instantiated) class.
     elif str_arg_typename == 'This':
+        # Check if the class is template instantiated
+        # so we can replace it with the instantiated version.
         if instantiated_class:
             name = instantiated_class.original.name
             namespaces_name = instantiated_class.namespaces()
             namespaces_name.append(name)
-            # print("INST: {}, {}, CPP: {}, CLS: {}".format(
-            #     ctype, instantiations, cpp_typename, instantiated_class.instantiations
-            # ), file=sys.stderr)
             cpp_typename = parser.Typename(
                 namespaces_name,
                 instantiations=instantiated_class.instantiations)
@@ -71,6 +74,14 @@ def instantiate_type(ctype: parser.Type,
             is_ref=ctype.is_ref,
             is_basic=ctype.is_basic,
         )
+
+    # Case when 'This' is present in the type namespace, e.g `This::Subclass`.
+    elif 'This' in str_arg_typename:
+        # Simply get the index of `This` in the namespace and replace it with the instantiated name.
+        namespace_idx = ctype.typename.namespaces.index('This')
+        ctype.typename.namespaces[namespace_idx] = cpp_typename.name
+        return ctype
+
     else:
         return ctype
 
@@ -368,19 +379,45 @@ class InstantiatedClass(parser.Class):
         """
         instantiated_ctors = []
 
-        for ctor in self.original.ctors:
+        def instantiate(instantiated_ctors, ctor, typenames, instantiations):
             instantiated_args = instantiate_args_list(
                 ctor.args.list(),
                 typenames,
-                self.instantiations,
+                instantiations,
                 self.cpp_typename(),
             )
             instantiated_ctors.append(
                 parser.Constructor(
                     name=self.name,
                     args=parser.ArgumentList(instantiated_args),
+                    template=self.original.template,
                     parent=self,
                 ))
+            return instantiated_ctors
+
+        for ctor in self.original.ctors:
+            # Add constructor templates to the typenames and instantiations
+            if isinstance(ctor.template, parser.template.Template):
+                typenames.extend(ctor.template.typenames)
+
+                # Get all combinations of template args
+                for instantiations in itertools.product(
+                        *ctor.template.instantiations):
+                    instantiations = self.instantiations + list(instantiations)
+
+                    instantiated_ctors = instantiate(
+                        instantiated_ctors,
+                        ctor,
+                        typenames=typenames,
+                        instantiations=instantiations)
+
+            else:
+                # If no constructor level templates, just use the class templates
+                instantiated_ctors = instantiate(
+                    instantiated_ctors,
+                    ctor,
+                    typenames=typenames,
+                    instantiations=self.instantiations)
         return instantiated_ctors
 
     def instantiate_static_methods(self, typenames):

wrap/tests/expected/matlab/MyFactorPosePoint2.m

@@ -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(56, my_ptr);
+        class_wrapper(62, 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(57, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(63, 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(58, obj.ptr_MyFactorPosePoint2);
+      class_wrapper(64, obj.ptr_MyFactorPosePoint2);
     end
 
     function display(obj), obj.print(''); end
@@ -36,7 +36,7 @@ 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(59, this, varargin{:});
+        class_wrapper(65, this, varargin{:});
         return
       end
       error('Arguments do not match any overload of function MyFactorPosePoint2.print');

wrap/tests/expected/matlab/class_wrapper.cpp

@@ -33,6 +33,8 @@ typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_Multip
 static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
 typedef std::set<boost::shared_ptr<ForwardKinematics>*> Collector_ForwardKinematics;
 static Collector_ForwardKinematics collector_ForwardKinematics;
+typedef std::set<boost::shared_ptr<TemplatedConstructor>*> Collector_TemplatedConstructor;
+static Collector_TemplatedConstructor collector_TemplatedConstructor;
 typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
 static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
 
@@ -97,6 +99,12 @@ void _deleteAllObjects()
     collector_ForwardKinematics.erase(iter++);
     anyDeleted = true;
   } }
+  { for(Collector_TemplatedConstructor::iterator iter = collector_TemplatedConstructor.begin();
+      iter != collector_TemplatedConstructor.end(); ) {
+    delete *iter;
+    collector_TemplatedConstructor.erase(iter++);
+    anyDeleted = true;
+  } }
   { for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
       iter != collector_MyFactorPosePoint2.end(); ) {
     delete *iter;
@@ -682,7 +690,76 @@ void ForwardKinematics_deconstructor_55(int nargout, mxArray *out[], int nargin,
   }
 }
 
-void MyFactorPosePoint2_collectorInsertAndMakeBase_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_collectorInsertAndMakeBase_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
+  collector_TemplatedConstructor.insert(self);
+}
+
+void TemplatedConstructor_constructor_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  Shared *self = new Shared(new TemplatedConstructor());
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  string& arg = *unwrap_shared_ptr< string >(in[0], "ptr_string");
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  int arg = unwrap< int >(in[0]);
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_constructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  mexAtExit(&_deleteAllObjects);
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+
+  double arg = unwrap< double >(in[0]);
+  Shared *self = new Shared(new TemplatedConstructor(arg));
+  collector_TemplatedConstructor.insert(self);
+  out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
+  *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
+}
+
+void TemplatedConstructor_deconstructor_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  typedef boost::shared_ptr<TemplatedConstructor> Shared;
+  checkArguments("delete_TemplatedConstructor",nargout,nargin,1);
+  Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
+  Collector_TemplatedConstructor::iterator item;
+  item = collector_TemplatedConstructor.find(self);
+  if(item != collector_TemplatedConstructor.end()) {
+    delete self;
+    collector_TemplatedConstructor.erase(item);
+  }
+}
+
+void MyFactorPosePoint2_collectorInsertAndMakeBase_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -691,7 +768,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_56(int nargout, mxArray *out[
   collector_MyFactorPosePoint2.insert(self);
 }
 
-void MyFactorPosePoint2_constructor_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_constructor_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -706,7 +783,7 @@ void MyFactorPosePoint2_constructor_57(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyFactorPosePoint2_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_deconstructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
   checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@@ -719,7 +796,7 @@ void MyFactorPosePoint2_deconstructor_58(int nargout, mxArray *out[], int nargin
   }
 }
 
-void MyFactorPosePoint2_print_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_65(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");
@@ -909,16 +986,34 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       ForwardKinematics_deconstructor_55(nargout, out, nargin-1, in+1);
       break;
     case 56:
-      MyFactorPosePoint2_collectorInsertAndMakeBase_56(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_collectorInsertAndMakeBase_56(nargout, out, nargin-1, in+1);
       break;
     case 57:
-      MyFactorPosePoint2_constructor_57(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_57(nargout, out, nargin-1, in+1);
       break;
     case 58:
-      MyFactorPosePoint2_deconstructor_58(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_58(nargout, out, nargin-1, in+1);
       break;
     case 59:
-      MyFactorPosePoint2_print_59(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_59(nargout, out, nargin-1, in+1);
+      break;
+    case 60:
+      TemplatedConstructor_constructor_60(nargout, out, nargin-1, in+1);
+      break;
+    case 61:
+      TemplatedConstructor_deconstructor_61(nargout, out, nargin-1, in+1);
+      break;
+    case 62:
+      MyFactorPosePoint2_collectorInsertAndMakeBase_62(nargout, out, nargin-1, in+1);
+      break;
+    case 63:
+      MyFactorPosePoint2_constructor_63(nargout, out, nargin-1, in+1);
+      break;
+    case 64:
+      MyFactorPosePoint2_deconstructor_64(nargout, out, nargin-1, in+1);
+      break;
+    case 65:
+      MyFactorPosePoint2_print_65(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {

wrap/tests/expected/python/class_pybind.cpp

@@ -86,6 +86,12 @@ PYBIND11_MODULE(class_py, m_) {
     py::class_<ForwardKinematics, std::shared_ptr<ForwardKinematics>>(m_, "ForwardKinematics")
         .def(py::init<const gtdynamics::Robot&, const string&, const string&, const gtsam::Values&, const gtsam::Pose3&>(), py::arg("robot"), py::arg("start_link_name"), py::arg("end_link_name"), py::arg("joint_angles"), py::arg("l2Tp") = gtsam::Pose3());
 
+    py::class_<TemplatedConstructor, std::shared_ptr<TemplatedConstructor>>(m_, "TemplatedConstructor")
+        .def(py::init<>())
+        .def(py::init<const string&>(), py::arg("arg"))
+        .def(py::init<const int&>(), py::arg("arg"))
+        .def(py::init<const double&>(), py::arg("arg"));
+
     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)

wrap/tests/expected/python/enum_pybind.cpp

@@ -69,6 +69,16 @@ PYBIND11_MODULE(enum_py, m_) {
         .value("Groot", gtsam::MCU::GotG::Groot);
 
 
+    py::class_<gtsam::Optimizer<gtsam::GaussNewtonParams>, std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>> optimizergaussnewtonparams(m_gtsam, "OptimizerGaussNewtonParams");
+    optimizergaussnewtonparams
+        .def("setVerbosity",[](gtsam::Optimizer<gtsam::GaussNewtonParams>* self, const Optimizer<gtsam::GaussNewtonParams>::Verbosity value){ self->setVerbosity(value);}, py::arg("value"));
+
+    py::enum_<gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity>(optimizergaussnewtonparams, "Verbosity", py::arithmetic())
+        .value("SILENT", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::SILENT)
+        .value("SUMMARY", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::SUMMARY)
+        .value("VERBOSE", gtsam::Optimizer<gtsam::GaussNewtonParams>::Verbosity::VERBOSE);
+
+
 
 #include "python/specializations.h"
 

wrap/tests/fixtures/class.i

@@ -7,6 +7,7 @@ class FunRange {
 
 template<M={double}>
 class Fun {
+
   static This staticMethodWithThis();
 
   template<T={string}>
@@ -118,5 +119,14 @@ class ForwardKinematics {
                     const gtsam::Pose3& l2Tp = gtsam::Pose3());
 };
 
+// Test for templated constructor
+class TemplatedConstructor {
+  TemplatedConstructor();
+
+  template<T={string, int, double}>
+  TemplatedConstructor(const T& arg);
+};
+
+
 class SuperCoolFactor;
 typedef SuperCoolFactor<gtsam::Pose3> SuperCoolFactorPose3;

wrap/tests/fixtures/enum.i

@@ -42,4 +42,17 @@ class MCU {
 
 };
 
+template<PARAMS>
+class Optimizer {
+  enum Verbosity {
+    SILENT,
+    SUMMARY,
+    VERBOSE
+  };
+
+  void setVerbosity(const This::Verbosity value);
+};
+
+typedef gtsam::Optimizer<gtsam::GaussNewtonParams> OptimizerGaussNewtonParams;
+
 }  // namespace gtsam

wrap/tests/test_interface_parser.py

@@ -314,6 +314,25 @@ class TestInterfaceParser(unittest.TestCase):
         self.assertEqual(5, len(ret.args))
         self.assertEqual("gtsam::Pose3()", ret.args.list()[4].default)
 
+    def test_constructor_templated(self):
+        """Test for templated class constructor."""
+        f = """
+        template<T = {double, int}>
+        Class();
+        """
+        ret = Constructor.rule.parseString(f)[0]
+        self.assertEqual("Class", ret.name)
+        self.assertEqual(0, len(ret.args))
+
+        f = """
+        template<T = {double, int}>
+        Class(const T& name);
+        """
+        ret = Constructor.rule.parseString(f)[0]
+        self.assertEqual("Class", ret.name)
+        self.assertEqual(1, len(ret.args))
+        self.assertEqual("const T & name", ret.args.args_list[0].to_cpp())
+
     def test_operator_overload(self):
         """Test for operator overloading."""
         # Unary operator