From 5b85fc885f5a3966837f9b9fcfd0dfbde5715e7b Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 May 2019 12:15:10 -0400
Subject: [PATCH 1/4] added required includes to fix compilation of matlab
 wrapper example

---
 cmake/example_project/example.h               | 1 +
 cmake/example_project/example/PrintExamples.h | 1 +
 2 files changed, 2 insertions(+)

diff --git a/cmake/example_project/example.h b/cmake/example_project/example.h
index 47b9a0aa2..eea1e13a5 100644
--- a/cmake/example_project/example.h
+++ b/cmake/example_project/example.h
@@ -20,6 +20,7 @@
 
 namespace example {
 
+#include <example/PrintExamples.h>
 class PrintExamples {
   void sayHello() const;
   void sayGoodbye() const;
diff --git a/cmake/example_project/example/PrintExamples.h b/cmake/example_project/example/PrintExamples.h
index b151dfbc7..25d4dd8cb 100644
--- a/cmake/example_project/example/PrintExamples.h
+++ b/cmake/example_project/example/PrintExamples.h
@@ -17,6 +17,7 @@
 
 #pragma once
 
+#include <iostream>
 #include <string>
 
 namespace example {

From a743a4acc95940cd4421e5b7b68453cbd3c8dff8 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 May 2019 18:29:35 -0400
Subject: [PATCH 2/4] change example_project .so file from STATIC to SHARED,
 and install library to /lib in install path

---
 cmake/example_project/CMakeLists.txt | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/cmake/example_project/CMakeLists.txt b/cmake/example_project/CMakeLists.txt
index 2afc6edc2..620ad4811 100644
--- a/cmake/example_project/CMakeLists.txt
+++ b/cmake/example_project/CMakeLists.txt
@@ -30,9 +30,12 @@ find_package(GTSAM REQUIRED) # Uses installed package
 ###################################################################################
 # Build static library from common sources
 set(CONVENIENCE_LIB_NAME ${PROJECT_NAME})
-add_library(${CONVENIENCE_LIB_NAME} STATIC example/PrintExamples.h example/PrintExamples.cpp)
+add_library(${CONVENIENCE_LIB_NAME} SHARED example/PrintExamples.h example/PrintExamples.cpp)
 target_link_libraries(${CONVENIENCE_LIB_NAME} gtsam)
 
+# Install library
+install(TARGETS ${CONVENIENCE_LIB_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+
 ###################################################################################
 # Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
 gtsamAddTestsGlob("example" "tests/test*.cpp" "" "${CONVENIENCE_LIB_NAME}")

From e985e2c95df1386b216b3d37efec1ad86c8c5e65 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 May 2019 18:30:19 -0400
Subject: [PATCH 3/4] added default constructor for PrintExamples

---
 cmake/example_project/example.h | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/cmake/example_project/example.h b/cmake/example_project/example.h
index eea1e13a5..b0d732e14 100644
--- a/cmake/example_project/example.h
+++ b/cmake/example_project/example.h
@@ -18,12 +18,14 @@
 // This is an interface file for automatic MATLAB wrapper generation.  See
 // gtsam.h for full documentation and more examples.
 
+#include <example/PrintExamples.h>
+
 namespace example {
 
-#include <example/PrintExamples.h>
 class PrintExamples {
-  void sayHello() const;
-  void sayGoodbye() const;
+    PrintExamples();
+    void sayHello() const;
+    void sayGoodbye() const;
 };
 
 }

From 60b874b997496f4d4eeb032e2a49053d715662fa Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Fri, 17 May 2019 18:38:15 -0400
Subject: [PATCH 4/4] README for compiling and using the example_project

---
 cmake/example_project/README.md | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 cmake/example_project/README.md

diff --git a/cmake/example_project/README.md b/cmake/example_project/README.md
new file mode 100644
index 000000000..a1269cf19
--- /dev/null
+++ b/cmake/example_project/README.md
@@ -0,0 +1,32 @@
+# MATLAB Wrapper Example Project
+
+This project serves as a lightweight example for demonstrating how to wrap C++ code in MATLAB using GTSAM.
+
+## Compiling
+
+We follow the regular build procedure inside the `example_project` directory:
+
+```sh
+mkdir build && cd build
+cmake ..
+make -j8
+sudo make install
+
+sudo ldconfig  # ensures the shared object file generated is correctly loaded
+```
+
+## Usage
+
+Now you can open MATLAB and add the `gtsam_toolbox` to the MATLAB path
+
+```matlab
+addpath('/usr/local/gtsam_toolbox')
+```
+
+At this point you are ready to run the example project. Starting from the `example_project` directory inside MATLAB, simply run code like regular MATLAB, e.g.
+
+```matlab
+pe = example.PrintExamples();
+pe.sayHello();
+pe.sayGoodbye();
+```
\ No newline at end of file