From 9780af72d94a2e572c20e0011b333ba6babc844c Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 21 Oct 2011 05:34:53 +0000
Subject: [PATCH] Added UNSAFE_WRAP flag that omits type-checking, to allow for
 GaussianFactor -> JacobianFactor inheritance. TODO: how can we have type
 safety AND inheritance?

---
 wrap/Makefile.am | 2 +-
 wrap/matlab.h    | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/wrap/Makefile.am b/wrap/Makefile.am
index ee1db45c8..895830537 100644
--- a/wrap/Makefile.am
+++ b/wrap/Makefile.am
@@ -52,7 +52,7 @@ interfacePath = $(top_srcdir)
 moduleName = gtsam
 toolboxpath = ../toolbox  
 nameSpace = "gtsam"
-mexFlags = "${BOOST_CPPFLAGS} -I${prefix}/include -I${prefix}/include/gtsam -I${prefix}/include/gtsam/base -I${prefix}/include/gtsam/geometry -I${prefix}/include/gtsam/linear -I${prefix}/include/gtsam/nonlinear -I${prefix}/include/gtsam/slam -L${exec_prefix}/lib -lgtsam"
+mexFlags = "${BOOST_CPPFLAGS} -DUNSAFE_WRAP -I${prefix}/include -I${prefix}/include/gtsam -I${prefix}/include/gtsam/base -I${prefix}/include/gtsam/geometry -I${prefix}/include/gtsam/linear -I${prefix}/include/gtsam/nonlinear -I${prefix}/include/gtsam/slam -L${exec_prefix}/lib -lgtsam"
 all:
 	./wrap ${interfacePath} ${moduleName} ${toolboxpath} ${nameSpace} ${mexFlags}
 	
diff --git a/wrap/matlab.h b/wrap/matlab.h
index 91f30b800..7e1a8b745 100644
--- a/wrap/matlab.h
+++ b/wrap/matlab.h
@@ -438,11 +438,13 @@ mxArray* wrap_shared_ptr(shared_ptr< Class > shared_ptr, const char *classname)
 */
 template <typename Class>
 shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& className) {
+#ifndef UNSAFE_WRAP
   bool isClass = mxIsClass(obj, className.c_str());
   if (!isClass) {
     mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj));
     error("Argument has wrong type.");
   }
+#endif
   mxArray* mxh = mxGetProperty(obj,0,"self");
   if (mxh==NULL) error("unwrap_reference: invalid wrap object");
   ObjectHandle<Class>* handle = ObjectHandle<Class>::from_mex_handle(mxh);