Merge pull request #1649 from borglab/matlab-update

Matlab Wrapper Update

matlab/CMakeLists.txt

@@ -64,6 +64,10 @@ set(ignore
     gtsam::Point3
     gtsam::CustomFactor)
 
+if (APPLE OR WIN32)
+  list(APPEND ignore gtsam::Symbol)
+endif()
+
 set(interface_files
     ${GTSAM_SOURCE_DIR}/gtsam/gtsam.i
     ${GTSAM_SOURCE_DIR}/gtsam/base/base.i

matlab/README.md

@@ -10,6 +10,14 @@ The interface generated by the wrap tool also redirects the standard output stre
 
 For instructions on updating the version of the [wrap library](https://github.com/borglab/wrap) included in GTSAM to the latest version, please refer to the [wrap README](https://github.com/borglab/wrap/blob/master/README.md#git-subtree-and-contributing)
 
+### Filename Case Sensitivity
+
+Due to the file name syntax requirements of Matlab, having the files `Symbol.m` (for the class) and `symbol.m` (for the function) together on an OS with a case-insensitive filesystem is impossible.
+
+To put it simply, for an OS like Windows or MacOS where the filesystem is case-insensitive, we cannot have two files `symbol.m` and `Symbol.m` in the same folder. When trying to write one file after another, they will end up overwriting each other. We cannot specify 2 different filenames, since Matlab's syntax prevents that.
+
+For this reason, on Windows and MacOS, we ignore the `Symbol` class and request users to use the `symbol` function exclusively for key creation.
+
 ## Ubuntu
 
 If you have a newer Ubuntu system (later than 10.04), you must make a small modification to your MATLAB installation, due to MATLAB being distributed with an old version of the C++ standard library. Delete or rename all files starting with `libstdc++` in your MATLAB installation directory, in paths:

wrap/gtwrap/interface_parser/function.py

@@ -12,7 +12,8 @@ Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellae
 
 from typing import Any, Iterable, List, Union
 
-from pyparsing import Optional, ParseResults, delimitedList  # type: ignore
+from pyparsing import (Literal, Optional, ParseResults,  # type: ignore
+                       delimitedList)
 
 from .template import Template
 from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR,
@@ -105,8 +106,10 @@ class ReturnType:
 
     The return type can either be a single type or a pair such as <type1, type2>.
     """
+    # rule to parse optional std:: in front of `pair`
+    optional_std = Optional(Literal('std::')).suppress()
     _pair = (
-        PAIR.suppress()  #
+        optional_std + PAIR.suppress()  #
         + LOPBRACK  #
         + Type.rule("type1")  #
         + COMMA  #

wrap/gtwrap/matlab_wrapper/wrapper.py

@@ -1284,7 +1284,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                                       [instantiated_class.name])
             else:
                 # Get the full namespace
-                class_name = ".".join(instantiated_class.parent.full_namespaces()[1:])
+                class_name = ".".join(
+                    instantiated_class.parent.full_namespaces()[1:])
 
             if class_name != "":
                 class_name += '.'
@@ -1860,6 +1861,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         """
         for c in cc_content:
             if isinstance(c, list):
+                # c is a namespace
                 if len(c) == 0:
                     continue
 
@@ -1875,6 +1877,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                     self.generate_content(sub_content[1], path_to_folder)
 
             elif isinstance(c[1], list):
+                # c is a wrapped function
                 path_to_folder = osp.join(path, c[0])
 
                 if not osp.isdir(path_to_folder):
@@ -1882,11 +1885,13 @@ class MatlabWrapper(CheckMixin, FormatMixin):
                         os.makedirs(path_to_folder, exist_ok=True)
                     except OSError:
                         pass
+
                 for sub_content in c[1]:
                     path_to_file = osp.join(path_to_folder, sub_content[0])
                     with open(path_to_file, 'w') as f:
                         f.write(sub_content[1])
             else:
+                # c is a wrapped class
                 path_to_file = osp.join(path, c[0])
 
                 if not osp.isdir(path_to_file):
@@ -1921,6 +1926,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         for module in modules.values():
             # Wrap the full namespace
             self.wrap_namespace(module)
+
+            # Generate the wrapping code (both C++ and .m files)
             self.generate_wrapper(module)
 
             # Generate the corresponding .m and .cpp files

wrap/tests/expected/matlab/TemplatedFunctionRot3.m

@@ -1,6 +1,6 @@
 function varargout = TemplatedFunctionRot3(varargin)
       if length(varargin) == 1 && isa(varargin{1},'gtsam.Rot3')
-        functions_wrapper(25, varargin{:});
+        functions_wrapper(26, varargin{:});
       else
         error('Arguments do not match any overload of function TemplatedFunctionRot3');
       end

wrap/tests/expected/matlab/functions_wrapper.cpp

@@ -229,7 +229,16 @@ void setPose_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
   checkArguments("setPose",nargout,nargin,0);
   setPose(gtsam::Pose3());
 }
-void TemplatedFunctionRot3_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void EliminateDiscrete_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("EliminateDiscrete",nargout,nargin,2);
+  gtsam::DiscreteFactorGraph& factors = *unwrap_shared_ptr< gtsam::DiscreteFactorGraph >(in[0], "ptr_gtsamDiscreteFactorGraph");
+  gtsam::Ordering& frontalKeys = *unwrap_shared_ptr< gtsam::Ordering >(in[1], "ptr_gtsamOrdering");
+  auto pairResult = EliminateDiscrete(factors,frontalKeys);
+  out[0] = wrap_shared_ptr(pairResult.first,"gtsam.DiscreteConditional", false);
+  out[1] = wrap_shared_ptr(pairResult.second,"gtsam.DecisionTreeFactor", false);
+}
+void TemplatedFunctionRot3_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("TemplatedFunctionRot3",nargout,nargin,1);
   gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3");
@@ -323,7 +332,10 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       setPose_24(nargout, out, nargin-1, in+1);
       break;
     case 25:
-      TemplatedFunctionRot3_25(nargout, out, nargin-1, in+1);
+      EliminateDiscrete_25(nargout, out, nargin-1, in+1);
+      break;
+    case 26:
+      TemplatedFunctionRot3_26(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {

wrap/tests/expected/python/functions_pybind.cpp

@@ -30,6 +30,7 @@ PYBIND11_MODULE(functions_py, m_) {
     m_.def("DefaultFuncZero",[](int a, int b, double c, int d, bool e){ ::DefaultFuncZero(a, b, c, d, e);}, py::arg("a"), py::arg("b"), py::arg("c") = 0.0, py::arg("d") = 0, py::arg("e") = false);
     m_.def("DefaultFuncVector",[](const std::vector<int>& i, const std::vector<string>& s){ ::DefaultFuncVector(i, s);}, py::arg("i") = {1, 2, 3}, py::arg("s") = {"borglab", "gtsam"});
     m_.def("setPose",[](const gtsam::Pose3& pose){ ::setPose(pose);}, py::arg("pose") = gtsam::Pose3());
+    m_.def("EliminateDiscrete",[](const gtsam::DiscreteFactorGraph& factors, const gtsam::Ordering& frontalKeys){return ::EliminateDiscrete(factors, frontalKeys);}, py::arg("factors"), py::arg("frontalKeys"));
     m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<gtsam::Rot3>(t);}, py::arg("t"));
 
 #include "python/specializations.h"

wrap/tests/fixtures/functions.i

@@ -36,3 +36,7 @@ void DefaultFuncVector(const std::vector<int> &i = {1, 2, 3}, const std::vector<
 
 // Test for non-trivial default constructor
 void setPose(const gtsam::Pose3& pose = gtsam::Pose3());
+
+std::pair<gtsam::DiscreteConditional*, gtsam::DecisionTreeFactor*>
+EliminateDiscrete(const gtsam::DiscreteFactorGraph& factors,
+                  const gtsam::Ordering& frontalKeys);