wrap_mods_inheritance branch - Can now pass derived classes in as base class arguments (i.e. pass gtsamPose2 where gtsamValues.insert expects gtsamValue)
Richard Roberts
parent
3c27daae18
commit
8a8b27005f
26
gtsam.h
26
gtsam.h
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@ -65,14 +65,13 @@ namespace gtsam {
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//*************************************************************************
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class Value {
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// No constructors because this is an abstract class
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// Testable
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void print(string s) const;
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bool equals(const gtsam::Value& expected, double tol) const;
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// Manifold
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size_t dim() const;
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gtsam::Value retract(Vector v) const;
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Vector localCoordinates(const gtsam::Value& t2) const;
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};
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class LieVector : gtsam::Value {
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@ -107,7 +106,7 @@ class LieVector : gtsam::Value {
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// geometry
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//*************************************************************************
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class Point2 {
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class Point2 : gtsam::Value {
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// Standard Constructors
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Point2();
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Point2(double x, double y);
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@ -139,7 +138,7 @@ class Point2 {
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Vector vector() const;
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};
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class StereoPoint2 {
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class StereoPoint2 : gtsam::Value {
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// Standard Constructors
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StereoPoint2();
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StereoPoint2(double uL, double uR, double v);
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@ -168,7 +167,7 @@ class StereoPoint2 {
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Vector vector() const;
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};
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class Point3 {
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class Point3 : gtsam::Value {
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// Standard Constructors
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Point3();
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Point3(double x, double y, double z);
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@ -201,7 +200,7 @@ class Point3 {
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double z() const;
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};
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class Rot2 {
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class Rot2 : gtsam::Value {
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// Standard Constructors and Named Constructors
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Rot2();
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Rot2(double theta);
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@ -243,7 +242,7 @@ class Rot2 {
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Matrix matrix() const;
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};
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class Rot3 {
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class Rot3 : gtsam::Value {
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// Standard Constructors and Named Constructors
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Rot3();
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Rot3(Matrix R);
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@ -295,7 +294,7 @@ class Rot3 {
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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};
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class Pose2 {
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class Pose2 : gtsam::Value {
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// Standard Constructor
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Pose2();
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Pose2(double x, double y, double theta);
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@ -341,7 +340,7 @@ class Pose2 {
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Matrix matrix() const;
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};
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class Pose3 {
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class Pose3 : gtsam::Value {
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// Standard Constructors
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Pose3();
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Pose3(const gtsam::Pose3& pose);
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@ -389,7 +388,7 @@ class Pose3 {
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double range(const gtsam::Pose3& pose); // FIXME: shadows other range
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};
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class Cal3_S2 {
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class Cal3_S2 : gtsam::Value {
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// Standard Constructors
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Cal3_S2();
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Cal3_S2(double fx, double fy, double s, double u0, double v0);
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@ -439,7 +438,7 @@ class Cal3_S2Stereo {
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double baseline() const;
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};
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class CalibratedCamera {
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class CalibratedCamera : gtsam::Value {
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// Standard Constructors and Named Constructors
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CalibratedCamera();
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CalibratedCamera(const gtsam::Pose3& pose);
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@ -469,7 +468,7 @@ class CalibratedCamera {
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double range(const gtsam::Point3& p) const; // TODO: Other overloaded range methods
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};
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class SimpleCamera {
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class SimpleCamera : gtsam::Value {
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// Standard Constructors and Named Constructors
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SimpleCamera();
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SimpleCamera(const gtsam::Pose3& pose);
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@ -942,6 +941,7 @@ class Values {
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Values();
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size_t size() const;
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void print(string s) const;
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void insert(size_t j, const gtsam::Value& value);
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bool exists(size_t j) const;
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};
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@ -36,6 +36,8 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil
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// get the name of actual matlab object
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const string matlabName = qualifiedName(), cppName = qualifiedName("::");
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const string matlabBaseName = wrap::qualifiedName("", qualifiedParent);
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const string cppBaseName = wrap::qualifiedName("::", qualifiedParent);
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// emit class proxy code
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// we want our class to inherit the handle class for memory purposes
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@ -65,15 +67,18 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil
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BOOST_FOREACH(ArgumentList a, constructor.args_list)
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{
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const int id = functionNames.size();
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constructor.proxy_fragment(proxyFile, wrapperName, matlabName, id, a);
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constructor.proxy_fragment(proxyFile, wrapperName, matlabName, matlabBaseName, id, a);
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const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile,
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cppName, matlabName, id, using_namespaces, includes, a);
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cppName, matlabName, cppBaseName, id, using_namespaces, a);
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wrapperFile.oss << "\n";
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functionNames.push_back(wrapFunctionName);
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}
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proxyFile.oss << " else\n";
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proxyFile.oss << " error('Arguments do not match any overload of " << matlabName << " constructor');" << endl;
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proxyFile.oss << " end\n";
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if(!qualifiedParent.empty())
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proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n";
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proxyFile.oss << " obj.ptr_" << matlabName << " = my_ptr;\n";
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proxyFile.oss << " end\n\n";
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// Deconstructor
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@ -81,8 +86,7 @@ void Class::matlab_proxy(const string& classFile, const string& wrapperName, Fil
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const int id = functionNames.size();
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deconstructor.proxy_fragment(proxyFile, wrapperName, matlabName, id);
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proxyFile.oss << "\n";
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const string functionName = deconstructor.wrapper_fragment(wrapperFile,
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cppName, matlabName, id, using_namespaces, includes);
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const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabName, id, using_namespaces);
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wrapperFile.oss << "\n";
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functionNames.push_back(functionName);
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}
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@ -123,41 +127,45 @@ string Class::qualifiedName(const string& delim) const {
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/* ************************************************************************* */
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string Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, int id) const {
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static const uint64_t ptr_constructor_key =
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(uint64_t('G') << 56) |
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(uint64_t('T') << 48) |
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(uint64_t('S') << 40) |
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(uint64_t('A') << 32) |
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(uint64_t('M') << 24) |
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(uint64_t('p') << 16) |
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(uint64_t('t') << 8) |
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(uint64_t('r'));
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const string matlabName = qualifiedName(), cppName = qualifiedName("::");
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const string wrapFunctionName = matlabName + "_collectorInsert_" + boost::lexical_cast<string>(id);
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const string wrapFunctionName = matlabName + "_collectorInsertAndMakeBase_" + boost::lexical_cast<string>(id);
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const string baseMatlabName = wrap::qualifiedName("", qualifiedParent);
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const string baseCppName = wrap::qualifiedName("::", qualifiedParent);
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// MATLAB constructor that assigns pointer to matlab object then calls c++
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// function to add the object to the collector.
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proxyFile.oss << " if nargin == 2 && isa(varargin{1}, 'uint64') && ";
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proxyFile.oss << "varargin{1} == uint64(" << ptr_constructor_key << ")\n";
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proxyFile.oss << " obj.self = varargin{2};\n";
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proxyFile.oss << " " << wrapperName << "(" << id << ", obj.self);\n";
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proxyFile.oss << " my_ptr = varargin{2};\n";
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if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back
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proxyFile.oss << " ";
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else
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proxyFile.oss << " base_ptr = ";
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proxyFile.oss << wrapperName << "(" << id << ", my_ptr);\n"; // Call collector insert and get base class ptr
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// C++ function to add pointer from MATLAB to collector. The pointer always
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// comes from a C++ return value; this mechanism allows the object to be added
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// to a collector in a different wrap module.
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// to a collector in a different wrap module. If this class has a base class,
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// a new pointer to the base class is allocated and returned.
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wrapperFile.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl;
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wrapperFile.oss << "{\n";
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wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n";
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generateUsingNamespace(wrapperFile, using_namespaces);
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// Typedef boost::shared_ptr
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wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n";
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wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n";
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wrapperFile.oss << "\n";
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// Get self pointer passed in
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wrapperFile.oss << " Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));\n";
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// Add to collector
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wrapperFile.oss << " collector_" << matlabName << ".insert(self);\n";
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// If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
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if(!qualifiedParent.empty()) {
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wrapperFile.oss << "\n";
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wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n";
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wrapperFile.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
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wrapperFile.oss << " *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);\n";
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}
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wrapperFile.oss << "}\n";
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return wrapFunctionName;
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@ -37,7 +37,7 @@ string Constructor::matlab_wrapper_name(const string& className) const {
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/* ************************************************************************* */
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void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperName,
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const string& className, const int id, const ArgumentList args) const {
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const string& matlabName, const string& matlabBaseName, const int id, const ArgumentList args) const {
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size_t nrArgs = args.size();
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// check for number of arguments...
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file.oss << " elseif nargin == " << nrArgs;
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@ -50,7 +50,11 @@ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperNam
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first=false;
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}
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// emit code for calling constructor
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file.oss << "\n obj.self = " << wrapperName << "(" << id;
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if(matlabBaseName.empty())
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file.oss << "\n my_ptr = ";
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else
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file.oss << "\n [ my_ptr, base_ptr ] = ";
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file.oss << wrapperName << "(" << id;
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// emit constructor arguments
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for(size_t i=0;i<nrArgs;i++) {
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file.oss << ", ";
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@ -63,9 +67,9 @@ void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperNam
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string Constructor::wrapper_fragment(FileWriter& file,
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const string& cppClassName,
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const string& matlabClassName,
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const string& cppBaseClassName,
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int id,
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const vector<string>& using_namespaces,
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const vector<string>& includes,
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const ArgumentList& al) const {
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const string wrapFunctionName = matlabClassName + "_constructor_" + boost::lexical_cast<string>(id);
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@ -89,6 +93,14 @@ string Constructor::wrapper_fragment(FileWriter& file,
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file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl;
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file.oss << " *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;" << endl;
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// If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
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if(!cppBaseClassName.empty()) {
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file.oss << "\n";
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file.oss << " typedef boost::shared_ptr<" << cppBaseClassName << "> SharedBase;\n";
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file.oss << " out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
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file.oss << " *reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);\n";
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}
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file.oss << "}" << endl;
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return wrapFunctionName;
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@ -49,16 +49,16 @@ struct Constructor {
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* if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end
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*/
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void proxy_fragment(FileWriter& file, const std::string& wrapperName,
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const std::string& className, const int id,
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const std::string& className, const std::string& matlabBaseName, const int id,
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const ArgumentList args) const;
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/// cpp wrapper
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std::string wrapper_fragment(FileWriter& file,
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const std::string& cppClassName,
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const std::string& matlabClassName,
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const std::string& cppBaseClassName,
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int id,
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const std::vector<std::string>& using_namespaces,
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const std::vector<std::string>& includes,
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const ArgumentList& al) const;
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/// constructor function
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@ -39,7 +39,7 @@ void Deconstructor::proxy_fragment(FileWriter& file,
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const std::string& qualifiedMatlabName, int id) const {
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file.oss << " function delete(obj)\n";
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file.oss << " " << wrapperName << "(" << id << ", obj.self);\n";
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file.oss << " " << wrapperName << "(" << id << ", obj.ptr_" << qualifiedMatlabName << ");\n";
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file.oss << " end\n";
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}
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@ -48,7 +48,7 @@ string Deconstructor::wrapper_fragment(FileWriter& file,
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const string& cppClassName,
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const string& matlabClassName,
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int id,
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const vector<string>& using_namespaces, const vector<string>& includes) const {
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const vector<string>& using_namespaces) const {
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const string matlabName = matlab_wrapper_name(matlabClassName);
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@ -55,8 +55,7 @@ struct Deconstructor {
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const std::string& cppClassName,
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const std::string& matlabClassName,
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int id,
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const std::vector<std::string>& using_namespaces,
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const std::vector<std::string>& includes) const;
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const std::vector<std::string>& using_namespaces) const;
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};
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} // \namespace wrap
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@ -56,7 +56,7 @@ using namespace boost; // not usual, but for conciseness of generated code
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#endif
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// "Unique" key to signal calling the matlab object constructor with a raw pointer
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// Also present in Class.cpp
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// Also present in utilities.h
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static const uint64_t ptr_constructor_key =
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(uint64_t('G') << 56) |
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(uint64_t('T') << 48) |
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@ -383,7 +383,7 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class >* shared_ptr, const char *cla
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template <typename Class>
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boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& propertyName) {
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mxArray* mxh = mxGetProperty(obj,0, propertyName);
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mxArray* mxh = mxGetProperty(obj,0, propertyName.c_str());
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if (mxGetClassID(mxh) != mxUINT32OR64_CLASS || mxIsComplex(mxh)
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|| mxGetM(mxh) != 1 || mxGetN(mxh) != 1) error(
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"Parameter is not an Shared type.");
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@ -137,12 +137,16 @@ void generateIncludes(FileWriter& file, const string& class_name,
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/* ************************************************************************* */
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string qualifiedName(const string& separator, const vector<string>& names, const string& finalName) {
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string result;
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for(size_t i = 0; i < names.size() - 1; ++i)
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result += (names[i] + separator);
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if(finalName.empty())
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result += names.back();
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else
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result += (names.back() + separator + finalName);
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if(!names.empty()) {
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for(size_t i = 0; i < names.size() - 1; ++i)
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result += (names[i] + separator);
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if(finalName.empty())
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result += names.back();
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else
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result += (names.back() + separator + finalName);
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} else if(!finalName.empty()) {
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result = finalName;
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}
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return result;
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}
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@ -21,6 +21,7 @@
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#include <exception>
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#include <fstream>
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#include <sstream>
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#include <cstdint>
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#include "FileWriter.h"
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@ -65,7 +66,19 @@ public:
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return ("Missing dependency " + dependency_ + " in " + location_).c_str();
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}
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};
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/** Special "magic number" passed into MATLAB constructor to indicate creating
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* a MATLAB object from a shared_ptr allocated in C++
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*/
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static const uint64_t ptr_constructor_key =
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(uint64_t('G') << 56) |
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(uint64_t('T') << 48) |
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(uint64_t('S') << 40) |
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(uint64_t('A') << 32) |
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(uint64_t('M') << 24) |
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(uint64_t('p') << 16) |
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(uint64_t('t') << 8) |
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(uint64_t('r'));
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/**
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* read contents of a file into a std::string
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