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Merge branch 'develop' into feature/BAD_using_charts

release/4.3a0
Paul Furgale 2014-11-22 14:38:55 +01:00
parent e5fe5676b1 018e66be7f
commit aae206b308
112 changed files with 4986 additions and 1901 deletions
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48
.cproject
View File

@ -2353,6 +2353,38 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSpirit.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.wrap" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testMethod.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testMethod.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testClass.run" path="build/wrap/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testClass.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="schedulingExample.run" path="build/gtsam_unstable/discrete/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
@ -3222,22 +3254,6 @@
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>testSpirit.run</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="check.wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>
<buildTarget>check.wrap</buildTarget>
<stopOnError>true</stopOnError>
<useDefaultCommand>true</useDefaultCommand>
<runAllBuilders>true</runAllBuilders>
</target>
<target name="wrap" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
<buildCommand>make</buildCommand>
<buildArguments>-j5</buildArguments>

4
CMakeLists.txt
View File

@ -9,8 +9,8 @@ if(NOT DEFINED CMAKE_MACOSX_RPATH)
endif()
# Set the version number for the library
set (GTSAM_VERSION_MAJOR 3)
set (GTSAM_VERSION_MINOR 1)
set (GTSAM_VERSION_MAJOR 4)
set (GTSAM_VERSION_MINOR 0)
set (GTSAM_VERSION_PATCH 0)
math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")

11
examples/Data/pose3example-rewritten.txt
View File

@ -1,11 +0,0 @@
VERTEX_SE3:QUAT 0 0 0 0 0 0 0 1
VERTEX_SE3:QUAT 1 1.00137 0.01539 0.004948 0.190253 0.283162 -0.392318 0.85423
VERTEX_SE3:QUAT 2 1.9935 0.023275 0.003793 -0.351729 -0.597838 0.584174 0.421446
VERTEX_SE3:QUAT 3 2.00429 1.02431 0.018047 0.331798 -0.200659 0.919323 0.067024
VERTEX_SE3:QUAT 4 0.999908 1.05507 0.020212 -0.035697 -0.46249 0.445933 0.765488
EDGE_SE3:QUAT 0 1 1.00137 0.01539 0.004948 0.190253 0.283162 -0.392318 0.85423 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000
EDGE_SE3:QUAT 1 2 0.523923 0.776654 0.326659 0.311512 0.656877 -0.678505 0.105373 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000
EDGE_SE3:QUAT 2 3 0.910927 0.055169 -0.411761 0.595795 -0.561677 0.079353 0.568551 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000
EDGE_SE3:QUAT 3 4 0.775288 0.228798 -0.596923 -0.592077 0.30338 -0.513226 0.542221 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000
EDGE_SE3:QUAT 1 4 -0.577841 0.628016 -0.543592 -0.12525 -0.534379 0.769122 0.327419 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000
EDGE_SE3:QUAT 3 0 -0.623267 0.086928 0.773222 0.104639 0.627755 0.766795 0.083672 10000 0 0 0 0 0 10000 0 0 0 0 10000 0 0 0 10000 0 0 10000 0 10000

126
gtsam.h
View File

@ -156,8 +156,14 @@ virtual class Value {
size_t dim() const;
};
class Vector3 {
Vector3(Vector v);
};
class Vector6 {
Vector6(Vector v);
};
#include <gtsam/base/LieScalar.h>
virtual class LieScalar : gtsam::Value {
class LieScalar {
// Standard constructors
LieScalar();
LieScalar(double d);
@ -186,7 +192,7 @@ virtual class LieScalar : gtsam::Value {
};
#include <gtsam/base/LieVector.h>
virtual class LieVector : gtsam::Value {
class LieVector {
// Standard constructors
LieVector();
LieVector(Vector v);
@ -218,7 +224,7 @@ virtual class LieVector : gtsam::Value {
};
#include <gtsam/base/LieMatrix.h>
virtual class LieMatrix : gtsam::Value {
class LieMatrix {
// Standard constructors
LieMatrix();
LieMatrix(Matrix v);
@ -253,7 +259,7 @@ virtual class LieMatrix : gtsam::Value {
// geometry
//*************************************************************************
virtual class Point2 : gtsam::Value {
class Point2 {
// Standard Constructors
Point2();
Point2(double x, double y);
@ -290,7 +296,7 @@ virtual class Point2 : gtsam::Value {
void serialize() const;
};
virtual class StereoPoint2 : gtsam::Value {
class StereoPoint2 {
// Standard Constructors
StereoPoint2();
StereoPoint2(double uL, double uR, double v);
@ -325,7 +331,7 @@ virtual class StereoPoint2 : gtsam::Value {
void serialize() const;
};
virtual class Point3 : gtsam::Value {
class Point3 {
// Standard Constructors
Point3();
Point3(double x, double y, double z);
@ -361,7 +367,7 @@ virtual class Point3 : gtsam::Value {
void serialize() const;
};
virtual class Rot2 : gtsam::Value {
class Rot2 {
// Standard Constructors and Named Constructors
Rot2();
Rot2(double theta);
@ -406,7 +412,7 @@ virtual class Rot2 : gtsam::Value {
void serialize() const;
};
virtual class Rot3 : gtsam::Value {
class Rot3 {
// Standard Constructors and Named Constructors
Rot3();
Rot3(Matrix R);
@ -462,7 +468,7 @@ virtual class Rot3 : gtsam::Value {
void serialize() const;
};
virtual class Pose2 : gtsam::Value {
class Pose2 {
// Standard Constructor
Pose2();
Pose2(const gtsam::Pose2& pose);
@ -512,7 +518,7 @@ virtual class Pose2 : gtsam::Value {
void serialize() const;
};
virtual class Pose3 : gtsam::Value {
class Pose3 {
// Standard Constructors
Pose3();
Pose3(const gtsam::Pose3& pose);
@ -564,7 +570,7 @@ virtual class Pose3 : gtsam::Value {
};
#include <gtsam/geometry/Unit3.h>
virtual class Unit3 : gtsam::Value {
class Unit3 {
// Standard Constructors
Unit3();
Unit3(const gtsam::Point3& pose);
@ -585,7 +591,7 @@ virtual class Unit3 : gtsam::Value {
};
#include <gtsam/geometry/EssentialMatrix.h>
virtual class EssentialMatrix : gtsam::Value {
class EssentialMatrix {
// Standard Constructors
EssentialMatrix(const gtsam::Rot3& aRb, const gtsam::Unit3& aTb);
@ -606,7 +612,7 @@ virtual class EssentialMatrix : gtsam::Value {
double error(Vector vA, Vector vB);
};
virtual class Cal3_S2 : gtsam::Value {
class Cal3_S2 {
// Standard Constructors
Cal3_S2();
Cal3_S2(double fx, double fy, double s, double u0, double v0);
@ -643,7 +649,7 @@ virtual class Cal3_S2 : gtsam::Value {
};
#include <gtsam/geometry/Cal3DS2.h>
virtual class Cal3DS2 : gtsam::Value {
class Cal3DS2 {
// Standard Constructors
Cal3DS2();
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4);
@ -699,7 +705,43 @@ class Cal3_S2Stereo {
double baseline() const;
};
virtual class CalibratedCamera : gtsam::Value {
#include <gtsam/geometry/Cal3Bundler.h>
class Cal3Bundler {
// Standard Constructors
Cal3Bundler();
Cal3Bundler(double fx, double k1, double k2, double u0, double v0);
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3Bundler& rhs, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3Bundler retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3Bundler& c) const;
// Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
// Standard Interface
double fx() const;
double fy() const;
double k1() const;
double k2() const;
double u0() const;
double v0() const;
Vector vector() const;
Vector k() const;
//Matrix K() const; //FIXME: Uppercase
// enabling serialization functionality
void serialize() const;
};
class CalibratedCamera {
// Standard Constructors and Named Constructors
CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose);
@ -732,7 +774,7 @@ virtual class CalibratedCamera : gtsam::Value {
void serialize() const;
};
virtual class SimpleCamera : gtsam::Value {
class SimpleCamera {
// Standard Constructors and Named Constructors
SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose);
@ -771,7 +813,7 @@ virtual class SimpleCamera : gtsam::Value {
};
template<CALIBRATION = {gtsam::Cal3DS2}>
virtual class PinholeCamera : gtsam::Value {
class PinholeCamera {
// Standard Constructors and Named Constructors
PinholeCamera();
PinholeCamera(const gtsam::Pose3& pose);
@ -809,7 +851,7 @@ virtual class PinholeCamera : gtsam::Value {
void serialize() const;
};
virtual class StereoCamera : gtsam::Value {
class StereoCamera {
// Standard Constructors and Named Constructors
StereoCamera();
StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
@ -862,7 +904,7 @@ virtual class SymbolicFactor {
};
#include <gtsam/symbolic/SymbolicFactorGraph.h>
class SymbolicFactorGraph {
virtual class SymbolicFactorGraph {
SymbolicFactorGraph();
SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet);
SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree);
@ -1664,15 +1706,12 @@ class Values {
void print(string s) const;
bool equals(const gtsam::Values& other, double tol) const;
void insert(size_t j, const gtsam::Value& value);
void insert(const gtsam::Values& values);
void update(size_t j, const gtsam::Value& val);
void update(const gtsam::Values& values);
void erase(size_t j);
void swap(gtsam::Values& values);
bool exists(size_t j) const;
gtsam::Value at(size_t j) const;
gtsam::KeyList keys() const;
gtsam::VectorValues zeroVectors() const;
@ -1682,6 +1721,37 @@ class Values {
// enabling serialization functionality
void serialize() const;
// New in 4.0, we have to specialize every insert/update/at to generate wrappers
// Instead of the old:
// void insert(size_t j, const gtsam::Value& value);
// void update(size_t j, const gtsam::Value& val);
// gtsam::Value at(size_t j) const;
void insert(size_t j, const gtsam::Point2& t);
void insert(size_t j, const gtsam::Point3& t);
void insert(size_t j, const gtsam::Rot2& t);
void insert(size_t j, const gtsam::Pose2& t);
void insert(size_t j, const gtsam::Rot3& t);
void insert(size_t j, const gtsam::Pose3& t);
void insert(size_t j, const gtsam::Cal3_S2& t);
void insert(size_t j, const gtsam::Cal3DS2& t);
void insert(size_t j, const gtsam::Cal3Bundler& t);
void insert(size_t j, const gtsam::EssentialMatrix& t);
void update(size_t j, const gtsam::Point2& t);
void update(size_t j, const gtsam::Point3& t);
void update(size_t j, const gtsam::Rot2& t);
void update(size_t j, const gtsam::Pose2& t);
void update(size_t j, const gtsam::Rot3& t);
void update(size_t j, const gtsam::Pose3& t);
void update(size_t j, const gtsam::Cal3_S2& t);
void update(size_t j, const gtsam::Cal3DS2& t);
void update(size_t j, const gtsam::Cal3Bundler& t);
void update(size_t j, const gtsam::EssentialMatrix& t);
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2}>
T at(size_t j);
};
// Actually a FastList<Key>
@ -2077,7 +2147,7 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/slam/PriorFactor.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
template<T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
@ -2088,7 +2158,7 @@ virtual class PriorFactor : gtsam::NoiseModelFactor {
#include <gtsam/slam/BetweenFactor.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::imuBias::ConstantBias}>
virtual class BetweenFactor : gtsam::NoiseModelFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
T measured() const;
@ -2099,7 +2169,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
#include <gtsam/nonlinear/NonlinearEquality.h>
template<T = {gtsam::LieScalar, gtsam::LieVector, gtsam::LieMatrix, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
template<T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
virtual class NonlinearEquality : gtsam::NoiseModelFactor {
// Constructor - forces exact evaluation
NonlinearEquality(size_t j, const T& feasible);
@ -2280,7 +2350,7 @@ void writeG2o(const gtsam::NonlinearFactorGraph& graph,
namespace imuBias {
#include <gtsam/navigation/ImuBias.h>
virtual class ConstantBias : gtsam::Value {
class ConstantBias {
// Standard Constructor
ConstantBias();
ConstantBias(Vector biasAcc, Vector biasGyro);
@ -2340,7 +2410,7 @@ virtual class ImuFactor : gtsam::NonlinearFactor {
// Standard Interface
gtsam::ImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
void Predict(const gtsam::Pose3& pose_i, const gtsam::LieVector& vel_i, gtsam::Pose3& pose_j, gtsam::LieVector& vel_j,
void Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, gtsam::Pose3& pose_j, gtsam::Vector3& vel_j,
const gtsam::imuBias::ConstantBias& bias,
const gtsam::ImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis) const;
@ -2383,7 +2453,7 @@ virtual class CombinedImuFactor : gtsam::NonlinearFactor {
// Standard Interface
gtsam::CombinedImuFactorPreintegratedMeasurements preintegratedMeasurements() const;
void Predict(const gtsam::Pose3& pose_i, const gtsam::LieVector& vel_i, gtsam::Pose3& pose_j, gtsam::LieVector& vel_j,
void Predict(const gtsam::Pose3& pose_i, const gtsam::Vector3& vel_i, gtsam::Pose3& pose_j, gtsam::Vector3& vel_j,
const gtsam::imuBias::ConstantBias& bias_i, const gtsam::imuBias::ConstantBias& bias_j,
const gtsam::CombinedImuFactorPreintegratedMeasurements& preintegratedMeasurements,
Vector gravity, Vector omegaCoriolis) const;

4
gtsam/3rdparty/gtsam_eigen_includes.h.in vendored
View File

@ -27,3 +27,7 @@
#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/LU>
#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/SVD>
#include <@GTSAM_EIGEN_INCLUDE_PREFIX@Eigen/Geometry>

12
gtsam/base/GenericValue.h
View File

@ -70,9 +70,9 @@ struct print<double> {
};
// equals for Matrix types
template<int M, int N, int Options>
struct equals<Eigen::Matrix<double, M, N, Options> > {
typedef Eigen::Matrix<double, M, N, Options> type;
template<int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
struct equals<Eigen::Matrix<double, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {
typedef Eigen::Matrix<double, _Rows, _Cols, _Options, _MaxRows, _MaxCols> type;
typedef bool result_type;
bool operator()(const type& A, const type& B, double tol) {
return equal_with_abs_tol(A, B, tol);
@ -80,9 +80,9 @@ struct equals<Eigen::Matrix<double, M, N, Options> > {
};
// print for Matrix types
template<int M, int N, int Options>
struct print<Eigen::Matrix<double, M, N, Options> > {
typedef Eigen::Matrix<double, M, N, Options> type;
template<int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
struct print<Eigen::Matrix<double, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {
typedef Eigen::Matrix<double, _Rows, _Cols, _Options, _MaxRows, _MaxCols> type;
typedef void result_type;
void operator()(const type& A, const std::string& str) {
std::cout << str << ": " << A << std::endl;

4
gtsam/base/Manifold.h
View File

@ -253,10 +253,10 @@ struct DefaultChart<Eigen::Matrix<double, M, N, Options> > {
typedef Eigen::Matrix<double, traits::dimension<T>::value, 1> vector;BOOST_STATIC_ASSERT_MSG((M!=Eigen::Dynamic && N!=Eigen::Dynamic),
"DefaultChart has not been implemented yet for dynamically sized matrices");
static vector local(const T& origin, const T& other) {
return reshape<vector::RowsAtCompileTime, 1>(other) - reshape<vector::RowsAtCompileTime, 1>(origin);
return reshape<vector::RowsAtCompileTime, 1, vector::Options>(other) - reshape<vector::RowsAtCompileTime, 1, vector::Options>(origin);
}
static T retract(const T& origin, const vector& d) {
return origin + reshape<M, N>(d);
return origin + reshape<M, N, Options>(d);
}
static int getDimension(const T&origin) {
return origin.rows() * origin.cols();

16
gtsam/base/Matrix.h
View File

@ -294,10 +294,10 @@ void zeroBelowDiagonal(MATRIX& A, size_t cols=0) {
inline Matrix trans(const Matrix& A) { return A.transpose(); }
/// Reshape functor
template <int OutM, int OutN, int InM, int InN, int InOptions>
template <int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions>
struct Reshape {
//TODO replace this with Eigen's reshape function as soon as available. (There is a PR already pending : https://bitbucket.org/eigen/eigen/pull-request/41/reshape/diff)
typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN> > ReshapedType;
typedef Eigen::Map<const Eigen::Matrix<double, OutM, OutN, OutOptions> > ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & in) {
return in.data();
}
@ -305,7 +305,7 @@ struct Reshape {
/// Reshape specialization that does nothing as shape stays the same (needed to not be ambiguous for square input equals square output)
template <int M, int InOptions>
struct Reshape<M, M, M, M, InOptions> {
struct Reshape<M, M, InOptions, M, M, InOptions> {
typedef const Eigen::Matrix<double, M, M, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, M, InOptions> & in) {
return in;
@ -314,7 +314,7 @@ struct Reshape<M, M, M, M, InOptions> {
/// Reshape specialization that does nothing as shape stays the same
template <int M, int N, int InOptions>
struct Reshape<M, N, M, N, InOptions> {
struct Reshape<M, N, InOptions, M, N, InOptions> {
typedef const Eigen::Matrix<double, M, N, InOptions> & ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in;
@ -323,17 +323,17 @@ struct Reshape<M, N, M, N, InOptions> {
/// Reshape specialization that does transpose
template <int M, int N, int InOptions>
struct Reshape<N, M, M, N, InOptions> {
struct Reshape<N, M, InOptions, M, N, InOptions> {
typedef typename Eigen::Matrix<double, M, N, InOptions>::ConstTransposeReturnType ReshapedType;
static inline ReshapedType reshape(const Eigen::Matrix<double, M, N, InOptions> & in) {
return in.transpose();
}
};
template <int OutM, int OutN, int InM, int InN, int InOptions>
inline typename Reshape<OutM, OutN, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
template <int OutM, int OutN, int OutOptions, int InM, int InN, int InOptions>
inline typename Reshape<OutM, OutN, OutOptions, InM, InN, InOptions>::ReshapedType reshape(const Eigen::Matrix<double, InM, InN, InOptions> & m){
BOOST_STATIC_ASSERT(InM * InN == OutM * OutN);
return Reshape<OutM, OutN, InM, InN, InOptions>::reshape(m);
return Reshape<OutM, OutN, OutOptions, InM, InN, InOptions>::reshape(m);
}
/**

11
gtsam/geometry/Cal3DS2.h
View File

@ -37,7 +37,7 @@ namespace gtsam {
* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
* pi = K*pn
*/
class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base, public DerivedValue<Cal3DS2> {
class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
typedef Cal3DS2_Base Base;
@ -87,21 +87,24 @@ public:
/// Return dimensions of calibration manifold object
static size_t Dim() { return 9; } //TODO: make a final dimension variable
/// @}
private:
/// @}
/// @name Advanced Interface
/// @{
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int version)
{
ar & boost::serialization::make_nvp("Cal3DS2",
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Cal3DS2",
boost::serialization::base_object<Cal3DS2_Base>(*this));
}
/// @}
};
// Define GTSAM traits

47
gtsam/geometry/Cal3DS2_Base.cpp
View File

@ -53,23 +53,23 @@ bool Cal3DS2_Base::equals(const Cal3DS2_Base& K, double tol) const {
}
/* ************************************************************************* */
static Eigen::Matrix<double, 2, 9> D2dcalibration(double x, double y, double xx,
static Matrix29 D2dcalibration(double x, double y, double xx,
double yy, double xy, double rr, double r4, double pnx, double pny,
const Eigen::Matrix<double, 2, 2>& DK) {
Eigen::Matrix<double, 2, 5> DR1;
const Matrix2& DK) {
Matrix25 DR1;
DR1 << pnx, 0.0, pny, 1.0, 0.0, 0.0, pny, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 4> DR2;
Matrix24 DR2;
DR2 << x * rr, x * r4, 2 * xy, rr + 2 * xx, //
y * rr, y * r4, rr + 2 * yy, 2 * xy;
Eigen::Matrix<double, 2, 9> D;
Matrix29 D;
D << DR1, DK * DR2;
return D;
}
/* ************************************************************************* */
static Eigen::Matrix<double, 2, 2> D2dintrinsic(double x, double y, double rr,
static Matrix2 D2dintrinsic(double x, double y, double rr,
double g, double k1, double k2, double p1, double p2,
const Eigen::Matrix<double, 2, 2>& DK) {
const Matrix2& DK) {
const double drdx = 2. * x;
const double drdy = 2. * y;
const double dgdx = k1 * drdx + k2 * 2. * rr * drdx;
@ -82,7 +82,7 @@ static Eigen::Matrix<double, 2, 2> D2dintrinsic(double x, double y, double rr,
const double dDydx = 2. * p2 * y + p1 * drdx;
const double dDydy = 2. * p2 * x + p1 * (drdy + 4. * y);
Eigen::Matrix<double, 2, 2> DR;
Matrix2 DR;
DR << g + x * dgdx + dDxdx, x * dgdy + dDxdy, //
y * dgdx + dDydx, g + y * dgdy + dDydy;
@ -90,8 +90,9 @@ static Eigen::Matrix<double, 2, 2> D2dintrinsic(double x, double y, double rr,
}
/* ************************************************************************* */
Point2 Cal3DS2_Base::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
boost::optional<Matrix&> H2) const {
Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
boost::optional<Matrix29&> H1,
boost::optional<Matrix2&> H2) const {
// rr = x^2 + y^2;
// g = (1 + k(1)*rr + k(2)*rr^2);
@ -110,7 +111,7 @@ Point2 Cal3DS2_Base::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
const double pnx = g * x + dx;
const double pny = g * y + dy;
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
if (H1 || H2) DK << fx_, s_, 0.0, fy_;
// Derivative for calibration
@ -125,6 +126,26 @@ Point2 Cal3DS2_Base::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
return Point2(fx_ * pnx + s_ * pny + u0_, fy_ * pny + v0_);
}
/* ************************************************************************* */
Point2 Cal3DS2_Base::uncalibrate(const Point2& p,
boost::optional<Matrix&> H1,
boost::optional<Matrix&> H2) const {
if (H1 || H2) {
Matrix29 D1;
Matrix2 D2;
Point2 pu = uncalibrate(p, D1, D2);
if (H1)
*H1 = D1;
if (H2)
*H2 = D2;
return pu;
} else {
return uncalibrate(p);
}
}
/* ************************************************************************* */
Point2 Cal3DS2_Base::calibrate(const Point2& pi, const double tol) const {
// Use the following fixed point iteration to invert the radial distortion.
@ -161,7 +182,7 @@ Matrix Cal3DS2_Base::D2d_intrinsic(const Point2& p) const {
const double rr = xx + yy;
const double r4 = rr * rr;
const double g = (1 + k1_ * rr + k2_ * r4);
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
DK << fx_, s_, 0.0, fy_;
return D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK);
}
@ -176,7 +197,7 @@ Matrix Cal3DS2_Base::D2d_calibration(const Point2& p) const {
const double dy = 2 * p2_ * xy + p1_ * (rr + 2 * yy);
const double pnx = g * x + dx;
const double pny = g * y + dy;
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
DK << fx_, s_, 0.0, fy_;
return D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK);
}

11
gtsam/geometry/Cal3DS2_Base.h
View File

@ -18,7 +18,6 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -114,9 +113,14 @@ public:
* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
* @return point in (distorted) image coordinates
*/
Point2 uncalibrate(const Point2& p,
boost::optional<Matrix&> Dcal = boost::none,
boost::optional<Matrix&> Dp = boost::none) const ;
boost::optional<Matrix29&> Dcal = boost::none,
boost::optional<Matrix2&> Dp = boost::none) const ;
Point2 uncalibrate(const Point2& p,
boost::optional<Matrix&> Dcal,
boost::optional<Matrix&> Dp) const ;
/// Convert (distorted) image coordinates uv to intrinsic coordinates xy
Point2 calibrate(const Point2& p, const double tol=1e-5) const;
@ -127,7 +131,6 @@ public:
/// Derivative of uncalibrate wrpt the calibration parameters
Matrix D2d_calibration(const Point2& p) const ;
private:
/// @}

21
gtsam/geometry/Cal3Unified.cpp
View File

@ -50,6 +50,7 @@ bool Cal3Unified::equals(const Cal3Unified& K, double tol) const {
}
/* ************************************************************************* */
// todo: make a fixed sized jacobian version of this
Point2 Cal3Unified::uncalibrate(const Point2& p,
boost::optional<Matrix&> H1,
boost::optional<Matrix&> H2) const {
@ -70,26 +71,30 @@ Point2 Cal3Unified::uncalibrate(const Point2& p,
// Part2: project NPlane point to pixel plane: use Cal3DS2
Point2 m(x,y);
Matrix H1base, H2base; // jacobians from Base class
Matrix29 H1base;
Matrix2 H2base; // jacobians from Base class
Point2 puncalib = Base::uncalibrate(m, H1base, H2base);
// Inlined derivative for calibration
if (H1) {
// part1
Matrix DU = (Matrix(2,1) << -xs * sqrt_nx * xi_sqrt_nx2,
-ys * sqrt_nx * xi_sqrt_nx2);
Matrix DDS2U = H2base * DU;
Vector2 DU;
DU << -xs * sqrt_nx * xi_sqrt_nx2, //
-ys * sqrt_nx * xi_sqrt_nx2;
*H1 = collect(2, &H1base, &DDS2U);
H1->resize(2,10);
H1->block<2,9>(0,0) = H1base;
H1->block<2,1>(0,9) = H2base * DU;
}
// Inlined derivative for points
if (H2) {
// part1
const double denom = 1.0 * xi_sqrt_nx2 / sqrt_nx;
const double mid = -(xi * xs*ys) * denom;
Matrix DU = (Matrix(2, 2) <<
(sqrt_nx + xi*(ys*ys + 1)) * denom, mid,
mid, (sqrt_nx + xi*(xs*xs + 1)) * denom);
Matrix2 DU;
DU << (sqrt_nx + xi*(ys*ys + 1)) * denom, mid, //
mid, (sqrt_nx + xi*(xs*xs + 1)) * denom;
*H2 = H2base * DU;
}

4
gtsam/geometry/Cal3Unified.h
View File

@ -40,7 +40,7 @@ namespace gtsam {
* k3 (rr + 2 Pn.y^2) + 2*k4 pn.x pn.y ]
* pi = K*pn
*/
class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base, public DerivedValue<Cal3Unified> {
class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
typedef Cal3Unified This;
typedef Cal3DS2_Base Base;
@ -129,8 +129,6 @@ private:
template<class Archive>
void serialize(Archive & ar, const unsigned int version)
{
ar & boost::serialization::make_nvp("Cal3Unified",
boost::serialization::base_object<Value>(*this));
ar & boost::serialization::make_nvp("Cal3Unified",
boost::serialization::base_object<Cal3DS2_Base>(*this));
ar & BOOST_SERIALIZATION_NVP(xi_);

2
gtsam/geometry/EssentialMatrix.h
View File

@ -58,6 +58,8 @@ public:
return EssentialMatrix(Rot3::Random(rng), Unit3::Random(rng));
}
virtual ~EssentialMatrix() {}
/// @}
/// @name Testable

2
gtsam/linear/JacobianFactor.h
View File

@ -187,7 +187,7 @@ namespace gtsam {
/// Return the diagonal of the Hessian for this factor
virtual VectorValues hessianDiagonal() const;
/* ************************************************************************* */
/// Raw memory access version of hessianDiagonal
virtual void hessianDiagonal(double* d) const;
/// Return the block diagonal of the Hessian for this factor

25
gtsam/linear/Preconditioner.cpp
View File

@ -13,6 +13,7 @@
#include <gtsam/linear/NoiseModel.h>
#include <boost/shared_ptr.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/range/adaptor/map.hpp>
#include <iostream>
#include <vector>
@ -134,30 +135,16 @@ void BlockJacobiPreconditioner::build(
size_t nnz = 0;
for ( size_t i = 0 ; i < n ; ++i ) {
const size_t dim = dims_[i];
blocks.push_back(Matrix::Zero(dim, dim));
// blocks.push_back(Matrix::Zero(dim, dim));
// nnz += (((dim)*(dim+1)) >> 1); // d*(d+1) / 2 ;
nnz += dim*dim;
}
/* compute the block diagonal by scanning over the factors */
/* getting the block diagonals over the factors */
BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) {
if ( JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast<JacobianFactor>(gf) ) {
for ( JacobianFactor::const_iterator it = jf->begin() ; it != jf->end() ; ++it ) {
const KeyInfoEntry &entry = keyInfo.find(*it)->second;
const Matrix &Ai = jf->getA(it);
blocks[entry.index()] += (Ai.transpose() * Ai);
}
}
else if ( HessianFactor::shared_ptr hf = boost::dynamic_pointer_cast<HessianFactor>(gf) ) {
for ( HessianFactor::const_iterator it = hf->begin() ; it != hf->end() ; ++it ) {
const KeyInfoEntry &entry = keyInfo.find(*it)->second;
const Matrix &Hii = hf->info(it, it).selfadjointView();
blocks[entry.index()] += Hii;
}
}
else {
throw invalid_argument("BlockJacobiPreconditioner::build gfg contains a factor that is neither a JacobianFactor nor a HessianFactor.");
}
std::map<Key, Matrix> hessianMap = gf->hessianBlockDiagonal();
BOOST_FOREACH ( const Matrix hessian, hessianMap | boost::adaptors::map_values)
blocks.push_back(hessian);
}
/* if necessary, allocating the memory for cacheing the factorization results */

16
gtsam/navigation/ImuFactor.h
View File

@ -57,7 +57,7 @@ namespace gtsam {
class PreintegratedMeasurements {
public:
imuBias::ConstantBias biasHat; ///< Acceleration and angular rate bias values used during preintegration
Matrix measurementCovariance; ///< (Raw measurements uncertainty) Covariance of the vector [integrationError measuredAcc measuredOmega] in R^(9X9)
Matrix measurementCovariance; ///< (continuous-time uncertainty) Covariance of the vector [integrationError measuredAcc measuredOmega] in R^(9X9)
Vector3 deltaPij; ///< Preintegrated relative position (does not take into account velocity at time i, see deltap+, in [2]) (in frame i)
Vector3 deltaVij; ///< Preintegrated relative velocity (in global frame)
@ -216,11 +216,21 @@ namespace gtsam {
H_vel_pos, H_vel_vel, H_vel_angles,
H_angles_pos, H_angles_vel, H_angles_angles;
// first order uncertainty propagation
// first order uncertainty propagation:
// the deltaT allows to pass from continuous time noise to discrete time noise
// measurementCovariance_discrete = measurementCovariance_contTime * (1/deltaT)
// Gt * Qt * G =(approx)= measurementCovariance_discrete * deltaT^2 = measurementCovariance_contTime * deltaT
PreintMeasCov = F * PreintMeasCov * F.transpose() + measurementCovariance * deltaT ;
// Extended version, without approximation: Gt * Qt * G =(approx)= measurementCovariance_contTime * deltaT
//
// Matrix G(9,9);
// G << I_3x3 * deltaT, Z_3x3, Z_3x3,
// Z_3x3, deltaRij.matrix() * deltaT, Z_3x3,
// Z_3x3, Z_3x3, Jrinv_theta_j * Jr_theta_incr * deltaT;
//
// PreintMeasCov = F * PreintMeasCov * F.transpose() + G * (1/deltaT) * measurementCovariance * G.transpose();
// Update preintegrated measurements
/* ----------------------------------------------------------------------------------------------------------------------- */
if(!use2ndOrderIntegration_){

2
gtsam/nonlinear/Values-inl.h
View File

@ -215,7 +215,7 @@ namespace gtsam {
Values::Values(const Values::ConstFiltered<ValueType>& view) {
BOOST_FOREACH(const typename ConstFiltered<ValueType>::KeyValuePair& key_value, view) {
Key key = key_value.key;
insert<ValueType>(key, key_value.value);
insert(key, static_cast<const ValueType&>(key_value.value));
}
}

6
gtsam/nonlinear/tests/testValues.cpp
View File

@ -383,6 +383,12 @@ TEST(Values, filter) {
expectedSubValues1.insert(3, pose3);
EXPECT(assert_equal(expectedSubValues1, actualSubValues1));
// ConstFilter by Key
Values::ConstFiltered<Value> constfiltered = values.filter(boost::bind(std::greater_equal<Key>(), _1, 2));
EXPECT_LONGS_EQUAL(2, (long)constfiltered.size());
Values fromconstfiltered(constfiltered);
EXPECT(assert_equal(expectedSubValues1, fromconstfiltered));
// Filter by type
i = 0;
Values::ConstFiltered<Pose3> pose_filtered = values.filter<Pose3>();

36
gtsam/slam/ImplicitSchurFactor.h → gtsam/slam/RegularImplicitSchurFactor.h
View File

@ -1,5 +1,5 @@
/**
* @file ImplicitSchurFactor.h
* @file RegularImplicitSchurFactor.h
* @brief A new type of linear factor (GaussianFactor), which is subclass of GaussianFactor
* @author Frank Dellaert
* @author Luca Carlone
@ -17,13 +17,13 @@
namespace gtsam {
/**
* ImplicitSchurFactor
* RegularImplicitSchurFactor
*/
template<size_t D> //
class ImplicitSchurFactor: public GaussianFactor {
class RegularImplicitSchurFactor: public GaussianFactor {
public:
typedef ImplicitSchurFactor This; ///< Typedef to this class
typedef RegularImplicitSchurFactor This; ///< Typedef to this class
typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
protected:
@ -40,11 +40,11 @@ protected:
public:
/// Constructor
ImplicitSchurFactor() {
RegularImplicitSchurFactor() {
}
/// Construct from blcoks of F, E, inv(E'*E), and RHS vector b
ImplicitSchurFactor(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
RegularImplicitSchurFactor(const std::vector<KeyMatrix2D>& Fblocks, const Matrix& E,
const Matrix3& P, const Vector& b) :
Fblocks_(Fblocks), PointCovariance_(P), E_(E), b_(b) {
initKeys();
@ -58,7 +58,7 @@ public:
}
/// Destructor
virtual ~ImplicitSchurFactor() {
virtual ~RegularImplicitSchurFactor() {
}
// Write access, only use for construction!
@ -87,7 +87,7 @@ public:
/// print
void print(const std::string& s = "",
const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << " ImplicitSchurFactor " << std::endl;
std::cout << " RegularImplicitSchurFactor " << std::endl;
Factor::print(s);
std::cout << " PointCovariance_ \n" << PointCovariance_ << std::endl;
std::cout << " E_ \n" << E_ << std::endl;
@ -96,7 +96,7 @@ public:
/// equals
bool equals(const GaussianFactor& lf, double tol) const {
if (!dynamic_cast<const ImplicitSchurFactor*>(&lf))
if (!dynamic_cast<const RegularImplicitSchurFactor*>(&lf))
return false;
else {
return false;
@ -110,21 +110,21 @@ public:
virtual Matrix augmentedJacobian() const {
throw std::runtime_error(
"ImplicitSchurFactor::augmentedJacobian non implemented");
"RegularImplicitSchurFactor::augmentedJacobian non implemented");
return Matrix();
}
virtual std::pair<Matrix, Vector> jacobian() const {
throw std::runtime_error("ImplicitSchurFactor::jacobian non implemented");
throw std::runtime_error("RegularImplicitSchurFactor::jacobian non implemented");
return std::make_pair(Matrix(), Vector());
}
virtual Matrix augmentedInformation() const {
throw std::runtime_error(
"ImplicitSchurFactor::augmentedInformation non implemented");
"RegularImplicitSchurFactor::augmentedInformation non implemented");
return Matrix();
}
virtual Matrix information() const {
throw std::runtime_error(
"ImplicitSchurFactor::information non implemented");
"RegularImplicitSchurFactor::information non implemented");
return Matrix();
}
@ -210,18 +210,18 @@ public:
}
virtual GaussianFactor::shared_ptr clone() const {
return boost::make_shared<ImplicitSchurFactor<D> >(Fblocks_,
return boost::make_shared<RegularImplicitSchurFactor<D> >(Fblocks_,
PointCovariance_, E_, b_);
throw std::runtime_error("ImplicitSchurFactor::clone non implemented");
throw std::runtime_error("RegularImplicitSchurFactor::clone non implemented");
}
virtual bool empty() const {
return false;
}
virtual GaussianFactor::shared_ptr negate() const {
return boost::make_shared<ImplicitSchurFactor<D> >(Fblocks_,
return boost::make_shared<RegularImplicitSchurFactor<D> >(Fblocks_,
PointCovariance_, E_, b_);
throw std::runtime_error("ImplicitSchurFactor::negate non implemented");
throw std::runtime_error("RegularImplicitSchurFactor::negate non implemented");
}
// Raw Vector version of y += F'*alpha*(I - E*P*E')*F*x, for testing
@ -454,7 +454,7 @@ public:
}
};
// ImplicitSchurFactor
// RegularImplicitSchurFactor
}

19
gtsam/slam/SmartFactorBase.h
View File

@ -21,7 +21,7 @@
#include "JacobianFactorQ.h"
#include "JacobianFactorSVD.h"
#include "ImplicitSchurFactor.h"
#include "RegularImplicitSchurFactor.h"
#include "RegularHessianFactor.h"
#include <gtsam/nonlinear/NonlinearFactor.h>
@ -73,7 +73,7 @@ public:
/**
* Constructor
* @param body_P_sensor is the transform from body to sensor frame (default identity)
* @param body_P_sensor is the transform from sensor to body frame (default identity)
*/
SmartFactorBase(boost::optional<POSE> body_P_sensor = boost::none) :
body_P_sensor_(body_P_sensor) {
@ -271,8 +271,13 @@ public:
Vector bi;
try {
bi =
-(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
bi = -(cameras[i].project(point, Fi, Ei, Hcali) - this->measured_.at(i)).vector();
if(body_P_sensor_){
Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
Matrix J(6, 6);
Pose3 world_P_body = w_Pose_body.compose(*body_P_sensor_, J);
Fi = Fi * J;
}
} catch (CheiralityException&) {
std::cout << "Cheirality exception " << std::endl;
exit(EXIT_FAILURE);
@ -624,11 +629,11 @@ public:
}
// ****************************************************************************************************
boost::shared_ptr<ImplicitSchurFactor<D> > createImplicitSchurFactor(
boost::shared_ptr<RegularImplicitSchurFactor<D> > createRegularImplicitSchurFactor(
const Cameras& cameras, const Point3& point, double lambda = 0.0,
bool diagonalDamping = false) const {
typename boost::shared_ptr<ImplicitSchurFactor<D> > f(
new ImplicitSchurFactor<D>());
typename boost::shared_ptr<RegularImplicitSchurFactor<D> > f(
new RegularImplicitSchurFactor<D>());
computeJacobians(f->Fblocks(), f->E(), f->PointCovariance(), f->b(),
cameras, point, lambda, diagonalDamping);
f->initKeys();

12
gtsam/slam/SmartProjectionFactor.h
View File

@ -120,7 +120,7 @@ public:
* @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint,
* otherwise the factor is simply neglected
* @param enableEPI if set to true linear triangulation is refined with embedded LM iterations
* @param body_P_sensor is the transform from body to sensor frame (default identity)
* @param body_P_sensor is the transform from sensor to body frame (default identity)
*/
SmartProjectionFactor(const double rankTol, const double linThreshold,
const bool manageDegeneracy, const bool enableEPI,
@ -298,7 +298,7 @@ public:
|| (!this->manageDegeneracy_
&& (this->cheiralityException_ || this->degenerate_))) {
if (isDebug) {
std::cout << "createImplicitSchurFactor: degenerate configuration"
std::cout << "createRegularImplicitSchurFactor: degenerate configuration"
<< std::endl;
}
return false;
@ -409,12 +409,12 @@ public:
}
// create factor
boost::shared_ptr<ImplicitSchurFactor<D> > createImplicitSchurFactor(
boost::shared_ptr<RegularImplicitSchurFactor<D> > createRegularImplicitSchurFactor(
const Cameras& cameras, double lambda) const {
if (triangulateForLinearize(cameras))
return Base::createImplicitSchurFactor(cameras, point_, lambda);
return Base::createRegularImplicitSchurFactor(cameras, point_, lambda);
else
return boost::shared_ptr<ImplicitSchurFactor<D> >();
return boost::shared_ptr<RegularImplicitSchurFactor<D> >();
}
/// create factor
@ -685,7 +685,7 @@ public:
inline bool isPointBehindCamera() const {
return cheiralityException_;
}
/** return chirality verbosity */
/** return cheirality verbosity */
inline bool verboseCheirality() const {
return verboseCheirality_;
}

5
gtsam/slam/SmartProjectionPoseFactor.h
View File

@ -63,7 +63,7 @@ public:
* @param manageDegeneracy is true, in presence of degenerate triangulation, the factor is converted to a rotation-only constraint,
* otherwise the factor is simply neglected
* @param enableEPI if set to true linear triangulation is refined with embedded LM iterations
* @param body_P_sensor is the transform from body to sensor frame (default identity)
* @param body_P_sensor is the transform from sensor to body frame (default identity)
*/
SmartProjectionPoseFactor(const double rankTol = 1,
const double linThreshold = -1, const bool manageDegeneracy = false,
@ -157,6 +157,9 @@ public:
size_t i=0;
BOOST_FOREACH(const Key& k, this->keys_) {
Pose3 pose = values.at<Pose3>(k);
if(Base::body_P_sensor_)
pose = pose.compose(*(Base::body_P_sensor_));
typename Base::Camera camera(pose, *K_all_[i++]);
cameras.push_back(camera);
}

16
gtsam/slam/tests/testImplicitSchurFactor.cpp → gtsam/slam/tests/testRegularImplicitSchurFactor.cpp
View File

@ -6,7 +6,7 @@
*/
//#include <gtsam_unstable/slam/ImplicitSchurFactor.h>
#include <gtsam/slam/ImplicitSchurFactor.h>
#include <gtsam/slam/RegularImplicitSchurFactor.h>
//#include <gtsam_unstable/slam/JacobianFactorQ.h>
#include <gtsam/slam/JacobianFactorQ.h>
//#include "gtsam_unstable/slam/JacobianFactorQR.h"
@ -38,19 +38,19 @@ const vector<pair<Key, Matrix26> > Fblocks = list_of<pair<Key, Matrix> > //
const Vector b = (Vector(6) << 1., 2., 3., 4., 5., 6.);
//*************************************************************************************
TEST( implicitSchurFactor, creation ) {
TEST( regularImplicitSchurFactor, creation ) {
// Matrix E = Matrix::Ones(6,3);
Matrix E = zeros(6, 3);
E.block<2,2>(0, 0) = eye(2);
E.block<2,3>(2, 0) = 2 * ones(2, 3);
Matrix3 P = (E.transpose() * E).inverse();
ImplicitSchurFactor<6> expected(Fblocks, E, P, b);
RegularImplicitSchurFactor<6> expected(Fblocks, E, P, b);
Matrix expectedP = expected.getPointCovariance();
EXPECT(assert_equal(expectedP, P));
}
/* ************************************************************************* */
TEST( implicitSchurFactor, addHessianMultiply ) {
TEST( regularImplicitSchurFactor, addHessianMultiply ) {
Matrix E = zeros(6, 3);
E.block<2,2>(0, 0) = eye(2);
@ -81,11 +81,11 @@ TEST( implicitSchurFactor, addHessianMultiply ) {
keys += 0,1,2,3;
Vector x = xvalues.vector(keys);
Vector expected = zero(24);
ImplicitSchurFactor<6>::multiplyHessianAdd(F, E, P, alpha, x, expected);
RegularImplicitSchurFactor<6>::multiplyHessianAdd(F, E, P, alpha, x, expected);
EXPECT(assert_equal(expected, yExpected.vector(keys), 1e-8));
// Create ImplicitSchurFactor
ImplicitSchurFactor<6> implicitFactor(Fblocks, E, P, b);
RegularImplicitSchurFactor<6> implicitFactor(Fblocks, E, P, b);
VectorValues zero = 0 * yExpected;// quick way to get zero w right structure
{ // First Version
@ -190,7 +190,7 @@ TEST( implicitSchurFactor, addHessianMultiply ) {
}
/* ************************************************************************* */
TEST(implicitSchurFactor, hessianDiagonal)
TEST(regularImplicitSchurFactor, hessianDiagonal)
{
/* TESTED AGAINST MATLAB
* F = [ones(2,6) zeros(2,6) zeros(2,6)
@ -207,7 +207,7 @@ TEST(implicitSchurFactor, hessianDiagonal)
E.block<2,3>(2, 0) << 1,2,3,4,5,6;
E.block<2,3>(4, 0) << 0.5,1,2,3,4,5;
Matrix3 P = (E.transpose() * E).inverse();
ImplicitSchurFactor<6> factor(Fblocks, E, P, b);
RegularImplicitSchurFactor<6> factor(Fblocks, E, P, b);
// hessianDiagonal
VectorValues expected;

89
gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
View File

@ -292,6 +292,95 @@ TEST( SmartProjectionPoseFactor, 3poses_smart_projection_factor ){
if(isDebugTest) tictoc_print_();
}
/* *************************************************************************/
TEST( SmartProjectionPoseFactor, smartFactorWithSensorBodyTransform ){
// create first camera. Looking along X-axis, 1 meter above ground plane (x-y)
Pose3 cameraPose1 = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(0,0,1)); // body poses
Pose3 cameraPose2 = cameraPose1 * Pose3(Rot3(), Point3(1,0,0));
Pose3 cameraPose3 = cameraPose1 * Pose3(Rot3(), Point3(0,-1,0));
SimpleCamera cam1(cameraPose1, *K); // with camera poses
SimpleCamera cam2(cameraPose2, *K);
SimpleCamera cam3(cameraPose3, *K);
// create arbitrary body_Pose_sensor (transforms from sensor to body)
Pose3 sensor_to_body = Pose3(Rot3::ypr(-M_PI/2, 0., -M_PI/2), gtsam::Point3(1, 1, 1)); // Pose3(); //
// These are the poses we want to estimate, from camera measurements
Pose3 bodyPose1 = cameraPose1.compose(sensor_to_body.inverse());
Pose3 bodyPose2 = cameraPose2.compose(sensor_to_body.inverse());
Pose3 bodyPose3 = cameraPose3.compose(sensor_to_body.inverse());
// three landmarks ~5 meters infront of camera
Point3 landmark1(5, 0.5, 1.2);
Point3 landmark2(5, -0.5, 1.2);
Point3 landmark3(5, 0, 3.0);
vector<Point2> measurements_cam1, measurements_cam2, measurements_cam3;
// Project three landmarks into three cameras
projectToMultipleCameras(cam1, cam2, cam3, landmark1, measurements_cam1);
projectToMultipleCameras(cam1, cam2, cam3, landmark2, measurements_cam2);
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_cam3);
// Create smart factors
std::vector<Key> views;
views.push_back(x1);
views.push_back(x2);
views.push_back(x3);
double rankTol = 1;
double linThreshold = -1;
bool manageDegeneracy = false;
bool enableEPI = false;
SmartFactor::shared_ptr smartFactor1(new SmartFactor(rankTol,linThreshold,manageDegeneracy,enableEPI,sensor_to_body));
smartFactor1->add(measurements_cam1, views, model, K);
SmartFactor::shared_ptr smartFactor2(new SmartFactor(rankTol,linThreshold,manageDegeneracy,enableEPI,sensor_to_body));
smartFactor2->add(measurements_cam2, views, model, K);
SmartFactor::shared_ptr smartFactor3(new SmartFactor(rankTol,linThreshold,manageDegeneracy,enableEPI,sensor_to_body));
smartFactor3->add(measurements_cam3, views, model, K);
const SharedDiagonal noisePrior = noiseModel::Isotropic::Sigma(6, 0.10);
// Put all factors in factor graph, adding priors
NonlinearFactorGraph graph;
graph.push_back(smartFactor1);
graph.push_back(smartFactor2);
graph.push_back(smartFactor3);
graph.push_back(PriorFactor<Pose3>(x1, bodyPose1, noisePrior));
graph.push_back(PriorFactor<Pose3>(x2, bodyPose2, noisePrior));
// Check errors at ground truth poses
Values gtValues;
gtValues.insert(x1, bodyPose1);
gtValues.insert(x2, bodyPose2);
gtValues.insert(x3, bodyPose3);
double actualError = graph.error(gtValues);
double expectedError = 0.0;
DOUBLES_EQUAL(expectedError, actualError, 1e-7)
Pose3 noise_pose = Pose3(Rot3::ypr(-M_PI/100, 0., -M_PI/100), gtsam::Point3(0.1,0.1,0.1));
Values values;
values.insert(x1, bodyPose1);
values.insert(x2, bodyPose2);
// initialize third pose with some noise, we expect it to move back to original pose3
values.insert(x3, bodyPose3*noise_pose);
LevenbergMarquardtParams params;
Values result;
LevenbergMarquardtOptimizer optimizer(graph, values, params);
result = optimizer.optimize();
// result.print("results of 3 camera, 3 landmark optimization \n");
if(isDebugTest) result.at<Pose3>(x3).print("Smart: Pose3 after optimization: ");
EXPECT(assert_equal(bodyPose3,result.at<Pose3>(x3)));
}
/* *************************************************************************/
TEST( SmartProjectionPoseFactor, 3poses_iterative_smart_projection_factor ){
// cout << " ************************ SmartProjectionPoseFactor: 3 cams + 3 landmarks **********************" << endl;

31
gtsam_unstable/gtsam_unstable.h
View File

@ -4,14 +4,15 @@
// specify the classes from gtsam we are using
virtual class gtsam::Value;
virtual class gtsam::LieScalar;
virtual class gtsam::LieVector;
virtual class gtsam::Point2;
virtual class gtsam::Rot2;
virtual class gtsam::Pose2;
virtual class gtsam::Point3;
virtual class gtsam::Rot3;
virtual class gtsam::Pose3;
class gtsam::Vector6;
class gtsam::LieScalar;
class gtsam::LieVector;
class gtsam::Point2;
class gtsam::Rot2;
class gtsam::Pose2;
class gtsam::Point3;
class gtsam::Rot3;
class gtsam::Pose3;
virtual class gtsam::noiseModel::Base;
virtual class gtsam::noiseModel::Gaussian;
virtual class gtsam::imuBias::ConstantBias;
@ -23,8 +24,8 @@ virtual class gtsam::NoiseModelFactor4;
virtual class gtsam::GaussianFactor;
virtual class gtsam::HessianFactor;
virtual class gtsam::JacobianFactor;
virtual class gtsam::Cal3_S2;
virtual class gtsam::Cal3DS2;
class gtsam::Cal3_S2;
class gtsam::Cal3DS2;
class gtsam::GaussianFactorGraph;
class gtsam::NonlinearFactorGraph;
class gtsam::Ordering;
@ -48,7 +49,7 @@ class Dummy {
};
#include <gtsam_unstable/dynamics/PoseRTV.h>
virtual class PoseRTV : gtsam::Value {
class PoseRTV {
PoseRTV();
PoseRTV(Vector rtv);
PoseRTV(const gtsam::Point3& pt, const gtsam::Rot3& rot, const gtsam::Point3& vel);
@ -99,7 +100,7 @@ virtual class PoseRTV : gtsam::Value {
};
#include <gtsam_unstable/geometry/Pose3Upright.h>
virtual class Pose3Upright : gtsam::Value {
class Pose3Upright {
Pose3Upright();
Pose3Upright(const gtsam::Pose3Upright& x);
Pose3Upright(const gtsam::Rot2& bearing, const gtsam::Point3& t);
@ -137,7 +138,7 @@ virtual class Pose3Upright : gtsam::Value {
}; // \class Pose3Upright
#include <gtsam_unstable/geometry/BearingS2.h>
virtual class BearingS2 : gtsam::Value {
class BearingS2 {
BearingS2();
BearingS2(double azimuth, double elevation);
BearingS2(const gtsam::Rot2& azimuth, const gtsam::Rot2& elevation);
@ -520,14 +521,14 @@ virtual class PendulumFactorPk1 : gtsam::NonlinearFactor {
virtual class Reconstruction : gtsam::NonlinearFactor {
Reconstruction(size_t gKey1, size_t gKey, size_t xiKey, double h);
Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, const gtsam::LieVector& xiK) const;
Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, const gtsam::Vector6& xiK) const;
};
virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
DiscreteEulerPoincareHelicopter(size_t xiKey, size_t xiKey_1, size_t gKey,
double h, Matrix Inertia, Vector Fu, double m);
Vector evaluateError(const gtsam::LieVector& xiK, const gtsam::LieVector& xiK_1, const gtsam::Pose3& gK) const;
Vector evaluateError(const gtsam::Vector6& xiK, const gtsam::Vector6& xiK_1, const gtsam::Pose3& gK) const;
};
//*************************************************************************

52
gtsam_unstable/nonlinear/Expression-inl.h
View File

@ -64,7 +64,8 @@ public:
}
/// Access via key
VerticalBlockMatrix::Block operator()(Key key) {
FastVector<Key>::const_iterator it = std::find(keys_.begin(),keys_.end(),key);
FastVector<Key>::const_iterator it = std::find(keys_.begin(), keys_.end(),
key);
DenseIndex block = it - keys_.begin();
return Ab_(block);
}
@ -98,7 +99,7 @@ struct CallRecord {
template<int ROWS, int COLS>
void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA,
JacobianMap& jacobians, Key key) {
jacobians(key).block < ROWS, COLS > (0, 0) += dTdA; // block makes HUGE difference
jacobians(key).block<ROWS, COLS>(0, 0) += dTdA; // block makes HUGE difference
}
/// Handle Leaf Case for Dynamic Matrix type (slower)
template<>
@ -311,9 +312,9 @@ public:
//-----------------------------------------------------------------------------
/// Leaf Expression
template<class T, class Chart=DefaultChart<T> >
template<class T, class Chart = DefaultChart<T> >
class LeafExpression: public ExpressionNode<T> {
typedef ChartValue<T,Chart> value_type; // perhaps this can be something else like a std::pair<T,Chart> ??
typedef ChartValue<T, Chart> value_type; // perhaps this can be something else like a std::pair<T,Chart> ??
/// The key into values
Key key_;
@ -347,8 +348,8 @@ public:
}
/// Construct an execution trace for reverse AD
virtual const value_type& traceExecution(const Values& values, ExecutionTrace<value_type>& trace,
char* raw) const {
virtual const value_type& traceExecution(const Values& values,
ExecutionTrace<value_type>& trace, char* raw) const {
trace.setLeaf(key_);
return dynamic_cast<const value_type&>(values.at(key_));
}
@ -358,7 +359,7 @@ public:
//-----------------------------------------------------------------------------
/// Leaf Expression, if no chart is given, assume default chart and value_type is just the plain value
template<typename T>
class LeafExpression<T, DefaultChart<T> >: public ExpressionNode<T> {
class LeafExpression<T, DefaultChart<T> > : public ExpressionNode<T> {
typedef T value_type;
/// The key into values
@ -405,6 +406,7 @@ public:
// C++ Template Metaprogramming: Concepts, Tools, and Techniques from Boost
// and Beyond. Abrahams, David; Gurtovoy, Aleksey. Pearson Education.
// to recursively generate a class, that will be the base for function nodes.
//
// The class generated, for three arguments A1, A2, and A3 will be
//
// struct Base1 : Argument<T,A1,1>, FunctionalBase<T> {
@ -429,6 +431,30 @@ public:
//
// All this magic happens when we generate the Base3 base class of FunctionalNode
// by invoking boost::mpl::fold over the meta-function GenerateFunctionalNode
//
// Similarly, the inner Record struct will be
//
// struct Record1 : JacobianTrace<T,A1,1>, CallRecord<traits::dimension<T>::value> {
// ... storage related to A1 ...
// ... methods that work on A1 ...
// };
//
// struct Record2 : JacobianTrace<T,A2,2>, Record1 {
// ... storage related to A2 ...
// ... methods that work on A2 and (recursively) on A1 ...
// };
//
// struct Record3 : JacobianTrace<T,A3,3>, Record2 {
// ... storage related to A3 ...
// ... methods that work on A3 and (recursively) on A2 and A1 ...
// };
//
// struct Record : Record3 {
// Provides convenience access to storage in hierarchy by using
// static_cast<JacobianTrace<T, A, N> &>(*this)
// }
//
//-----------------------------------------------------------------------------
/// meta-function to generate fixed-size JacobianTA type
@ -457,6 +483,7 @@ struct FunctionalBase: ExpressionNode<T> {
/// Construct an execution trace for reverse AD
void trace(const Values& values, Record* record, char*& raw) const {
// base case: does not do anything
}
};
@ -562,15 +589,23 @@ struct GenerateFunctionalNode: Argument<T, A, Base::N + 1>, Base {
template<class T, class TYPES>
struct FunctionalNode {
/// The following typedef generates the recursively defined Base class
typedef typename boost::mpl::fold<TYPES, FunctionalBase<T>,
GenerateFunctionalNode<T, MPL::_2, MPL::_1> >::type Base;
/**
* The type generated by this meta-function derives from Base
* and adds access functions as well as the crucial [trace] function
*/
struct type: public Base {
// Argument types and derived, note these are base 0 !
// These are currently not used - useful for Phoenix in future
#ifdef EXPRESSIONS_PHOENIX
typedef TYPES Arguments;
typedef typename boost::mpl::transform<TYPES, Jacobian<T, MPL::_1> >::type Jacobians;
typedef typename boost::mpl::transform<TYPES, OptionalJacobian<T, MPL::_1> >::type Optionals;
#endif
/// Reset expression shared pointer
template<class A, size_t N>
@ -725,7 +760,8 @@ public:
typedef boost::function<
T(const A1&, const A2&, const A3&, typename OptionalJacobian<T, A1>::type,
typename OptionalJacobian<T, A2>::type, typename OptionalJacobian<T, A3>::type)> Function;
typename OptionalJacobian<T, A2>::type,
typename OptionalJacobian<T, A3>::type)> Function;
typedef typename FunctionalNode<T, boost::mpl::vector<A1, A2, A3> >::type Base;
typedef typename Base::Record Record;

3
gtsam_unstable/nonlinear/tests/testExpressionMeta.cpp
View File

@ -22,6 +22,7 @@
#include <gtsam/base/Testable.h>
#include <CppUnitLite/TestHarness.h>
#include <algorithm>
using namespace std;
using namespace gtsam;
@ -143,7 +144,7 @@ TEST(ExpressionFactor, Triple) {
// Test out invoke
TEST(ExpressionFactor, Invoke) {
assert(invoke(add,boost::fusion::make_vector(1,1)) == 2);
EXPECT_LONGS_EQUAL(2, invoke(plus<int>(),boost::fusion::make_vector(1,1)));
// Creating a Pose3 (is there another way?)
boost::fusion::vector<Rot3, Point3> pair;

4
gtsam_unstable/partition/FindSeparator-inl.h
View File

@ -17,12 +17,14 @@
#include <boost/shared_array.hpp>
#include <boost/timer.hpp>
#include "FindSeparator.h"
extern "C" {
#include <metis.h>
#include "metislib.h"
}
#include "FindSeparator.h"
namespace gtsam { namespace partition {

161
gtsam_unstable/slam/BetweenFactorEM.h
View File

@ -25,19 +25,19 @@
namespace gtsam {
/**
/**
* A class for a measurement predicted by "between(config[key1],config[key2])"
* @tparam VALUE the Value type
* @addtogroup SLAM
*/
template<class VALUE>
class BetweenFactorEM: public NonlinearFactor {
template<class VALUE>
class BetweenFactorEM: public NonlinearFactor {
public:
public:
typedef VALUE T;
private:
private:
typedef BetweenFactorEM<VALUE> This;
typedef gtsam::NonlinearFactor Base;
@ -56,54 +56,57 @@ namespace gtsam {
bool flag_bump_up_near_zero_probs_;
/** concept check by type */
GTSAM_CONCEPT_LIE_TYPE(T)
GTSAM_CONCEPT_TESTABLE_TYPE(T)
GTSAM_CONCEPT_LIE_TYPE(T)GTSAM_CONCEPT_TESTABLE_TYPE(T)
public:
public:
// shorthand for a smart pointer to a factor
typedef typename boost::shared_ptr<BetweenFactorEM> shared_ptr;
/** default constructor - only use for serialization */
BetweenFactorEM() {}
BetweenFactorEM() {
}
/** Constructor */
BetweenFactorEM(Key key1, Key key2, const VALUE& measured,
const SharedGaussian& model_inlier, const SharedGaussian& model_outlier,
const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs = false) :
Base(cref_list_of<2>(key1)(key2)), key1_(key1), key2_(key2), measured_(measured),
model_inlier_(model_inlier), model_outlier_(model_outlier),
prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(flag_bump_up_near_zero_probs){
const double prior_inlier, const double prior_outlier,
const bool flag_bump_up_near_zero_probs = false) :
Base(cref_list_of<2>(key1)(key2)), key1_(key1), key2_(key2), measured_(
measured), model_inlier_(model_inlier), model_outlier_(model_outlier), prior_inlier_(
prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(
flag_bump_up_near_zero_probs) {
}
virtual ~BetweenFactorEM() {}
virtual ~BetweenFactorEM() {
}
/** implement functions needed for Testable */
/** print */
virtual void print(const std::string& s, const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << "BetweenFactorEM("
<< keyFormatter(key1_) << ","
virtual void print(const std::string& s, const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const {
std::cout << s << "BetweenFactorEM(" << keyFormatter(key1_) << ","
<< keyFormatter(key2_) << ")\n";
measured_.print(" measured: ");
model_inlier_->print(" noise model inlier: ");
model_outlier_->print(" noise model outlier: ");
std::cout << "(prior_inlier, prior_outlier_) = ("
<< prior_inlier_ << ","
std::cout << "(prior_inlier, prior_outlier_) = (" << prior_inlier_ << ","
<< prior_outlier_ << ")\n";
// Base::print(s, keyFormatter);
}
/** equals */
virtual bool equals(const NonlinearFactor& f, double tol=1e-9) const {
const This *t = dynamic_cast<const This*> (&f);
virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const {
const This *t = dynamic_cast<const This*>(&f);
if(t && Base::equals(f))
return key1_ == t->key1_ && key2_ == t->key2_ &&
if (t && Base::equals(f))
return key1_ == t->key1_ && key2_ == t->key2_
&&
// model_inlier_->equals(t->model_inlier_ ) && // TODO: fix here
// model_outlier_->equals(t->model_outlier_ ) &&
prior_outlier_ == t->prior_outlier_ && prior_inlier_ == t->prior_inlier_ && measured_.equals(t->measured_);
prior_outlier_ == t->prior_outlier_
&& prior_inlier_ == t->prior_inlier_ && measured_.equals(t->measured_);
else
return false;
}
@ -122,7 +125,8 @@ namespace gtsam {
* Hence \f$ b = z - h(x) = - \mathtt{error\_vector}(x) \f$
*/
/* This version of linearize recalculates the noise model each time */
virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(const gtsam::Values& x) const {
virtual boost::shared_ptr<gtsam::GaussianFactor> linearize(
const gtsam::Values& x) const {
// Only linearize if the factor is active
if (!this->active(x))
return boost::shared_ptr<gtsam::JacobianFactor>();
@ -135,10 +139,10 @@ namespace gtsam {
A2 = A[1];
return gtsam::GaussianFactor::shared_ptr(
new gtsam::JacobianFactor(key1_, A1, key2_, A2, b, gtsam::noiseModel::Unit::Create(b.size())));
new gtsam::JacobianFactor(key1_, A1, key2_, A2, b,
gtsam::noiseModel::Unit::Create(b.size())));
}
/* ************************************************************************* */
gtsam::Vector whitenedError(const gtsam::Values& x,
boost::optional<std::vector<gtsam::Matrix>&> H = boost::none) const {
@ -164,31 +168,33 @@ namespace gtsam {
Vector err_wh_outlier = model_outlier_->whiten(err);
Matrix invCov_inlier = model_inlier_->R().transpose() * model_inlier_->R();
Matrix invCov_outlier = model_outlier_->R().transpose() * model_outlier_->R();
Matrix invCov_outlier = model_outlier_->R().transpose()
* model_outlier_->R();
Vector err_wh_eq;
err_wh_eq.resize(err_wh_inlier.rows()*2);
err_wh_eq << sqrt(p_inlier) * err_wh_inlier.array() , sqrt(p_outlier) * err_wh_outlier.array();
err_wh_eq.resize(err_wh_inlier.rows() * 2);
err_wh_eq << sqrt(p_inlier) * err_wh_inlier.array(), sqrt(p_outlier)
* err_wh_outlier.array();
if (H){
if (H) {
// stack Jacobians for the two indicators for each of the key
Matrix H1_inlier = sqrt(p_inlier)*model_inlier_->Whiten(H1);
Matrix H1_outlier = sqrt(p_outlier)*model_outlier_->Whiten(H1);
Matrix H1_inlier = sqrt(p_inlier) * model_inlier_->Whiten(H1);
Matrix H1_outlier = sqrt(p_outlier) * model_outlier_->Whiten(H1);
Matrix H1_aug = gtsam::stack(2, &H1_inlier, &H1_outlier);
Matrix H2_inlier = sqrt(p_inlier)*model_inlier_->Whiten(H2);
Matrix H2_outlier = sqrt(p_outlier)*model_outlier_->Whiten(H2);
Matrix H2_inlier = sqrt(p_inlier) * model_inlier_->Whiten(H2);
Matrix H2_outlier = sqrt(p_outlier) * model_outlier_->Whiten(H2);
Matrix H2_aug = gtsam::stack(2, &H2_inlier, &H2_outlier);
(*H)[0].resize(H1_aug.rows(),H1_aug.cols());
(*H)[1].resize(H2_aug.rows(),H2_aug.cols());
(*H)[0].resize(H1_aug.rows(), H1_aug.cols());
(*H)[1].resize(H2_aug.rows(), H2_aug.cols());
(*H)[0] = H1_aug;
(*H)[1] = H2_aug;
}
if (debug){
if (debug) {
// std::cout<<"unwhitened error: "<<err[0]<<" "<<err[1]<<" "<<err[2]<<std::endl;
// std::cout<<"err_wh_inlier: "<<err_wh_inlier[0]<<" "<<err_wh_inlier[1]<<" "<<err_wh_inlier[2]<<std::endl;
// std::cout<<"err_wh_outlier: "<<err_wh_outlier[0]<<" "<<err_wh_outlier[1]<<" "<<err_wh_outlier[2]<<std::endl;
@ -219,7 +225,6 @@ namespace gtsam {
// std::cout<<"===="<<std::endl;
}
return err_wh_eq;
}
@ -235,28 +240,37 @@ namespace gtsam {
Vector err_wh_outlier = model_outlier_->whiten(err);
Matrix invCov_inlier = model_inlier_->R().transpose() * model_inlier_->R();
Matrix invCov_outlier = model_outlier_->R().transpose() * model_outlier_->R();
Matrix invCov_outlier = model_outlier_->R().transpose()
* model_outlier_->R();
double p_inlier = prior_inlier_ * std::sqrt(invCov_inlier.determinant()) * exp( -0.5 * err_wh_inlier.dot(err_wh_inlier) );
double p_outlier = prior_outlier_ * std::sqrt(invCov_outlier.determinant()) * exp( -0.5 * err_wh_outlier.dot(err_wh_outlier) );
double p_inlier = prior_inlier_ * std::sqrt(invCov_inlier.determinant())
* exp(-0.5 * err_wh_inlier.dot(err_wh_inlier));
double p_outlier = prior_outlier_ * std::sqrt(invCov_outlier.determinant())
* exp(-0.5 * err_wh_outlier.dot(err_wh_outlier));
if (debug){
std::cout<<"in calcIndicatorProb. err_unwh: "<<err[0]<<", "<<err[1]<<", "<<err[2]<<std::endl;
std::cout<<"in calcIndicatorProb. err_wh_inlier: "<<err_wh_inlier[0]<<", "<<err_wh_inlier[1]<<", "<<err_wh_inlier[2]<<std::endl;
std::cout<<"in calcIndicatorProb. err_wh_inlier.dot(err_wh_inlier): "<<err_wh_inlier.dot(err_wh_inlier)<<std::endl;
std::cout<<"in calcIndicatorProb. err_wh_outlier.dot(err_wh_outlier): "<<err_wh_outlier.dot(err_wh_outlier)<<std::endl;
if (debug) {
std::cout << "in calcIndicatorProb. err_unwh: " << err[0] << ", "
<< err[1] << ", " << err[2] << std::endl;
std::cout << "in calcIndicatorProb. err_wh_inlier: " << err_wh_inlier[0]
<< ", " << err_wh_inlier[1] << ", " << err_wh_inlier[2] << std::endl;
std::cout << "in calcIndicatorProb. err_wh_inlier.dot(err_wh_inlier): "
<< err_wh_inlier.dot(err_wh_inlier) << std::endl;
std::cout << "in calcIndicatorProb. err_wh_outlier.dot(err_wh_outlier): "
<< err_wh_outlier.dot(err_wh_outlier) << std::endl;
std::cout<<"in calcIndicatorProb. p_inlier, p_outlier before normalization: "<<p_inlier<<", "<<p_outlier<<std::endl;
std::cout
<< "in calcIndicatorProb. p_inlier, p_outlier before normalization: "
<< p_inlier << ", " << p_outlier << std::endl;
}
double sumP = p_inlier + p_outlier;
p_inlier /= sumP;
p_outlier /= sumP;
if (flag_bump_up_near_zero_probs_){
if (flag_bump_up_near_zero_probs_) {
// Bump up near-zero probabilities (as in linerFlow.h)
double minP = 0.05; // == 0.1 / 2 indicator variables
if (p_inlier < minP || p_outlier < minP){
if (p_inlier < minP || p_outlier < minP) {
if (p_inlier < minP)
p_inlier = minP;
if (p_outlier < minP)
@ -305,16 +319,17 @@ namespace gtsam {
/* ************************************************************************* */
Matrix get_model_inlier_cov() const {
return (model_inlier_->R().transpose()*model_inlier_->R()).inverse();
return (model_inlier_->R().transpose() * model_inlier_->R()).inverse();
}
/* ************************************************************************* */
Matrix get_model_outlier_cov() const {
return (model_outlier_->R().transpose()*model_outlier_->R()).inverse();
return (model_outlier_->R().transpose() * model_outlier_->R()).inverse();
}
/* ************************************************************************* */
void updateNoiseModels(const gtsam::Values& values, const gtsam::NonlinearFactorGraph& graph){
void updateNoiseModels(const gtsam::Values& values,
const gtsam::NonlinearFactorGraph& graph) {
/* Update model_inlier_ and model_outlier_ to account for uncertainty in robot trajectories
* (note these are given in the E step, where indicator probabilities are calculated).
*
@ -328,7 +343,7 @@ namespace gtsam {
std::vector<gtsam::Key> Keys;
Keys.push_back(key1_);
Keys.push_back(key2_);
Marginals marginals( graph, values, Marginals::QR );
Marginals marginals(graph, values, Marginals::QR);
JointMarginal joint_marginal12 = marginals.jointMarginalCovariance(Keys);
Matrix cov1 = joint_marginal12(key1_, key1_);
Matrix cov2 = joint_marginal12(key2_, key2_);
@ -338,7 +353,8 @@ namespace gtsam {
}
/* ************************************************************************* */
void updateNoiseModels_givenCovs(const gtsam::Values& values, const Matrix& cov1, const Matrix& cov2, const Matrix& cov12){
void updateNoiseModels_givenCovs(const gtsam::Values& values,
const Matrix& cov1, const Matrix& cov2, const Matrix& cov12) {
/* Update model_inlier_ and model_outlier_ to account for uncertainty in robot trajectories
* (note these are given in the E step, where indicator probabilities are calculated).
*
@ -352,27 +368,30 @@ namespace gtsam {
const T& p2 = values.at<T>(key2_);
Matrix H1, H2;
T hx = p1.between(p2, H1, H2); // h(x)
p1.between(p2, H1, H2); // h(x)
Matrix H;
H.resize(H1.rows(), H1.rows()+H2.rows());
H.resize(H1.rows(), H1.rows() + H2.rows());
H << H1, H2; // H = [H1 H2]
Matrix joint_cov;
joint_cov.resize(cov1.rows()+cov2.rows(), cov1.cols()+cov2.cols());
joint_cov << cov1, cov12,
cov12.transpose(), cov2;
joint_cov.resize(cov1.rows() + cov2.rows(), cov1.cols() + cov2.cols());
joint_cov << cov1, cov12, cov12.transpose(), cov2;
Matrix cov_state = H*joint_cov*H.transpose();
Matrix cov_state = H * joint_cov * H.transpose();
// model_inlier_->print("before:");
// update inlier and outlier noise models
Matrix covRinlier = (model_inlier_->R().transpose()*model_inlier_->R()).inverse();
model_inlier_ = gtsam::noiseModel::Gaussian::Covariance(covRinlier + cov_state);
Matrix covRinlier =
(model_inlier_->R().transpose() * model_inlier_->R()).inverse();
model_inlier_ = gtsam::noiseModel::Gaussian::Covariance(
covRinlier + cov_state);
Matrix covRoutlier = (model_outlier_->R().transpose()*model_outlier_->R()).inverse();
model_outlier_ = gtsam::noiseModel::Gaussian::Covariance(covRoutlier + cov_state);
Matrix covRoutlier =
(model_outlier_->R().transpose() * model_outlier_->R()).inverse();
model_outlier_ = gtsam::noiseModel::Gaussian::Covariance(
covRoutlier + cov_state);
// model_inlier_->print("after:");
// std::cout<<"covRinlier + cov_state: "<<covRinlier + cov_state<<std::endl;
@ -393,16 +412,18 @@ namespace gtsam {
return model_inlier_->R().rows() + model_inlier_->R().cols();
}
private:
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NonlinearFactor",
ar
& boost::serialization::make_nvp("NonlinearFactor",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(measured_);
}
}; // \class BetweenFactorEM
};
// \class BetweenFactorEM
} /// namespace gtsam
}/// namespace gtsam

2
gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h
View File

@ -372,7 +372,7 @@ namespace gtsam {
const T& p2 = values.at<T>(keyB_);
Matrix H1, H2;
T hx = p1.between(p2, H1, H2); // h(x)
p1.between(p2, H1, H2); // h(x)
Matrix H;
H.resize(H1.rows(), H1.rows()+H2.rows());

5
gtsam_unstable/timing/timeDSFvariants.cpp
View File

@ -57,7 +57,8 @@ int main(int argc, char* argv[]) {
volatile double fpm = 0.5; // fraction of points matched
volatile size_t nm = fpm * n * np; // number of matches
cout << format("\nTesting with %1% images, %2% points, %3% matches\n") % m % N % nm;
cout << format("\nTesting with %1% images, %2% points, %3% matches\n")
% (int)m % (int)N % (int)nm;
cout << "Generating " << nm << " matches" << endl;
boost::variate_generator<boost::mt19937, boost::uniform_int<size_t> > rn(
boost::mt19937(), boost::uniform_int<size_t>(0, N - 1));
@ -67,7 +68,7 @@ int main(int argc, char* argv[]) {
for (size_t k = 0; k < nm; k++)
matches.push_back(Match(rn(), rn()));
os << format("%1%,%2%,%3%,") % m % N % nm;
os << format("%1%,%2%,%3%,") % (int)m % (int)N % (int)nm;
{
// DSFBase version

12
gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
View File

@ -35,12 +35,12 @@ gtsam::Vector ECEF_omega_earth((Vector(3) << 0.0, 0.0, 7.292115e-5));
gtsam::Vector world_omega_earth(world_R_ECEF.matrix() * ECEF_omega_earth);
/* ************************************************************************* */
gtsam::Pose3 predictionErrorPose(const Pose3& p1, const LieVector& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2, const InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias>& factor) {
gtsam::Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
return Pose3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).head(6));
}
gtsam::LieVector predictionErrorVel(const Pose3& p1, const LieVector& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const LieVector& v2, const InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias>& factor) {
return LieVector::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).tail(3));
gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
return factor.evaluateError(p1, v1, b1, p2, v2).tail(3);
}
#include <gtsam/linear/GaussianFactorGraph.h>
@ -64,21 +64,21 @@ int main() {
Vector measurement_acc((Vector(3) << 6.501390843381716, -6.763926150509185, -2.300389940090343));
Vector measurement_gyro((Vector(3) << 0.1, 0.2, 0.3));
InertialNavFactor_GlobalVelocity<Pose3, LieVector, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias> f(PoseKey1, VelKey1, BiasKey1, PoseKey2, VelKey2, measurement_acc, measurement_gyro, measurement_dt, world_g, world_rho, world_omega_earth, model);
Rot3 R1(0.487316618, 0.125253866, 0.86419557,
0.580273724, 0.693095498, -0.427669306,
-0.652537293, 0.709880342, 0.265075427);
Point3 t1(2.0,1.0,3.0);
Pose3 Pose1(R1, t1);
LieVector Vel1 = Vector((Vector(3) << 0.5,-0.5,0.4));
Vector3 Vel1 = Vector((Vector(3) << 0.5,-0.5,0.4));
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
0.609241153, 0.67099888, -0.422594037,
-0.636011287, 0.731761397, 0.244979388);
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
Pose3 Pose2(R2, t2);
Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
LieVector Vel2 = Vel1.compose( dv );
Vector3 Vel2 = Vel1 + dv;
imuBias::ConstantBias Bias1;
Values values;

8
gtsam_unstable/timing/timeSFMExpressions.cpp
View File

@ -47,15 +47,15 @@ int main() {
// Create values
Values values;
values.insert(Symbol('K', 0), Cal3_S2());
for (int i = 0; i < M; i++)
for (size_t i = 0; i < M; i++)
values.insert(Symbol('x', i), Pose3());
for (int j = 0; j < N; j++)
for (size_t j = 0; j < N; j++)
values.insert(Symbol('p', j), Point3(0, 0, 1));
long timeLog = clock();
NonlinearFactorGraph graph;
for (int i = 0; i < M; i++) {
for (int j = 0; j < N; j++) {
for (size_t i = 0; i < M; i++) {
for (size_t j = 0; j < N; j++) {
NonlinearFactor::shared_ptr f = boost::make_shared<
ExpressionFactor<Point2> >
#ifdef TERNARY

2
matlab/+gtsam/VisualISAMPlot.m
View File

@ -16,7 +16,7 @@ gtsam.plot3DPoints(result, [], marginals);
M = 1;
while result.exists(symbol('x',M))
ii = symbol('x',M);
pose_i = result.at(ii);
pose_i = result.atPose3(ii);
if options.hardConstraint && (M==1)
gtsam.plotPose3(pose_i,[],10);
else

2
matlab/+gtsam/VisualISAMStep.m
View File

@ -27,7 +27,7 @@ for k=1:length(data.Z{nextPoseIndex})
end
%% Initial estimates for the new pose.
prevPose = result.at(symbol('x',nextPoseIndex-1));
prevPose = result.atPose3(symbol('x',nextPoseIndex-1));
initialEstimates.insert(symbol('x',nextPoseIndex), prevPose.compose(odometry));
%% Update ISAM

4
matlab/+gtsam/load3D.m
View File

@ -46,9 +46,9 @@ for i=1:n
graph.add(BetweenFactorPose3(i1, i2, dpose, model));
if successive
if i2>i1
initial.insert(i2,initial.at(i1).compose(dpose));
initial.insert(i2,initial.atPose3(i1).compose(dpose));
else
initial.insert(i1,initial.at(i2).compose(dpose.inverse));
initial.insert(i1,initial.atPose3(i2).compose(dpose.inverse));
end
end
end

7
matlab/+gtsam/plot2DPoints.m
View File

@ -18,15 +18,18 @@ hold on
% Plot points and covariance matrices
for i = 0:keys.size-1
key = keys.at(i);
p = values.at(key);
if isa(p, 'gtsam.Point2')
try
p = values.atPoint2(key);
if haveMarginals
P = marginals.marginalCovariance(key);
gtsam.plotPoint2(p, linespec, P);
else
gtsam.plotPoint2(p, linespec);
end
catch err
% I guess it's not a Point2
end
end
if ~holdstate

6
matlab/+gtsam/plot2DTrajectory.m
View File

@ -33,10 +33,12 @@ else
keys = KeyVector(values.keys);
for i = 0:keys.size-1
key = keys.at(i);
x = values.at(key);
if isa(x, 'gtsam.Pose2')
try
x = values.atPose2(key);
P = marginals.marginalCovariance(key);
gtsam.plotPose2(x,linespec(1), P);
catch err
% I guess it's not a Pose2
end
end
end

6
matlab/+gtsam/plot3DPoints.m
View File

@ -18,14 +18,16 @@ hold on
% Plot points and covariance matrices
for i = 0:keys.size-1
key = keys.at(i);
p = values.at(key);
if isa(p, 'gtsam.Point3')
try
p = values.atPoint3(key);
if haveMarginals
P = marginals.marginalCovariance(key);
gtsam.plotPoint3(p, linespec, P);
else
gtsam.plotPoint3(p, linespec);
end
catch
% I guess it's not a Point3
end
end

29
matlab/+gtsam/plot3DTrajectory.m
View File

@ -17,13 +17,14 @@ hold on
lastIndex = [];
for i = 0:keys.size-1
key = keys.at(i);
x = values.at(key);
if isa(x, 'gtsam.Pose3')
try
x = values.atPose3(key);
if ~isempty(lastIndex)
% Draw line from last pose then covariance ellipse on top of
% last pose.
lastKey = keys.at(lastIndex);
lastPose = values.at(lastKey);
try
lastPose = values.atPose3(lastKey);
plot3([ x.x; lastPose.x ], [ x.y; lastPose.y ], [ x.z; lastPose.z ], linespec);
if haveMarginals
P = marginals.marginalCovariance(lastKey);
@ -31,25 +32,33 @@ for i = 0:keys.size-1
P = [];
end
gtsam.plotPose3(lastPose, P, scale);
catch err
warning(['no Pose3 at ' lastKey]);
end
lastIndex = i;
end
end
catch
warning(['no Pose3 at ' key]);
end
% Draw final pose
if ~isempty(lastIndex)
% Draw final pose
if ~isempty(lastIndex)
lastKey = keys.at(lastIndex);
lastPose = values.at(lastKey);
try
lastPose = values.atPose3(lastKey);
if haveMarginals
P = marginals.marginalCovariance(lastKey);
else
P = [];
end
gtsam.plotPose3(lastPose, P, scale);
end
catch
warning(['no Pose3 at ' lastIndex]);
end
end
if ~holdstate
if ~holdstate
hold off
end
end
end

6
matlab/gtsam_examples/PlanarSLAMExample.m
View File

@ -71,9 +71,9 @@ marginals = Marginals(graph, result);
plot2DTrajectory(result, [], marginals);
plot2DPoints(result, 'b', marginals);
plot([result.at(i1).x; result.at(j1).x],[result.at(i1).y; result.at(j1).y], 'c-');
plot([result.at(i2).x; result.at(j1).x],[result.at(i2).y; result.at(j1).y], 'c-');
plot([result.at(i3).x; result.at(j2).x],[result.at(i3).y; result.at(j2).y], 'c-');
plot([result.atPose2(i1).x; result.atPoint2(j1).x],[result.atPose2(i1).y; result.atPoint2(j1).y], 'c-');
plot([result.atPose2(i2).x; result.atPoint2(j1).x],[result.atPose2(i2).y; result.atPoint2(j1).y], 'c-');
plot([result.atPose2(i3).x; result.atPoint2(j2).x],[result.atPose2(i3).y; result.atPoint2(j2).y], 'c-');
axis([-0.6 4.8 -1 1])
axis equal
view(2)

2
matlab/gtsam_examples/PlanarSLAMExample_graph.m
View File

@ -22,7 +22,7 @@ model = noiseModel.Diagonal.Sigmas([0.05; 0.05; 2*pi/180]);
[graph,initial] = load2D(datafile, model);
%% Add a Gaussian prior on a pose in the middle
priorMean = initial.at(40);
priorMean = initial.atPose2(40);
priorNoise = noiseModel.Diagonal.Sigmas([0.1; 0.1; 2*pi/180]);
graph.add(PriorFactorPose2(40, priorMean, priorNoise)); % add directly to graph

8
matlab/gtsam_examples/PlanarSLAMExample_sampling.m
View File

@ -55,14 +55,14 @@ plot2DPoints(sample, [], marginals);
for j=1:2
key = symbol('l',j);
point{j} = sample.at(key);
point{j} = sample.atPoint2(key);
Q{j}=marginals.marginalCovariance(key);
S{j}=chol(Q{j}); % for sampling
end
plot([sample.at(i1).x; sample.at(j1).x],[sample.at(i1).y; sample.at(j1).y], 'c-');
plot([sample.at(i2).x; sample.at(j1).x],[sample.at(i2).y; sample.at(j1).y], 'c-');
plot([sample.at(i3).x; sample.at(j2).x],[sample.at(i3).y; sample.at(j2).y], 'c-');
plot([sample.atPose2(i1).x; sample.atPoint2(j1).x],[sample.atPose2(i1).y; sample.atPoint2(j1).y], 'c-');
plot([sample.atPose2(i2).x; sample.atPoint2(j1).x],[sample.atPose2(i2).y; sample.atPoint2(j1).y], 'c-');
plot([sample.atPose2(i3).x; sample.atPoint2(j2).x],[sample.atPose2(i3).y; sample.atPoint2(j2).y], 'c-');
view(2); axis auto; axis equal
%% Do Sampling on point 2

2
matlab/gtsam_examples/Pose2SLAMExample.m
View File

@ -57,7 +57,7 @@ result.print(sprintf('\nFinal result:\n'));
%% Plot Covariance Ellipses
cla;
hold on
plot([result.at(5).x;result.at(2).x],[result.at(5).y;result.at(2).y],'r-');
plot([result.atPose2(5).x;result.atPose2(2).x],[result.atPose2(5).y;result.atPose2(2).y],'r-');
marginals = Marginals(graph, result);
plot2DTrajectory(result, [], marginals);

14
matlab/gtsam_examples/Pose2SLAMExample_circle.m
View File

@ -14,8 +14,8 @@ import gtsam.*
%% Create a hexagon of poses
hexagon = circlePose2(6,1.0);
p0 = hexagon.at(0);
p1 = hexagon.at(1);
p0 = hexagon.atPose2(0);
p1 = hexagon.atPose2(1);
%% create a Pose graph with one equality constraint and one measurement
fg = NonlinearFactorGraph;
@ -32,11 +32,11 @@ fg.add(BetweenFactorPose2(5,0, delta, covariance));
%% Create initial config
initial = Values;
initial.insert(0, p0);
initial.insert(1, hexagon.at(1).retract([-0.1, 0.1,-0.1]'));
initial.insert(2, hexagon.at(2).retract([ 0.1,-0.1, 0.1]'));
initial.insert(3, hexagon.at(3).retract([-0.1, 0.1,-0.1]'));
initial.insert(4, hexagon.at(4).retract([ 0.1,-0.1, 0.1]'));
initial.insert(5, hexagon.at(5).retract([-0.1, 0.1,-0.1]'));
initial.insert(1, hexagon.atPose2(1).retract([-0.1, 0.1,-0.1]'));
initial.insert(2, hexagon.atPose2(2).retract([ 0.1,-0.1, 0.1]'));
initial.insert(3, hexagon.atPose2(3).retract([-0.1, 0.1,-0.1]'));
initial.insert(4, hexagon.atPose2(4).retract([ 0.1,-0.1, 0.1]'));
initial.insert(5, hexagon.atPose2(5).retract([-0.1, 0.1,-0.1]'));
%% Plot Initial Estimate
cla

2
matlab/gtsam_examples/Pose2SLAMExample_graph.m
View File

@ -41,7 +41,7 @@ marginals = Marginals(graph, result);
toc
P={};
for i=1:result.size()-1
pose_i = result.at(i);
pose_i = result.atPose2(i);
P{i}=marginals.marginalCovariance(i);
plotPose2(pose_i,'b',P{i})
end

14
matlab/gtsam_examples/Pose3SLAMExample.m
View File

@ -14,8 +14,8 @@ import gtsam.*
%% Create a hexagon of poses
hexagon = circlePose3(6,1.0);
p0 = hexagon.at(0);
p1 = hexagon.at(1);
p0 = hexagon.atPose3(0);
p1 = hexagon.atPose3(1);
%% create a Pose graph with one equality constraint and one measurement
fg = NonlinearFactorGraph;
@ -33,11 +33,11 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance));
initial = Values;
s = 0.10;
initial.insert(0, p0);
initial.insert(1, hexagon.at(1).retract(s*randn(6,1)));
initial.insert(2, hexagon.at(2).retract(s*randn(6,1)));
initial.insert(3, hexagon.at(3).retract(s*randn(6,1)));
initial.insert(4, hexagon.at(4).retract(s*randn(6,1)));
initial.insert(5, hexagon.at(5).retract(s*randn(6,1)));
initial.insert(1, hexagon.atPose3(1).retract(s*randn(6,1)));
initial.insert(2, hexagon.atPose3(2).retract(s*randn(6,1)));
initial.insert(3, hexagon.atPose3(3).retract(s*randn(6,1)));
initial.insert(4, hexagon.atPose3(4).retract(s*randn(6,1)));
initial.insert(5, hexagon.atPose3(5).retract(s*randn(6,1)));
%% Plot Initial Estimate
cla

2
matlab/gtsam_examples/Pose3SLAMExample_graph.m
View File

@ -28,7 +28,7 @@ model = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.
%% Plot Initial Estimate
cla
first = initial.at(0);
first = initial.atPose3(0);
plot3(first.x(),first.y(),first.z(),'r*'); hold on
plot3DTrajectory(initial,'g-',false);
drawnow;

4
matlab/gtsam_examples/StereoVOExample_large.m
View File

@ -45,7 +45,7 @@ for i=1:size(measurements,1)
if ~initial.exists(symbol('l',sf(2)))
% 3D landmarks are stored in camera coordinates: transform
% to world coordinates using the respective initial pose
pose = initial.at(symbol('x', sf(1)));
pose = initial.atPose3(symbol('x', sf(1)));
world_point = pose.transform_from(Point3(sf(6),sf(7),sf(8)));
initial.insert(symbol('l',sf(2)), world_point);
end
@ -54,7 +54,7 @@ toc
%% add a constraint on the starting pose
key = symbol('x',1);
first_pose = initial.at(key);
first_pose = initial.atPose3(key);
graph.add(NonlinearEqualityPose3(key, first_pose));
%% optimize

6
matlab/gtsam_tests/testLocalizationExample.m
View File

@ -29,7 +29,7 @@ groundTruth.insert(2, Pose2(2.0, 0.0, 0.0));
groundTruth.insert(3, Pose2(4.0, 0.0, 0.0));
model = noiseModel.Diagonal.Sigmas([0.1; 0.1; 10]);
for i=1:3
graph.add(PriorFactorPose2(i, groundTruth.at(i), model));
graph.add(PriorFactorPose2(i, groundTruth.atPose2(i), model));
end
%% Initialize to noisy points
@ -46,7 +46,7 @@ result = optimizer.optimizeSafely();
marginals = Marginals(graph, result);
P={};
for i=1:result.size()
pose_i = result.at(i);
CHECK('pose_i.equals(groundTruth.pose(i)',pose_i.equals(groundTruth.at(i),1e-4));
pose_i = result.atPose2(i);
CHECK('pose_i.equals(groundTruth.pose(i)',pose_i.equals(groundTruth.atPose2(i),1e-4));
P{i}=marginals.marginalCovariance(i);
end

2
matlab/gtsam_tests/testOdometryExample.m
View File

@ -39,5 +39,5 @@ marginals = Marginals(graph, result);
marginals.marginalCovariance(1);
%% Check first pose equality
pose_1 = result.at(1);
pose_1 = result.atPose2(1);
CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));

4
matlab/gtsam_tests/testPlanarSLAMExample.m
View File

@ -60,10 +60,10 @@ result = optimizer.optimizeSafely();
marginals = Marginals(graph, result);
%% Check first pose and point equality
pose_1 = result.at(symbol('x',1));
pose_1 = result.atPose2(symbol('x',1));
marginals.marginalCovariance(symbol('x',1));
CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));
point_1 = result.at(symbol('l',1));
point_1 = result.atPoint2(symbol('l',1));
marginals.marginalCovariance(symbol('l',1));
CHECK('point_1.equals(Point2(2,2),1e-4)',point_1.equals(Point2(2,2),1e-4));

2
matlab/gtsam_tests/testPose2SLAMExample.m
View File

@ -57,6 +57,6 @@ result = optimizer.optimizeSafely();
marginals = Marginals(graph, result);
P = marginals.marginalCovariance(1);
pose_1 = result.at(1);
pose_1 = result.atPose2(1);
CHECK('pose_1.equals(Pose2,1e-4)',pose_1.equals(Pose2,1e-4));

16
matlab/gtsam_tests/testPose3SLAMExample.m
View File

@ -14,8 +14,8 @@ import gtsam.*
%% Create a hexagon of poses
hexagon = circlePose3(6,1.0);
p0 = hexagon.at(0);
p1 = hexagon.at(1);
p0 = hexagon.atPose3(0);
p1 = hexagon.atPose3(1);
%% create a Pose graph with one equality constraint and one measurement
fg = NonlinearFactorGraph;
@ -33,17 +33,17 @@ fg.add(BetweenFactorPose3(5,0, delta, covariance));
initial = Values;
s = 0.10;
initial.insert(0, p0);
initial.insert(1, hexagon.at(1).retract(s*randn(6,1)));
initial.insert(2, hexagon.at(2).retract(s*randn(6,1)));
initial.insert(3, hexagon.at(3).retract(s*randn(6,1)));
initial.insert(4, hexagon.at(4).retract(s*randn(6,1)));
initial.insert(5, hexagon.at(5).retract(s*randn(6,1)));
initial.insert(1, hexagon.atPose3(1).retract(s*randn(6,1)));
initial.insert(2, hexagon.atPose3(2).retract(s*randn(6,1)));
initial.insert(3, hexagon.atPose3(3).retract(s*randn(6,1)));
initial.insert(4, hexagon.atPose3(4).retract(s*randn(6,1)));
initial.insert(5, hexagon.atPose3(5).retract(s*randn(6,1)));
%% optimize
optimizer = LevenbergMarquardtOptimizer(fg, initial);
result = optimizer.optimizeSafely;
pose_1 = result.at(1);
pose_1 = result.atPose3(1);
CHECK('pose_1.equals(Pose3,1e-4)',pose_1.equals(p1,1e-4));

4
matlab/gtsam_tests/testSFMExample.m
View File

@ -63,11 +63,11 @@ marginals.marginalCovariance(symbol('x',1));
%% Check optimized results, should be equal to ground truth
for i=1:size(truth.cameras,2)
pose_i = result.at(symbol('x',i));
pose_i = result.atPose3(symbol('x',i));
CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5))
end
for j=1:size(truth.points,2)
point_j = result.at(symbol('p',j));
point_j = result.atPoint3(symbol('p',j));
CHECK('point_j.equals(truth.points{j},1e-5)',point_j.equals(truth.points{j},1e-5))
end

4
matlab/gtsam_tests/testStereoVOExample.m
View File

@ -61,8 +61,8 @@ optimizer = LevenbergMarquardtOptimizer(graph, initialEstimate);
result = optimizer.optimize();
%% check equality for the first pose and point
pose_x1 = result.at(x1);
pose_x1 = result.atPose3(x1);
CHECK('pose_x1.equals(first_pose,1e-4)',pose_x1.equals(first_pose,1e-4));
point_l1 = result.at(l1);
point_l1 = result.atPoint3(l1);
CHECK('point_1.equals(expected_l1,1e-4)',point_l1.equals(expected_l1,1e-4));

4
matlab/gtsam_tests/testVisualISAMExample.m
View File

@ -45,11 +45,11 @@ for frame_i=3:options.nrCameras
end
for i=1:size(truth.cameras,2)
pose_i = result.at(symbol('x',i));
pose_i = result.atPose3(symbol('x',i));
CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5))
end
for j=1:size(truth.points,2)
point_j = result.at(symbol('l',j));
point_j = result.atPoint3(symbol('l',j));
CHECK('point_j.equals(truth.points{j},1e-5)',point_j.equals(truth.points{j},1e-5))
end

6
matlab/gtsam_tests/test_gtsam.m
View File

@ -30,11 +30,11 @@ testStereoVOExample
display 'Starting: testVisualISAMExample'
testVisualISAMExample
display 'Starting: testSerialization'
testSerialization
display 'Starting: testUtilities'
testUtilities
display 'Starting: testSerialization'
testSerialization
% end of tests
display 'Tests complete!'

2
package_scripts/toolbox_package_unix.sh
View File

@ -61,4 +61,4 @@ if [ $? -ne 0 ]; then
fi
# Create package
tar czf gtsam-toolbox-3.0.0-$platform.tgz -C stage/gtsam_toolbox toolbox
tar czf gtsam-toolbox-3.2.0-$platform.tgz -C stage/gtsam_toolbox toolbox

5
tests/testPCGSolver.cpp
View File

@ -13,6 +13,7 @@
* @file testPCGSolver.cpp
* @brief Unit tests for PCGSolver class
* @author Yong-Dian Jian
* @date Aug 06, 2014
*/
#include <tests/smallExample.h>
@ -51,6 +52,7 @@ using symbol_shorthand::X;
using symbol_shorthand::L;
/* ************************************************************************* */
// Test cholesky decomposition
TEST( PCGSolver, llt ) {
Matrix R = (Matrix(3,3) <<
1., -1., -1.,
@ -90,6 +92,7 @@ TEST( PCGSolver, llt ) {
}
/* ************************************************************************* */
// Test Dummy Preconditioner
TEST( PCGSolver, dummy )
{
LevenbergMarquardtParams paramsPCG;
@ -110,6 +113,7 @@ TEST( PCGSolver, dummy )
}
/* ************************************************************************* */
// Test Block-Jacobi Precondioner
TEST( PCGSolver, blockjacobi )
{
LevenbergMarquardtParams paramsPCG;
@ -130,6 +134,7 @@ TEST( PCGSolver, blockjacobi )
}
/* ************************************************************************* */
// Test Incremental Subgraph PCG Solver
TEST( PCGSolver, subgraph )
{
LevenbergMarquardtParams paramsPCG;

115
tests/testPreconditioner.cpp Normal file
View File

@ -0,0 +1,115 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file testPreconditioner.cpp
* @brief Unit tests for Preconditioners
* @author Sungtae An
* @date Nov 6, 2014
**/
#include <CppUnitLite/TestHarness.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/Preconditioner.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/linear/PCGSolver.h>
using namespace std;
using namespace gtsam;
/* ************************************************************************* */
static GaussianFactorGraph createSimpleGaussianFactorGraph() {
GaussianFactorGraph fg;
SharedDiagonal unit2 = noiseModel::Unit::Create(2);
// linearized prior on x1: c[_x1_]+x1=0 i.e. x1=-c[_x1_]
fg += JacobianFactor(2, 10*eye(2), -1.0*ones(2), unit2);
// odometry between x1 and x2: x2-x1=[0.2;-0.1]
fg += JacobianFactor(2, -10*eye(2), 0, 10*eye(2), (Vector(2) << 2.0, -1.0), unit2);
// measurement between x1 and l1: l1-x1=[0.0;0.2]
fg += JacobianFactor(2, -5*eye(2), 1, 5*eye(2), (Vector(2) << 0.0, 1.0), unit2);
// measurement between x2 and l1: l1-x2=[-0.2;0.3]
fg += JacobianFactor(0, -5*eye(2), 1, 5*eye(2), (Vector(2) << -1.0, 1.5), unit2);
return fg;
}
/* ************************************************************************* */
// Copy of BlockJacobiPreconditioner::build
std::vector<Matrix> buildBlocks( const GaussianFactorGraph &gfg, const KeyInfo &keyInfo)
{
const size_t n = keyInfo.size();
std::vector<size_t> dims_ = keyInfo.colSpec();
/* prepare the buffer of block diagonals */
std::vector<Matrix> blocks; blocks.reserve(n);
/* allocate memory for the factorization of block diagonals */
size_t nnz = 0;
for ( size_t i = 0 ; i < n ; ++i ) {
const size_t dim = dims_[i];
blocks.push_back(Matrix::Zero(dim, dim));
// nnz += (((dim)*(dim+1)) >> 1); // d*(d+1) / 2 ;
nnz += dim*dim;
}
/* compute the block diagonal by scanning over the factors */
BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) {
if ( JacobianFactor::shared_ptr jf = boost::dynamic_pointer_cast<JacobianFactor>(gf) ) {
for ( JacobianFactor::const_iterator it = jf->begin() ; it != jf->end() ; ++it ) {
const KeyInfoEntry &entry = keyInfo.find(*it)->second;
const Matrix &Ai = jf->getA(it);
blocks[entry.index()] += (Ai.transpose() * Ai);
}
}
else if ( HessianFactor::shared_ptr hf = boost::dynamic_pointer_cast<HessianFactor>(gf) ) {
for ( HessianFactor::const_iterator it = hf->begin() ; it != hf->end() ; ++it ) {
const KeyInfoEntry &entry = keyInfo.find(*it)->second;
const Matrix &Hii = hf->info(it, it).selfadjointView();
blocks[entry.index()] += Hii;
}
}
else {
throw invalid_argument("BlockJacobiPreconditioner::build gfg contains a factor that is neither a JacobianFactor nor a HessianFactor.");
}
}
return blocks;
}
/* ************************************************************************* */
TEST( Preconditioner, buildBlocks ) {
// Create simple Gaussian factor graph and initial values
GaussianFactorGraph gfg = createSimpleGaussianFactorGraph();
Values initial;
initial.insert(0,Point2(4, 5));
initial.insert(1,Point2(0, 1));
initial.insert(2,Point2(-5, 7));
// Expected Hessian block diagonal matrices
std::map<Key, Matrix> expectedHessian =gfg.hessianBlockDiagonal();
// Actual Hessian block diagonal matrices from BlockJacobiPreconditioner::build
std::vector<Matrix> actualHessian = buildBlocks(gfg, KeyInfo(gfg));
// Compare the number of block diagonal matrices
EXPECT_LONGS_EQUAL(expectedHessian.size(), actualHessian.size());
// Compare the values of matrices
std::map<Key, Matrix>::const_iterator it1 = expectedHessian.begin();
std::vector<Matrix>::const_iterator it2 = actualHessian.begin();
for(; it1!=expectedHessian.end(); it1++, it2++)
EXPECT(assert_equal(it1->second, *it2));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

6
timing/timeMatrixOps.cpp
View File

@ -62,9 +62,9 @@ int main(int argc, char* argv[]) {
gtsam::SubMatrix top = mat.block(0, 0, n, n);
gtsam::SubMatrix block = mat.block(m/4, n/4, m-m/2, n-n/2);
cout << format(" Basic: %1%x%2%\n") % m % n;
cout << format(" Full: mat(%1%:%2%, %3%:%4%)\n") % 0 % m % 0 % n;
cout << format(" Top: mat(%1%:%2%, %3%:%4%)\n") % 0 % n % 0 % n;
cout << format(" Basic: %1%x%2%\n") % (int)m % (int)n;
cout << format(" Full: mat(%1%:%2%, %3%:%4%)\n") % 0 % (int)m % 0 % (int)n;
cout << format(" Top: mat(%1%:%2%, %3%:%4%)\n") % 0 % (int)n % 0 % (int)n;
cout << format(" Block: mat(%1%:%2%, %3%:%4%)\n") % size_t(m/4) % size_t(m-m/4) % size_t(n/4) % size_t(n-n/4);
cout << endl;

2
timing/timePinholeCamera.cpp
View File

@ -89,7 +89,7 @@ int main()
Matrix Dpose, Dpoint;
long timeLog = clock();
for(int i = 0; i < n; i++)
camera.project(point1, Dpose, Dpoint);
camera.project(point1, Dpose, Dpoint, boost::none);
long timeLog2 = clock();
double seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;
cout << ((double)seconds*1e9/n) << " nanosecs/call" << endl;

91
wrap/Argument.cpp
View File

@ -28,34 +28,53 @@
using namespace std;
using namespace wrap;
/* ************************************************************************* */
Argument Argument::expandTemplate(const TemplateSubstitution& ts) const {
Argument instArg = *this;
instArg.type = ts(type);
return instArg;
}
/* ************************************************************************* */
ArgumentList ArgumentList::expandTemplate(const TemplateSubstitution& ts) const {
ArgumentList instArgList;
BOOST_FOREACH(const Argument& arg, *this) {
Argument instArg = arg.expandTemplate(ts);
instArgList.push_back(instArg);
}
return instArgList;
}
/* ************************************************************************* */
string Argument::matlabClass(const string& delim) const {
string result;
BOOST_FOREACH(const string& ns, namespaces)
BOOST_FOREACH(const string& ns, type.namespaces)
result += ns + delim;
if (type == "string" || type == "unsigned char" || type == "char")
if (type.name == "string" || type.name == "unsigned char"
|| type.name == "char")
return result + "char";
if (type == "Vector" || type == "Matrix")
if (type.name == "Vector" || type.name == "Matrix")
return result + "double";
if (type == "int" || type == "size_t")
if (type.name == "int" || type.name == "size_t")
return result + "numeric";
if (type == "bool")
if (type.name == "bool")
return result + "logical";
return result + type;
return result + type.name;
}
/* ************************************************************************* */
bool Argument::isScalar() const {
return (type == "bool" || type == "char" || type == "unsigned char"
|| type == "int" || type == "size_t" || type == "double");
return (type.name == "bool" || type.name == "char"
|| type.name == "unsigned char" || type.name == "int"
|| type.name == "size_t" || type.name == "double");
}
/* ************************************************************************* */
void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const {
file.oss << " ";
string cppType = qualifiedType("::");
string matlabUniqueType = qualifiedType();
string cppType = type.qualifiedName("::");
string matlabUniqueType = type.qualifiedName();
if (is_ptr)
// A pointer: emit an "unwrap_shared_ptr" call which returns a pointer
@ -78,14 +97,6 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const {
file.oss << ");" << endl;
}
/* ************************************************************************* */
string Argument::qualifiedType(const string& delim) const {
string result;
BOOST_FOREACH(const string& ns, namespaces)
result += ns + delim;
return result + type;
}
/* ************************************************************************* */
string ArgumentList::types() const {
string str;
@ -93,7 +104,7 @@ string ArgumentList::types() const {
BOOST_FOREACH(Argument arg, *this) {
if (!first)
str += ",";
str += arg.type;
str += arg.type.name;
first = false;
}
return str;
@ -105,14 +116,14 @@ string ArgumentList::signature() const {
bool cap = false;
BOOST_FOREACH(Argument arg, *this) {
BOOST_FOREACH(char ch, arg.type)
BOOST_FOREACH(char ch, arg.type.name)
if (isupper(ch)) {
sig += ch;
//If there is a capital letter, we don't want to read it below
cap = true;
}
if (!cap)
sig += arg.type[0];
sig += arg.type.name[0];
//Reset to default
cap = false;
}
@ -136,7 +147,8 @@ string ArgumentList::names() const {
/* ************************************************************************* */
bool ArgumentList::allScalar() const {
BOOST_FOREACH(Argument arg, *this)
if (!arg.isScalar()) return false;
if (!arg.isScalar())
return false;
return true;
}
@ -158,42 +170,43 @@ void ArgumentList::emit_prototype(FileWriter& file, const string& name) const {
BOOST_FOREACH(Argument arg, *this) {
if (!first)
file.oss << ", ";
file.oss << arg.type << " " << arg.name;
file.oss << arg.type.name << " " << arg.name;
first = false;
}
file.oss << ")";
}
/* ************************************************************************* */
void ArgumentList::emit_call(FileWriter& file, const ReturnValue& returnVal,
const string& wrapperName, int id, bool staticMethod) const {
returnVal.emit_matlab(file);
file.oss << wrapperName << "(" << id;
void ArgumentList::emit_call(FileWriter& proxyFile,
const ReturnValue& returnVal, const string& wrapperName, int id,
bool staticMethod) const {
returnVal.emit_matlab(proxyFile);
proxyFile.oss << wrapperName << "(" << id;
if (!staticMethod)
file.oss << ", this";
file.oss << ", varargin{:});\n";
proxyFile.oss << ", this";
proxyFile.oss << ", varargin{:});\n";
}
/* ************************************************************************* */
void ArgumentList::emit_conditional_call(FileWriter& file,
void ArgumentList::emit_conditional_call(FileWriter& proxyFile,
const ReturnValue& returnVal, const string& wrapperName, int id,
bool staticMethod) const {
// Check nr of arguments
file.oss << "if length(varargin) == " << size();
proxyFile.oss << "if length(varargin) == " << size();
if (size() > 0)
file.oss << " && ";
// ...and their types
proxyFile.oss << " && ";
// ...and their type.names
bool first = true;
for (size_t i = 0; i < size(); i++) {
if (!first)
file.oss << " && ";
file.oss << "isa(varargin{" << i + 1 << "},'" << (*this)[i].matlabClass(".")
<< "')";
proxyFile.oss << " && ";
proxyFile.oss << "isa(varargin{" << i + 1 << "},'"
<< (*this)[i].matlabClass(".") << "')";
first = false;
}
file.oss << "\n";
proxyFile.oss << "\n";
// output call to C++ wrapper
file.oss << " ";
emit_call(file, returnVal, wrapperName, id, staticMethod);
proxyFile.oss << " ";
emit_call(proxyFile, returnVal, wrapperName, id, staticMethod);
}
/* ************************************************************************* */

49
wrap/Argument.h
View File

@ -19,36 +19,39 @@
#pragma once
#include "TemplateSubstitution.h"
#include "FileWriter.h"
#include "ReturnValue.h"
#include <string>
#include <vector>
namespace wrap {
/// Argument class
struct Argument {
Qualified type;
bool is_const, is_ref, is_ptr;
std::string type;
std::string name;
std::vector<std::string> namespaces;
Argument() :
is_const(false), is_ref(false), is_ptr(false) {
}
Argument expandTemplate(const TemplateSubstitution& ts) const;
/// return MATLAB class for use in isa(x,class)
std::string matlabClass(const std::string& delim = "") const;
/// Check if will be unwrapped using scalar login in wrap/matlab.h
bool isScalar() const;
/// adds namespaces to type
std::string qualifiedType(const std::string& delim = "") const;
/// MATLAB code generation, MATLAB to C++
void matlab_unwrap(FileWriter& file, const std::string& matlabName) const;
friend std::ostream& operator<<(std::ostream& os, const Argument& arg) {
os << (arg.is_const ? "const " : "") << arg.type << (arg.is_ptr ? "*" : "")
<< (arg.is_ref ? "&" : "");
return os;
}
};
/// Argument list is just a container with Arguments
@ -66,6 +69,8 @@ struct ArgumentList: public std::vector<Argument> {
/// Check if all arguments scalar
bool allScalar() const;
ArgumentList expandTemplate(const TemplateSubstitution& ts) const;
// MATLAB code generation:
/**
@ -83,24 +88,38 @@ struct ArgumentList: public std::vector<Argument> {
void emit_prototype(FileWriter& file, const std::string& name) const;
/**
* emit emit MATLAB call to wrapper
* @param file output stream
* emit emit MATLAB call to proxy
* @param proxyFile output stream
* @param returnVal the return value
* @param wrapperName of method or function
* @param staticMethod flag to emit "this" in call
*/
void emit_call(FileWriter& file, const ReturnValue& returnVal,
void emit_call(FileWriter& proxyFile, const ReturnValue& returnVal,
const std::string& wrapperName, int id, bool staticMethod = false) const;
/**
* emit conditional MATLAB call to wrapper (checking arguments first)
* @param file output stream
* emit conditional MATLAB call to proxy (checking arguments first)
* @param proxyFile output stream
* @param returnVal the return value
* @param wrapperName of method or function
* @param staticMethod flag to emit "this" in call
*/
void emit_conditional_call(FileWriter& file, const ReturnValue& returnVal,
const std::string& wrapperName, int id, bool staticMethod = false) const;
void emit_conditional_call(FileWriter& proxyFile,
const ReturnValue& returnVal, const std::string& wrapperName, int id,
bool staticMethod = false) const;
friend std::ostream& operator<<(std::ostream& os,
const ArgumentList& argList) {
os << "(";
if (argList.size() > 0)
os << argList.front();
if (argList.size() > 1)
for (size_t i = 1; i < argList.size(); i++)
os << ", " << argList[i];
os << ")";
return os;
}
};
} // \namespace wrap

316
wrap/Class.cpp
View File

@ -33,7 +33,7 @@ using namespace std;
using namespace wrap;
/* ************************************************************************* */
void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
void Class::matlab_proxy(Str toolboxPath, Str wrapperName,
const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile,
vector<string>& functionNames) const {
@ -41,17 +41,15 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
createNamespaceStructure(namespaces, toolboxPath);
// open destination classFile
string classFile = toolboxPath;
if (!namespaces.empty())
classFile += "/+" + wrap::qualifiedName("/+", namespaces);
classFile += "/" + name + ".m";
string classFile = matlabName(toolboxPath);
FileWriter proxyFile(classFile, verbose_, "%");
// get the name of actual matlab object
const string matlabQualName = qualifiedName("."), matlabUniqueName =
qualifiedName(), cppName = qualifiedName("::");
const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent);
const string cppBaseName = wrap::qualifiedName("::", qualifiedParent);
const string matlabQualName = qualifiedName(".");
const string matlabUniqueName = qualifiedName();
const string cppName = qualifiedName("::");
const string matlabBaseName = qualifiedParent.qualifiedName(".");
const string cppBaseName = qualifiedParent.qualifiedName("::");
// emit class proxy code
// we want our class to inherit the handle class for memory purposes
@ -75,13 +73,15 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName,
functionNames);
wrapperFile.oss << "\n";
// Regular constructors
BOOST_FOREACH(ArgumentList a, constructor.args_list) {
for (size_t i = 0; i < constructor.nrOverloads(); i++) {
ArgumentList args = constructor.argumentList(i);
const int id = (int) functionNames.size();
constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(),
id, a);
id, args);
const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile,
cppName, matlabUniqueName, cppBaseName, id, a);
cppName, matlabUniqueName, cppBaseName, id, args);
wrapperFile.oss << "\n";
functionNames.push_back(wrapFunctionName);
}
@ -144,19 +144,14 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
proxyFile.emit(true);
}
/* ************************************************************************* */
string Class::qualifiedName(const string& delim) const {
return ::wrap::qualifiedName(delim, namespaces, name);
}
/* ************************************************************************* */
void Class::pointer_constructor_fragments(FileWriter& proxyFile,
FileWriter& wrapperFile, const string& wrapperName,
FileWriter& wrapperFile, Str wrapperName,
vector<string>& functionNames) const {
const string matlabUniqueName = qualifiedName(), cppName = qualifiedName(
"::");
const string baseCppName = wrap::qualifiedName("::", qualifiedParent);
const string matlabUniqueName = qualifiedName();
const string cppName = qualifiedName("::");
const string baseCppName = qualifiedParent.qualifiedName("::");
const int collectorInsertId = (int) functionNames.size();
const string collectorInsertFunctionName = matlabUniqueName
@ -247,128 +242,126 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile,
}
/* ************************************************************************* */
vector<ArgumentList> expandArgumentListsTemplate(
const vector<ArgumentList>& argLists, const string& templateArg,
const vector<string>& instName,
const std::vector<string>& expandedClassNamespace,
const string& expandedClassName) {
vector<ArgumentList> result;
BOOST_FOREACH(const ArgumentList& argList, argLists) {
ArgumentList instArgList;
BOOST_FOREACH(const Argument& arg, argList) {
Argument instArg = arg;
if (arg.type == templateArg) {
instArg.namespaces.assign(instName.begin(), instName.end() - 1);
instArg.type = instName.back();
} else if (arg.type == "This") {
instArg.namespaces.assign(expandedClassNamespace.begin(),
expandedClassNamespace.end());
instArg.type = expandedClassName;
}
instArgList.push_back(instArg);
}
result.push_back(instArgList);
}
return result;
}
/* ************************************************************************* */
template<class METHOD>
map<string, METHOD> expandMethodTemplate(const map<string, METHOD>& methods,
const string& templateArg, const vector<string>& instName,
const std::vector<string>& expandedClassNamespace,
const string& expandedClassName) {
map<string, METHOD> result;
typedef pair<const string, METHOD> Name_Method;
BOOST_FOREACH(const Name_Method& name_method, methods) {
const METHOD& method = name_method.second;
METHOD instMethod = method;
instMethod.argLists = expandArgumentListsTemplate(method.argLists,
templateArg, instName, expandedClassNamespace, expandedClassName);
instMethod.returnVals.clear();
BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) {
ReturnValue instRetVal = retVal;
if (retVal.type1 == templateArg) {
instRetVal.namespaces1.assign(instName.begin(), instName.end() - 1);
instRetVal.type1 = instName.back();
} else if (retVal.type1 == "This") {
instRetVal.namespaces1.assign(expandedClassNamespace.begin(),
expandedClassNamespace.end());
instRetVal.type1 = expandedClassName;
}
if (retVal.type2 == templateArg) {
instRetVal.namespaces2.assign(instName.begin(), instName.end() - 1);
instRetVal.type2 = instName.back();
} else if (retVal.type1 == "This") {
instRetVal.namespaces2.assign(expandedClassNamespace.begin(),
expandedClassNamespace.end());
instRetVal.type2 = expandedClassName;
}
instMethod.returnVals.push_back(instRetVal);
}
result.insert(make_pair(name_method.first, instMethod));
}
return result;
}
/* ************************************************************************* */
Class expandClassTemplate(const Class& cls, const string& templateArg,
const vector<string>& instName,
const std::vector<string>& expandedClassNamespace,
const string& expandedClassName) {
Class inst;
inst.name = cls.name;
inst.templateArgs = cls.templateArgs;
inst.typedefName = cls.typedefName;
inst.isVirtual = cls.isVirtual;
inst.isSerializable = cls.isSerializable;
inst.qualifiedParent = cls.qualifiedParent;
inst.methods = expandMethodTemplate(cls.methods, templateArg, instName,
expandedClassNamespace, expandedClassName);
inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg,
instName, expandedClassNamespace, expandedClassName);
inst.namespaces = cls.namespaces;
inst.constructor = cls.constructor;
inst.constructor.args_list = expandArgumentListsTemplate(
cls.constructor.args_list, templateArg, instName, expandedClassNamespace,
expandedClassName);
inst.constructor.name = inst.name;
inst.deconstructor = cls.deconstructor;
Class Class::expandTemplate(const TemplateSubstitution& ts) const {
Class inst = *this;
inst.methods = expandMethodTemplate(methods, ts);
inst.static_methods = expandMethodTemplate(static_methods, ts);
inst.constructor = constructor.expandTemplate(ts);
inst.deconstructor.name = inst.name;
inst.verbose_ = cls.verbose_;
return inst;
}
/* ************************************************************************* */
vector<Class> Class::expandTemplate(const string& templateArg,
const vector<vector<string> >& instantiations) const {
vector<Class> Class::expandTemplate(Str templateArg,
const vector<Qualified>& instantiations) const {
vector<Class> result;
BOOST_FOREACH(const vector<string>& instName, instantiations) {
const string expandedName = name + instName.back();
Class inst = expandClassTemplate(*this, templateArg, instName,
this->namespaces, expandedName);
inst.name = expandedName;
BOOST_FOREACH(const Qualified& instName, instantiations) {
Qualified expandedClass = (Qualified) (*this);
expandedClass.name += instName.name;
const TemplateSubstitution ts(templateArg, instName, expandedClass);
Class inst = expandTemplate(ts);
inst.name = expandedClass.name;
inst.templateArgs.clear();
inst.typedefName = qualifiedName("::") + "<"
+ wrap::qualifiedName("::", instName) + ">";
inst.typedefName = qualifiedName("::") + "<" + instName.qualifiedName("::")
+ ">";
result.push_back(inst);
}
return result;
}
/* ************************************************************************* */
Class Class::expandTemplate(const string& templateArg,
const vector<string>& instantiation,
const std::vector<string>& expandedClassNamespace,
const string& expandedClassName) const {
return expandClassTemplate(*this, templateArg, instantiation,
expandedClassNamespace, expandedClassName);
void Class::addMethod(bool verbose, bool is_const, Str methodName,
const ArgumentList& argumentList, const ReturnValue& returnValue,
Str templateArgName, const vector<Qualified>& templateArgValues) {
// Check if templated
if (!templateArgName.empty() && templateArgValues.size() > 0) {
// Create method to expand
// For all values of the template argument, create a new method
BOOST_FOREACH(const Qualified& instName, templateArgValues) {
const TemplateSubstitution ts(templateArgName, instName, this->name);
// substitute template in arguments
ArgumentList expandedArgs = argumentList.expandTemplate(ts);
// do the same for return type
ReturnValue expandedRetVal = returnValue.expandTemplate(ts);
// Now stick in new overload stack with expandedMethodName key
// but note we use the same, unexpanded methodName in overload
string expandedMethodName = methodName + instName.name;
methods[expandedMethodName].addOverload(methodName, expandedArgs,
expandedRetVal, is_const, instName, verbose);
}
} else
// just add overload
methods[methodName].addOverload(methodName, argumentList, returnValue,
is_const, Qualified(), verbose);
}
/* ************************************************************************* */
std::string Class::getTypedef() const {
void Class::erase_serialization() {
Methods::iterator it = methods.find("serializable");
if (it != methods.end()) {
#ifndef WRAP_DISABLE_SERIALIZE
isSerializable = true;
#else
// cout << "Ignoring serializable() flag in class " << name << endl;
#endif
methods.erase(it);
}
it = methods.find("serialize");
if (it != methods.end()) {
#ifndef WRAP_DISABLE_SERIALIZE
isSerializable = true;
hasSerialization = true;
#else
// cout << "Ignoring serialize() flag in class " << name << endl;
#endif
methods.erase(it);
}
}
/* ************************************************************************* */
void Class::verifyAll(vector<string>& validTypes, bool& hasSerialiable) const {
hasSerialiable |= isSerializable;
// verify all of the function arguments
//TODO:verifyArguments<ArgumentList>(validTypes, constructor.args_list);
verifyArguments<StaticMethod>(validTypes, static_methods);
verifyArguments<Method>(validTypes, methods);
// verify function return types
verifyReturnTypes<StaticMethod>(validTypes, static_methods);
verifyReturnTypes<Method>(validTypes, methods);
// verify parents
if (!qualifiedParent.empty()
&& find(validTypes.begin(), validTypes.end(),
qualifiedParent.qualifiedName("::")) == validTypes.end())
throw DependencyMissing(qualifiedParent.qualifiedName("::"),
qualifiedName("::"));
}
/* ************************************************************************* */
void Class::appendInheritedMethods(const Class& cls,
const vector<Class>& classes) {
if (!cls.qualifiedParent.empty()) {
// Find parent
BOOST_FOREACH(const Class& parent, classes) {
// We found a parent class for our parent, TODO improve !
if (parent.name == cls.qualifiedParent.name) {
methods.insert(parent.methods.begin(), parent.methods.end());
appendInheritedMethods(parent, classes);
}
}
}
}
/* ************************************************************************* */
string Class::getTypedef() const {
string result;
BOOST_FOREACH(const string& namesp, namespaces) {
BOOST_FOREACH(Str namesp, namespaces) {
result += ("namespace " + namesp + " { ");
}
result += ("typedef " + typedefName + " " + name + ";");
@ -379,43 +372,22 @@ std::string Class::getTypedef() const {
}
/* ************************************************************************* */
void Class::comment_fragment(FileWriter& proxyFile) const {
proxyFile.oss << "%class " << name << ", see Doxygen page for details\n";
proxyFile.oss
<< "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
if (!constructor.args_list.empty())
proxyFile.oss << "%\n%-------Constructors-------\n";
BOOST_FOREACH(ArgumentList argList, constructor.args_list) {
proxyFile.oss << "%";
argList.emit_prototype(proxyFile, name);
proxyFile.oss << "\n";
}
constructor.comment_fragment(proxyFile);
if (!methods.empty())
proxyFile.oss << "%\n%-------Methods-------\n";
BOOST_FOREACH(const Methods::value_type& name_m, methods) {
const Method& m = name_m.second;
BOOST_FOREACH(ArgumentList argList, m.argLists) {
proxyFile.oss << "%";
argList.emit_prototype(proxyFile, m.name);
proxyFile.oss << " : returns "
<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
}
}
BOOST_FOREACH(const Methods::value_type& name_m, methods)
name_m.second.comment_fragment(proxyFile);
if (!static_methods.empty())
proxyFile.oss << "%\n%-------Static Methods-------\n";
BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
const StaticMethod& m = name_m.second;
BOOST_FOREACH(ArgumentList argList, m.argLists) {
proxyFile.oss << "%";
argList.emit_prototype(proxyFile, m.name);
proxyFile.oss << " : returns "
<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
}
}
BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods)
name_m.second.comment_fragment(proxyFile);
if (hasSerialization) {
proxyFile.oss << "%\n%-------Serialization Interface-------\n";
@ -429,23 +401,24 @@ void Class::comment_fragment(FileWriter& proxyFile) const {
/* ************************************************************************* */
void Class::serialization_fragments(FileWriter& proxyFile,
FileWriter& wrapperFile, const std::string& wrapperName,
std::vector<std::string>& functionNames) const {
FileWriter& wrapperFile, Str wrapperName,
vector<string>& functionNames) const {
//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
//{
// typedef boost::shared_ptr<Point3> Shared;
// checkArguments("string_serialize",nargout,nargin-1,0);
// Shared obj = unwrap_shared_ptr<Point3>(in[0], "ptr_Point3");
// std::ostringstream out_archive_stream;
// ostringstream out_archive_stream;
// boost::archive::text_oarchive out_archive(out_archive_stream);
// out_archive << *obj;
// out[0] = wrap< string >(out_archive_stream.str());
//}
int serialize_id = functionNames.size();
const string matlabQualName = qualifiedName("."), matlabUniqueName =
qualifiedName(), cppClassName = qualifiedName("::");
const string matlabQualName = qualifiedName(".");
const string matlabUniqueName = qualifiedName();
const string cppClassName = qualifiedName("::");
const string wrapFunctionNameSerialize = matlabUniqueName
+ "_string_serialize_" + boost::lexical_cast<string>(serialize_id);
functionNames.push_back(wrapFunctionNameSerialize);
@ -469,7 +442,7 @@ void Class::serialization_fragments(FileWriter& proxyFile,
<< ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
// Serialization boilerplate
wrapperFile.oss << " std::ostringstream out_archive_stream;\n";
wrapperFile.oss << " ostringstream out_archive_stream;\n";
wrapperFile.oss
<< " boost::archive::text_oarchive out_archive(out_archive_stream);\n";
wrapperFile.oss << " out_archive << *obj;\n";
@ -520,22 +493,23 @@ void Class::serialization_fragments(FileWriter& proxyFile,
/* ************************************************************************* */
void Class::deserialization_fragments(FileWriter& proxyFile,
FileWriter& wrapperFile, const std::string& wrapperName,
std::vector<std::string>& functionNames) const {
FileWriter& wrapperFile, Str wrapperName,
vector<string>& functionNames) const {
//void Point3_string_deserialize_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
//{
// typedef boost::shared_ptr<Point3> Shared;
// checkArguments("Point3.string_deserialize",nargout,nargin,1);
// string serialized = unwrap< string >(in[0]);
// std::istringstream in_archive_stream(serialized);
// istringstream in_archive_stream(serialized);
// boost::archive::text_iarchive in_archive(in_archive_stream);
// Shared output(new Point3());
// in_archive >> *output;
// out[0] = wrap_shared_ptr(output,"Point3", false);
//}
int deserialize_id = functionNames.size();
const string matlabQualName = qualifiedName("."), matlabUniqueName =
qualifiedName(), cppClassName = qualifiedName("::");
const string matlabQualName = qualifiedName(".");
const string matlabUniqueName = qualifiedName();
const string cppClassName = qualifiedName("::");
const string wrapFunctionNameDeserialize = matlabUniqueName
+ "_string_deserialize_" + boost::lexical_cast<string>(deserialize_id);
functionNames.push_back(wrapFunctionNameDeserialize);
@ -553,7 +527,7 @@ void Class::deserialization_fragments(FileWriter& proxyFile,
// string argument with deserialization boilerplate
wrapperFile.oss << " string serialized = unwrap< string >(in[0]);\n";
wrapperFile.oss << " std::istringstream in_archive_stream(serialized);\n";
wrapperFile.oss << " istringstream in_archive_stream(serialized);\n";
wrapperFile.oss
<< " boost::archive::text_iarchive in_archive(in_archive_stream);\n";
wrapperFile.oss << " Shared output(new " << cppClassName << "());\n";
@ -604,9 +578,21 @@ void Class::deserialization_fragments(FileWriter& proxyFile,
}
/* ************************************************************************* */
std::string Class::getSerializationExport() const {
string Class::getSerializationExport() const {
//BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsamSharedDiagonal");
return "BOOST_CLASS_EXPORT_GUID(" + qualifiedName("::") + ", \""
+ qualifiedName() + "\");";
}
/* ************************************************************************* */
void Class::python_wrapper(FileWriter& wrapperFile) const {
wrapperFile.oss << "class_<" << name << ">(\"" << name << "\")\n";
constructor.python_wrapper(wrapperFile, name);
BOOST_FOREACH(const StaticMethod& m, static_methods | boost::adaptors::map_values)
m.python_wrapper(wrapperFile, name);
BOOST_FOREACH(const Method& m, methods | boost::adaptors::map_values)
m.python_wrapper(wrapperFile, name);
wrapperFile.oss << ";\n\n";
}
/* ************************************************************************* */

98
wrap/Class.h
View File

@ -19,66 +19,118 @@
#pragma once
#include <string>
#include <map>
#include "Constructor.h"
#include "Deconstructor.h"
#include "Method.h"
#include "StaticMethod.h"
#include "TypeAttributesTable.h"
#include <boost/foreach.hpp>
#include <boost/range/adaptor/map.hpp>
#include <string>
#include <map>
namespace wrap {
/// Class has name, constructors, methods
struct Class {
class Class: public Qualified {
typedef std::map<std::string, Method> Methods;
Methods methods; ///< Class methods
public:
typedef const std::string& Str;
typedef std::map<std::string, StaticMethod> StaticMethods;
/// Constructor creates an empty class
Class(bool verbose=true) : isVirtual(false), isSerializable(false), hasSerialization(false), verbose_(verbose) {}
// Then the instance variables are set directly by the Module constructor
std::string name; ///< Class name
std::vector<std::string> templateArgs; ///< Template arguments
std::string typedefName; ///< The name to typedef *from*, if this class is actually a typedef, i.e. typedef [typedefName] [name]
bool isVirtual; ///< Whether the class is part of a virtual inheritance chain
bool isSerializable; ///< Whether we can use boost.serialization to serialize the class - creates exports
bool hasSerialization; ///< Whether we should create the serialization functions
std::vector<std::string> qualifiedParent; ///< The *single* parent - the last string is the parent class name, preceededing elements are a namespace stack
Methods methods; ///< Class methods
Qualified qualifiedParent; ///< The *single* parent
StaticMethods static_methods; ///< Static methods
std::vector<std::string> namespaces; ///< Stack of namespaces
Constructor constructor; ///< Class constructors
Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object
bool verbose_; ///< verbose flag
/// Constructor creates an empty class
Class(bool verbose = true) :
isVirtual(false), isSerializable(false), hasSerialization(false), deconstructor(
verbose), verbose_(verbose) {
}
size_t nrMethods() const {
return methods.size();
}
Method& method(Str name) {
return methods.at(name);
}
bool exists(Str name) const {
return methods.find(name) != methods.end();
}
// And finally MATLAB code is emitted, methods below called by Module::matlab_code
void matlab_proxy(const std::string& toolboxPath, const std::string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& wrapperFile, std::vector<std::string>& functionNames) const; ///< emit proxy class
void matlab_proxy(Str toolboxPath, Str wrapperName,
const TypeAttributesTable& typeAttributes, FileWriter& wrapperFile,
std::vector<std::string>& functionNames) const; ///< emit proxy class
std::string qualifiedName(const std::string& delim = "") const; ///< creates a namespace-qualified name, optional delimiter
Class expandTemplate(const TemplateSubstitution& ts) const;
std::vector<Class> expandTemplate(const std::string& templateArg, const std::vector<std::vector<std::string> >& instantiations) const;
std::vector<Class> expandTemplate(Str templateArg,
const std::vector<Qualified>& instantiations) const;
Class expandTemplate(const std::string& templateArg, const std::vector<std::string>& instantiation, const std::vector<std::string>& expandedClassNamespace, const std::string& expandedClassName) const;
/// Add potentially overloaded, potentially templated method
void addMethod(bool verbose, bool is_const, Str methodName,
const ArgumentList& argumentList, const ReturnValue& returnValue,
Str templateArgName, const std::vector<Qualified>& templateArgValues);
// The typedef line for this class, if this class is a typedef, otherwise returns an empty string.
/// Post-process classes for serialization markers
void erase_serialization(); // non-const !
/// verify all of the function arguments
void verifyAll(std::vector<std::string>& functionNames,
bool& hasSerialiable) const;
void appendInheritedMethods(const Class& cls,
const std::vector<Class>& classes);
/// The typedef line for this class, if this class is a typedef, otherwise returns an empty string.
std::string getTypedef() const;
// Returns the string for an export flag
/// Returns the string for an export flag
std::string getSerializationExport() const;
// Creates a member function that performs serialization
/// Creates a member function that performs serialization
void serialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& wrapperName, std::vector<std::string>& functionNames) const;
Str wrapperName, std::vector<std::string>& functionNames) const;
// Creates a static member function that performs deserialization
/// Creates a static member function that performs deserialization
void deserialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& wrapperName, std::vector<std::string>& functionNames) const;
Str wrapperName, std::vector<std::string>& functionNames) const;
// emit python wrapper
void python_wrapper(FileWriter& wrapperFile) const;
friend std::ostream& operator<<(std::ostream& os, const Class& cls) {
os << "class " << cls.name << "{\n";
os << cls.constructor << ";\n";
BOOST_FOREACH(const StaticMethod& m, cls.static_methods | boost::adaptors::map_values)
os << m << ";\n";
BOOST_FOREACH(const Method& m, cls.methods | boost::adaptors::map_values)
os << m << ";\n";
os << "};" << std::endl;
return os;
}
private:
void pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const std::string& wrapperName, std::vector<std::string>& functionNames) const;
void pointer_constructor_fragments(FileWriter& proxyFile,
FileWriter& wrapperFile, Str wrapperName,
std::vector<std::string>& functionNames) const;
void comment_fragment(FileWriter& proxyFile) const;
};

72
wrap/Constructor.cpp
View File

@ -29,52 +29,55 @@
using namespace std;
using namespace wrap;
/* ************************************************************************* */
string Constructor::matlab_wrapper_name(const string& className) const {
string Constructor::matlab_wrapper_name(Str className) const {
string str = "new_" + className;
return str;
}
/* ************************************************************************* */
void Constructor::proxy_fragment(FileWriter& file, const std::string& wrapperName,
bool hasParent, const int id, const ArgumentList args) const {
void Constructor::proxy_fragment(FileWriter& file,
const std::string& wrapperName, bool hasParent, const int id,
const ArgumentList args) const {
size_t nrArgs = args.size();
// check for number of arguments...
file.oss << " elseif nargin == " << nrArgs;
if (nrArgs>0) file.oss << " && ";
if (nrArgs > 0)
file.oss << " && ";
// ...and their types
bool first = true;
for(size_t i=0;i<nrArgs;i++) {
if (!first) file.oss << " && ";
file.oss << "isa(varargin{" << i+1 << "},'" << args[i].matlabClass(".") << "')";
first=false;
for (size_t i = 0; i < nrArgs; i++) {
if (!first)
file.oss << " && ";
file.oss << "isa(varargin{" << i + 1 << "},'" << args[i].matlabClass(".")
<< "')";
first = false;
}
// emit code for calling constructor
if(hasParent)
if (hasParent)
file.oss << "\n [ my_ptr, base_ptr ] = ";
else
file.oss << "\n my_ptr = ";
file.oss << wrapperName << "(" << id;
// emit constructor arguments
for(size_t i=0;i<nrArgs;i++) {
for (size_t i = 0; i < nrArgs; i++) {
file.oss << ", ";
file.oss << "varargin{" << i+1 << "}";
file.oss << "varargin{" << i + 1 << "}";
}
file.oss << ");\n";
}
/* ************************************************************************* */
string Constructor::wrapper_fragment(FileWriter& file,
const string& cppClassName,
const string& matlabUniqueName,
const string& cppBaseClassName,
int id,
string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
Str matlabUniqueName, Str cppBaseClassName, int id,
const ArgumentList& al) const {
const string wrapFunctionName = matlabUniqueName + "_constructor_" + boost::lexical_cast<string>(id);
const string wrapFunctionName = matlabUniqueName + "_constructor_"
+ boost::lexical_cast<string>(id);
file.oss << "void " << wrapFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl;
file.oss << "void " << wrapFunctionName
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])"
<< endl;
file.oss << "{\n";
file.oss << " mexAtExit(&_deleteAllObjects);\n";
//Typedef boost::shared_ptr
@ -82,22 +85,29 @@ string Constructor::wrapper_fragment(FileWriter& file,
file.oss << "\n";
//Check to see if there will be any arguments and remove {} for consiseness
if(al.size() > 0)
if (al.size() > 0)
al.matlab_unwrap(file); // unwrap arguments
file.oss << " Shared *self = new Shared(new " << cppClassName << "(" << al.names() << "));" << endl;
file.oss << " Shared *self = new Shared(new " << cppClassName << "("
<< al.names() << "));" << endl;
file.oss << " collector_" << matlabUniqueName << ".insert(self);\n";
if(verbose_)
if (verbose_)
file.oss << " std::cout << \"constructed \" << self << std::endl;" << endl;
file.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);" << endl;
file.oss << " *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;" << endl;
file.oss
<< " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);"
<< endl;
file.oss << " *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;"
<< endl;
// 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)
if(!cppBaseClassName.empty()) {
if (!cppBaseClassName.empty()) {
file.oss << "\n";
file.oss << " typedef boost::shared_ptr<" << cppBaseClassName << "> SharedBase;\n";
file.oss << " out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
file.oss << " *reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);\n";
file.oss << " typedef boost::shared_ptr<" << cppBaseClassName
<< "> SharedBase;\n";
file.oss
<< " out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
file.oss
<< " *reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);\n";
}
file.oss << "}" << endl;
@ -106,3 +116,9 @@ string Constructor::wrapper_fragment(FileWriter& file,
}
/* ************************************************************************* */
void Constructor::python_wrapper(FileWriter& wrapperFile, Str className) const {
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className << "::" << name_
<< ");\n";
}
/* ************************************************************************* */

52
wrap/Constructor.h
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@ -18,7 +18,7 @@
#pragma once
#include "Argument.h"
#include "OverloadedFunction.h"
#include <string>
#include <vector>
@ -26,42 +26,64 @@
namespace wrap {
// Constructor class
struct Constructor {
struct Constructor: public OverloadedFunction {
typedef const std::string& Str;
/// Constructor creates an empty class
Constructor(bool verbose = false) :
verbose_(verbose) {
Constructor(bool verbose = false) {
verbose_ = verbose;
}
// Then the instance variables are set directly by the Module constructor
std::vector<ArgumentList> args_list;
std::string name;
bool verbose_;
Constructor expandTemplate(const TemplateSubstitution& ts) const {
Constructor inst = *this;
inst.argLists_ = expandArgumentListsTemplate(ts);
inst.name_ = ts.expandedClassName();
return inst;
}
// MATLAB code generation
// toolboxPath is main toolbox directory, e.g., ../matlab
// classFile is class proxy file, e.g., ../matlab/@Point2/Point2.m
/// wrapper name
std::string matlab_wrapper_name(const std::string& className) const;
std::string matlab_wrapper_name(Str className) const;
void comment_fragment(FileWriter& proxyFile) const {
if (nrOverloads() > 0)
proxyFile.oss << "%\n%-------Constructors-------\n";
for (size_t i = 0; i < nrOverloads(); i++) {
proxyFile.oss << "%";
argumentList(i).emit_prototype(proxyFile, name_);
proxyFile.oss << "\n";
}
}
/**
* Create fragment to select constructor in proxy class, e.g.,
* if nargin == 2, obj.self = new_Pose3_RP(varargin{1},varargin{2}); end
*/
void proxy_fragment(FileWriter& file, const std::string& wrapperName,
bool hasParent, const int id, const ArgumentList args) const;
void proxy_fragment(FileWriter& file, Str wrapperName, bool hasParent,
const int id, const ArgumentList args) const;
/// cpp wrapper
std::string wrapper_fragment(FileWriter& file,
const std::string& cppClassName, const std::string& matlabUniqueName,
const std::string& cppBaseClassName, int id,
std::string wrapper_fragment(FileWriter& file, Str cppClassName,
Str matlabUniqueName, Str cppBaseClassName, int id,
const ArgumentList& al) const;
/// constructor function
void generate_construct(FileWriter& file, const std::string& cppClassName,
void generate_construct(FileWriter& file, Str cppClassName,
std::vector<ArgumentList>& args_list) const;
// emit python wrapper
void python_wrapper(FileWriter& wrapperFile, Str className) const;
friend std::ostream& operator<<(std::ostream& os, const Constructor& m) {
for (size_t i = 0; i < m.nrOverloads(); i++)
os << m.name_ << m.argLists_[i];
return os;
}
};
} // \namespace wrap

27
wrap/FileWriter.cpp
View File

@ -15,14 +15,15 @@ using namespace std;
using namespace wrap;
/* ************************************************************************* */
FileWriter::FileWriter(const string& filename, bool verbose, const string& comment_str)
: verbose_(verbose),filename_(filename), comment_str_(comment_str)
{
FileWriter::FileWriter(const string& filename, bool verbose,
const string& comment_str) :
verbose_(verbose), filename_(filename), comment_str_(comment_str) {
}
/* ************************************************************************* */
void FileWriter::emit(bool add_header, bool force_overwrite) const {
if (verbose_) cerr << "generating " << filename_ << " ";
if (verbose_)
cerr << "generating " << filename_ << " ";
// read in file if it exists
string existing_contents;
bool file_exists = true;
@ -35,23 +36,17 @@ void FileWriter::emit(bool add_header, bool force_overwrite) const {
// Only write a file if it is new, an update, or overwrite is forced
string new_contents = oss.str();
if (force_overwrite || !file_exists || existing_contents != new_contents) {
ofstream ofs(filename_.c_str(), ios::binary); // Binary to use LF line endings instead of CRLF
if (!ofs) throw CantOpenFile(filename_);
// Binary to use LF line endings instead of CRLF
ofstream ofs(filename_.c_str(), ios::binary);
if (!ofs)
throw CantOpenFile(filename_);
// dump in stringstream
ofs << new_contents;
ofs.close();
if (verbose_) cerr << " ...complete" << endl;
// Add small message whenever writing a new file and not running in full verbose mode
if (!verbose_)
cout << "wrap: generating " << filename_ << endl;
} else {
if (verbose_) cerr << " ...no update" << endl;
}
if (verbose_)
cerr << " ...no update" << endl;
}
/* ************************************************************************* */

133
wrap/FullyOverloadedFunction.h Normal file
View File

@ -0,0 +1,133 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file FullyOverloadedFunction.h
* @brief Function that can be fully overloaded: arguments and return values
* @author Frank Dellaert
* @date Nov 13, 2014
**/
#pragma once
#include "OverloadedFunction.h"
namespace wrap {
/**
* Signature Overload (including return value)
*/
class SignatureOverloads: public ArgumentOverloads {
protected:
std::vector<ReturnValue> returnVals_;
public:
const ReturnValue& returnValue(size_t i) const {
return returnVals_.at(i);
}
void push_back(const ArgumentList& args, const ReturnValue& retVal) {
argLists_.push_back(args);
returnVals_.push_back(retVal);
}
void verifyReturnTypes(const std::vector<std::string>& validtypes,
const std::string& s) const {
BOOST_FOREACH(const ReturnValue& retval, returnVals_) {
retval.type1.verify(validtypes, s);
if (retval.isPair)
retval.type2.verify(validtypes, s);
}
}
// TODO use transform ?
std::vector<ReturnValue> expandReturnValuesTemplate(
const TemplateSubstitution& ts) const {
std::vector<ReturnValue> result;
BOOST_FOREACH(const ReturnValue& retVal, returnVals_) {
ReturnValue instRetVal = retVal.expandTemplate(ts);
result.push_back(instRetVal);
}
return result;
}
/// Expand templates, imperative !
void expandTemplate(const TemplateSubstitution& ts) {
// substitute template in arguments
argLists_ = expandArgumentListsTemplate(ts);
// do the same for return types
returnVals_ = expandReturnValuesTemplate(ts);
}
// emit a list of comments, one for each overload
void usage_fragment(FileWriter& proxyFile, const std::string& name) const {
unsigned int argLCount = 0;
BOOST_FOREACH(ArgumentList argList, argLists_) {
argList.emit_prototype(proxyFile, name);
if (argLCount != nrOverloads() - 1)
proxyFile.oss << ", ";
else
proxyFile.oss << " : returns " << returnValue(0).return_type(false)
<< std::endl;
argLCount++;
}
}
// emit a list of comments, one for each overload
void comment_fragment(FileWriter& proxyFile, const std::string& name) const {
size_t i = 0;
BOOST_FOREACH(ArgumentList argList, argLists_) {
proxyFile.oss << "%";
argList.emit_prototype(proxyFile, name);
proxyFile.oss << " : returns " << returnVals_[i++].return_type(false)
<< std::endl;
}
}
friend std::ostream& operator<<(std::ostream& os,
const SignatureOverloads& overloads) {
for (size_t i = 0; i < overloads.nrOverloads(); i++)
os << overloads.returnVals_[i] << overloads.argLists_[i] << std::endl;
return os;
}
};
class FullyOverloadedFunction: public Function, public SignatureOverloads {
public:
bool addOverload(const std::string& name, const ArgumentList& args,
const ReturnValue& retVal, const Qualified& instName = Qualified(),
bool verbose = false) {
bool first = initializeOrCheck(name, instName, verbose);
SignatureOverloads::push_back(args, retVal);
return first;
}
};
// Templated checking functions
// TODO: do this via polymorphism, use transform ?
template<class F>
inline void verifyReturnTypes(const std::vector<std::string>& validTypes,
const std::map<std::string, F>& vt) {
typedef typename std::map<std::string, F>::value_type NamedMethod;
BOOST_FOREACH(const NamedMethod& namedMethod, vt)
namedMethod.second.verifyReturnTypes(validTypes);
}
} // \namespace wrap

57
wrap/Function.cpp Normal file
View File

@ -0,0 +1,57 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file Function.ccp
* @author Frank Dellaert
* @date Nov 13, 2014
**/
#include "Function.h"
#include "utilities.h"
#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/algorithm/string.hpp>
#include <iostream>
#include <fstream>
using namespace std;
using namespace wrap;
/* ************************************************************************* */
bool Function::initializeOrCheck(const std::string& name,
const Qualified& instName, bool verbose) {
if (name.empty())
throw std::runtime_error(
"Function::initializeOrCheck called with empty name");
// Check if this overload is give to the correct method
if (name_.empty()) {
name_ = name;
templateArgValue_ = instName;
verbose_ = verbose;
return true;
} else {
if (name_ != name || templateArgValue_ != instName || verbose_ != verbose)
throw std::runtime_error(
"Function::initializeOrCheck called with different arguments: with name "
+ name + " instead of expected " + name_
+ ", or with template argument " + instName.qualifiedName(":")
+ " instead of expected " + templateArgValue_.qualifiedName(":"));
return false;
}
}
/* ************************************************************************* */

56
wrap/Function.h Normal file
View File

@ -0,0 +1,56 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file Function.h
* @brief Base class for global functions and methods
* @author Frank Dellaert
* @date Nov 13, 2014
**/
#pragma once
#include "Argument.h"
namespace wrap {
/// Function class
class Function {
protected:
std::string name_; ///< name of method
Qualified templateArgValue_; ///< value of template argument if applicable
bool verbose_;
public:
/**
* @brief first time, fill in instance variables, otherwise check if same
* @return true if first time, false thereafter
*/
bool initializeOrCheck(const std::string& name, const Qualified& instName =
Qualified(), bool verbose = false);
std::string name() const {
return name_;
}
std::string matlabName() const {
if (templateArgValue_.empty())
return name_;
else
return name_ + templateArgValue_.name;
}
};
} // \namespace wrap

77
wrap/GlobalFunction.cpp
View File

@ -16,38 +16,31 @@ namespace wrap {
using namespace std;
/* ************************************************************************* */
void GlobalFunction::addOverload(bool verbose, const std::string& name,
void GlobalFunction::addOverload(const Qualified& overload,
const ArgumentList& args, const ReturnValue& retVal,
const StrVec& ns_stack) {
this->verbose_ = verbose;
this->name = name;
this->argLists.push_back(args);
this->returnVals.push_back(retVal);
this->namespaces.push_back(ns_stack);
const Qualified& instName, bool verbose) {
string name(overload.name);
FullyOverloadedFunction::addOverload(name, args, retVal, instName, verbose);
overloads.push_back(overload);
}
/* ************************************************************************* */
void GlobalFunction::matlab_proxy(const std::string& toolboxPath,
const std::string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& file, std::vector<std::string>& functionNames) const {
void GlobalFunction::matlab_proxy(const string& toolboxPath,
const string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& file, vector<string>& functionNames) const {
// cluster overloads with same namespace
// create new GlobalFunction structures around namespaces - same namespaces and names are overloads
// map of namespace to global function
typedef map<string, GlobalFunction> GlobalFunctionMap;
GlobalFunctionMap grouped_functions;
for (size_t i = 0; i < namespaces.size(); ++i) {
StrVec ns = namespaces.at(i);
string str_ns = qualifiedName("", ns, "");
ReturnValue ret = returnVals.at(i);
ArgumentList args = argLists.at(i);
if (!grouped_functions.count(str_ns))
grouped_functions[str_ns] = GlobalFunction(name, verbose_);
grouped_functions[str_ns].argLists.push_back(args);
grouped_functions[str_ns].returnVals.push_back(ret);
grouped_functions[str_ns].namespaces.push_back(ns);
for (size_t i = 0; i < overloads.size(); ++i) {
Qualified overload = overloads.at(i);
// use concatenated namespaces as key
string str_ns = qualifiedName("", overload.namespaces);
const ReturnValue& ret = returnValue(i);
const ArgumentList& args = argumentList(i);
grouped_functions[str_ns].addOverload(overload, args, ret);
}
size_t lastcheck = grouped_functions.size();
@ -60,37 +53,34 @@ void GlobalFunction::matlab_proxy(const std::string& toolboxPath,
}
/* ************************************************************************* */
void GlobalFunction::generateSingleFunction(const std::string& toolboxPath,
const std::string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& file, std::vector<std::string>& functionNames) const {
void GlobalFunction::generateSingleFunction(const string& toolboxPath,
const string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& file, vector<string>& functionNames) const {
// create the folder for the namespace
const StrVec& ns = namespaces.front();
createNamespaceStructure(ns, toolboxPath);
const Qualified& overload1 = overloads.front();
createNamespaceStructure(overload1.namespaces, toolboxPath);
// open destination mfunctionFileName
string mfunctionFileName = toolboxPath;
if (!ns.empty())
mfunctionFileName += "/+" + wrap::qualifiedName("/+", ns);
mfunctionFileName += "/" + name + ".m";
string mfunctionFileName = overload1.matlabName(toolboxPath);
FileWriter mfunctionFile(mfunctionFileName, verbose_, "%");
// get the name of actual matlab object
const string matlabQualName = qualifiedName(".", ns, name), matlabUniqueName =
qualifiedName("", ns, name), cppName = qualifiedName("::", ns, name);
const string matlabQualName = overload1.qualifiedName(".");
const string matlabUniqueName = overload1.qualifiedName("");
const string cppName = overload1.qualifiedName("::");
mfunctionFile.oss << "function varargout = " << name << "(varargin)\n";
mfunctionFile.oss << "function varargout = " << name_ << "(varargin)\n";
for (size_t overload = 0; overload < argLists.size(); ++overload) {
const ArgumentList& args = argLists[overload];
const ReturnValue& returnVal = returnVals[overload];
for (size_t i = 0; i < nrOverloads(); ++i) {
const ArgumentList& args = argumentList(i);
const ReturnValue& returnVal = returnValue(i);
const int id = functionNames.size();
// Output proxy matlab code
mfunctionFile.oss << " " << (overload == 0 ? "" : "else");
argLists[overload].emit_conditional_call(mfunctionFile,
returnVals[overload], wrapperName, id, true); // true omits "this"
mfunctionFile.oss << " " << (i == 0 ? "" : "else");
args.emit_conditional_call(mfunctionFile, returnVal, wrapperName, id, true); // true omits "this"
// Output C++ wrapper code
@ -114,7 +104,7 @@ void GlobalFunction::generateSingleFunction(const std::string& toolboxPath,
args.matlab_unwrap(file, 0); // We start at 0 because there is no self object
// call method with default type and wrap result
if (returnVal.type1 != "void")
if (returnVal.type1.name != "void")
returnVal.wrap_result(cppName + "(" + args.names() + ")", file,
typeAttributes);
else
@ -137,6 +127,11 @@ void GlobalFunction::generateSingleFunction(const std::string& toolboxPath,
mfunctionFile.emit(true);
}
/* ************************************************************************* */
void GlobalFunction::python_wrapper(FileWriter& wrapperFile) const {
wrapperFile.oss << "def(\"" << name_ << "\", " << name_ << ");\n";
}
/* ************************************************************************* */
} // \namespace wrap

36
wrap/GlobalFunction.h
View File

@ -9,43 +9,35 @@
#pragma once
#include "Argument.h"
#include "ReturnValue.h"
#include "FullyOverloadedFunction.h"
namespace wrap {
struct GlobalFunction {
struct GlobalFunction: public FullyOverloadedFunction {
typedef std::vector<std::string> StrVec;
std::vector<Qualified> overloads; ///< Stack of qualified names
bool verbose_;
std::string name;
// adds an overloaded version of this function,
void addOverload(const Qualified& overload, const ArgumentList& args,
const ReturnValue& retVal, const Qualified& instName = Qualified(),
bool verbose = false);
// each overload, regardless of namespace
std::vector<ArgumentList> argLists; ///< arugments for each overload
std::vector<ReturnValue> returnVals; ///< returnVals for each overload
std::vector<StrVec> namespaces; ///< Stack of namespaces
// Constructor only used in Module
GlobalFunction(bool verbose = true) :
verbose_(verbose) {
void verifyArguments(const std::vector<std::string>& validArgs) const {
SignatureOverloads::verifyArguments(validArgs, name_);
}
// Used to reconstruct
GlobalFunction(const std::string& name_, bool verbose = true) :
verbose_(verbose), name(name_) {
void verifyReturnTypes(const std::vector<std::string>& validtypes) const {
SignatureOverloads::verifyReturnTypes(validtypes, name_);
}
// adds an overloaded version of this function
void addOverload(bool verbose, const std::string& name,
const ArgumentList& args, const ReturnValue& retVal,
const StrVec& ns_stack);
// codegen function called from Module to build the cpp and matlab versions of the function
void matlab_proxy(const std::string& toolboxPath,
const std::string& wrapperName, const TypeAttributesTable& typeAttributes,
FileWriter& file, std::vector<std::string>& functionNames) const;
// emit python wrapper
void python_wrapper(FileWriter& wrapperFile) const;
private:
// Creates a single global function - all in same namespace

162
wrap/Method.cpp
View File

@ -29,155 +29,53 @@ using namespace std;
using namespace wrap;
/* ************************************************************************* */
void Method::addOverload(bool verbose, bool is_const, const std::string& name,
const ArgumentList& args, const ReturnValue& retVal) {
this->verbose_ = verbose;
this->is_const_ = is_const;
this->name = name;
this->argLists.push_back(args);
this->returnVals.push_back(retVal);
bool Method::addOverload(Str name, const ArgumentList& args,
const ReturnValue& retVal, bool is_const, const Qualified& instName,
bool verbose) {
bool first = StaticMethod::addOverload(name, args, retVal, instName, verbose);
if (first)
is_const_ = is_const;
else if (is_const && !is_const_)
throw std::runtime_error(
"Method::addOverload now designated as const whereas before it was not");
else if (!is_const && is_const_)
throw std::runtime_error(
"Method::addOverload now designated as non-const whereas before it was");
return first;
}
/* ************************************************************************* */
void Method::proxy_wrapper_fragments(FileWriter& file, FileWriter& wrapperFile,
const string& cppClassName, const std::string& matlabQualName,
const std::string& matlabUniqueName, const string& wrapperName,
const TypeAttributesTable& typeAttributes,
vector<string>& functionNames) const {
// Create function header
file.oss << " function varargout = " << name << "(this, varargin)\n";
// Emit comments for documentation
string up_name = boost::to_upper_copy(name);
file.oss << " % " << up_name << " usage: ";
unsigned int argLCount = 0;
BOOST_FOREACH(ArgumentList argList, argLists) {
argList.emit_prototype(file, name);
if (argLCount != argLists.size() - 1)
file.oss << ", ";
else
file.oss << " : returns "
<< returnVals[0].return_type(false, returnVals[0].pair) << endl;
argLCount++;
}
// Emit URL to Doxygen page
file.oss << " % "
<< "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html"
<< endl;
// Document all overloads, if any
if (argLists.size() > 1) {
file.oss << " % " << "" << endl;
file.oss << " % " << "Method Overloads" << endl;
BOOST_FOREACH(ArgumentList argList, argLists) {
file.oss << " % ";
argList.emit_prototype(file, name);
file.oss << endl;
}
}
// Handle special case of single overload with all numeric arguments
if (argLists.size() == 1 && argLists[0].allScalar()) {
// Output proxy matlab code
file.oss << " ";
const int id = (int) functionNames.size();
argLists[0].emit_call(file, returnVals[0], wrapperName, id);
// Output C++ wrapper code
const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
matlabUniqueName, 0, id, typeAttributes);
// Add to function list
functionNames.push_back(wrapFunctionName);
} else {
// Check arguments for all overloads
for (size_t overload = 0; overload < argLists.size(); ++overload) {
// Output proxy matlab code
file.oss << " " << (overload == 0 ? "" : "else");
const int id = (int) functionNames.size();
argLists[overload].emit_conditional_call(file, returnVals[overload],
wrapperName, id);
// Output C++ wrapper code
const string wrapFunctionName = wrapper_fragment(wrapperFile,
cppClassName, matlabUniqueName, overload, id, typeAttributes);
// Add to function list
functionNames.push_back(wrapFunctionName);
}
file.oss << " else\n";
file.oss
<< " error('Arguments do not match any overload of function "
<< matlabQualName << "." << name << "');" << endl;
file.oss << " end\n";
}
file.oss << " end\n";
void Method::proxy_header(FileWriter& proxyFile) const {
proxyFile.oss << " function varargout = " << matlabName()
<< "(this, varargin)\n";
}
/* ************************************************************************* */
string Method::wrapper_fragment(FileWriter& file, const string& cppClassName,
const string& matlabUniqueName, int overload, int id,
const TypeAttributesTable& typeAttributes) const {
// generate code
const string wrapFunctionName = matlabUniqueName + "_" + name + "_"
+ boost::lexical_cast<string>(id);
const ArgumentList& args = argLists[overload];
const ReturnValue& returnVal = returnVals[overload];
// call
file.oss << "void " << wrapFunctionName
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
// start
file.oss << "{\n";
if (returnVal.isPair) {
if (returnVal.category1 == ReturnValue::CLASS)
file.oss << " typedef boost::shared_ptr<"
<< returnVal.qualifiedType1("::") << "> Shared" << returnVal.type1
<< ";" << endl;
if (returnVal.category2 == ReturnValue::CLASS)
file.oss << " typedef boost::shared_ptr<"
<< returnVal.qualifiedType2("::") << "> Shared" << returnVal.type2
<< ";" << endl;
} else if (returnVal.category1 == ReturnValue::CLASS)
file.oss << " typedef boost::shared_ptr<" << returnVal.qualifiedType1("::")
<< "> Shared" << returnVal.type1 << ";" << endl;
file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;"
<< endl;
string Method::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, const ArgumentList& args,
const ReturnValue& returnVal, const TypeAttributesTable& typeAttributes,
const Qualified& instName) const {
// check arguments
// extra argument obj -> nargin-1 is passed !
// example: checkArguments("equals",nargout,nargin-1,2);
file.oss << " checkArguments(\"" << name << "\",nargout,nargin-1,"
wrapperFile.oss << " checkArguments(\"" << name_ << "\",nargout,nargin-1,"
<< args.size() << ");\n";
// get class pointer
// example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
file.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName
wrapperFile.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName
<< ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
// unwrap arguments, see Argument.cpp
args.matlab_unwrap(file, 1);
// unwrap arguments, see Argument.cpp, we start at 1 as first is obj
args.matlab_unwrap(wrapperFile, 1);
// call method and wrap result
// example: out[0]=wrap<bool>(self->return_field(t));
if (returnVal.type1 != "void")
returnVal.wrap_result("obj->" + name + "(" + args.names() + ")", file,
typeAttributes);
else
file.oss << " obj->" + name + "(" + args.names() + ");\n";
// example: out[0]=wrap<bool>(obj->return_field(t));
string expanded = "obj->" + name_;
if (!instName.empty())
expanded += ("<" + instName.qualifiedName("::") + ">");
// finish
file.oss << "}\n";
return wrapFunctionName;
return expanded;
}
/* ************************************************************************* */

63
wrap/Method.h
View File

@ -18,49 +18,46 @@
#pragma once
#include "Argument.h"
#include "ReturnValue.h"
#include "TypeAttributesTable.h"
#include <string>
#include <list>
#include "StaticMethod.h"
namespace wrap {
/// Method class
struct Method {
class Method: public StaticMethod {
/// Constructor creates empty object
Method(bool verbose = true) :
verbose_(verbose), is_const_(false) {}
// Then the instance variables are set directly by the Module constructor
bool verbose_;
bool is_const_;
std::string name;
std::vector<ArgumentList> argLists;
std::vector<ReturnValue> returnVals;
// The first time this function is called, it initializes the class members
// with those in rhs, but in subsequent calls it adds additional argument
// lists as function overloads.
void addOverload(bool verbose, bool is_const, const std::string& name,
const ArgumentList& args, const ReturnValue& retVal);
public:
// MATLAB code generation
// classPath is class directory, e.g., ../matlab/@Point2
void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& cppClassName, const std::string& matlabQualName, const std::string& matlabUniqueName,
const std::string& wrapperName, const TypeAttributesTable& typeAttributes,
std::vector<std::string>& functionNames) const;
typedef const std::string& Str;
bool addOverload(Str name, const ArgumentList& args,
const ReturnValue& retVal, bool is_const, const Qualified& instName =
Qualified(), bool verbose = false);
virtual bool isStatic() const {
return false;
}
virtual bool isConst() const {
return is_const_;
}
friend std::ostream& operator<<(std::ostream& os, const Method& m) {
for (size_t i = 0; i < m.nrOverloads(); i++)
os << m.returnVals_[i] << " " << m.name_ << m.argLists_[i];
return os;
}
private:
std::string wrapper_fragment(FileWriter& file,
const std::string& cppClassName,
const std::string& matlabUniqueName,
int overload,
int id,
const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper
// Emit method header
void proxy_header(FileWriter& proxyFile) const;
virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, const ArgumentList& args,
const ReturnValue& returnVal, const TypeAttributesTable& typeAttributes,
const Qualified& instName) const;
};
} // \namespace wrap

421
wrap/Module.cpp
View File

@ -62,15 +62,21 @@ typedef rule<BOOST_SPIRIT_CLASSIC_NS::phrase_scanner_t> Rule;
/* ************************************************************************* */
/* ************************************************************************* */
void handle_possible_template(vector<Class>& classes, const Class& cls, const string& templateArgument, const vector<vector<string> >& instantiations) {
if(instantiations.empty()) {
// If a number of template arguments were given, generate a number of expanded
// class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
static void handle_possible_template(vector<Class>& classes, const Class& cls,
const vector<Qualified>& instantiations) {
if (cls.templateArgs.empty() || instantiations.empty()) {
classes.push_back(cls);
} else {
vector<Class> classInstantiations = cls.expandTemplate(templateArgument, instantiations);
BOOST_FOREACH(const Class& c, classInstantiations) {
if (cls.templateArgs.size() != 1)
throw std::runtime_error(
"In-line template instantiations only handle a single template argument");
vector<Class> classInstantiations = //
cls.expandTemplate(cls.templateArgs.front(), instantiations);
BOOST_FOREACH(const Class& c, classInstantiations)
classes.push_back(c);
}
}
}
/* ************************************************************************* */
@ -94,28 +100,9 @@ Module::Module(const string& interfacePath,
/* ************************************************************************* */
void Module::parseMarkup(const std::string& data) {
// these variables will be imperatively updated to gradually build [cls]
// The parse imperatively :-( updates variables gradually during parse
// The one with postfix 0 are used to reset the variables after parse.
string methodName, methodName0;
bool isConst, isConst0 = false;
ReturnValue retVal0, retVal;
Argument arg0, arg;
ArgumentList args0, args;
vector<string> arg_dup; ///keep track of duplicates
Constructor constructor0(verbose), constructor(verbose);
Deconstructor deconstructor0(verbose), deconstructor(verbose);
StaticMethod static_method0(verbose), static_method(verbose);
Class cls0(verbose),cls(verbose);
GlobalFunction globalFunc0(verbose), globalFunc(verbose);
ForwardDeclaration fwDec0, fwDec;
vector<string> namespaces, /// current namespace tag
namespaces_return; /// namespace for current return type
string templateArgument;
vector<string> templateInstantiationNamespace;
vector<vector<string> > templateInstantiations;
TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
string include_path = "";
const string null_str = "";
vector<string> namespaces; // current namespace tag
//----------------------------------------------------------------------------
// Grammar with actions that build the Class object. Actions are
@ -144,51 +131,63 @@ void Module::parseMarkup(const std::string& data) {
Rule namespace_name_p = lexeme_d[lower_p >> *(alnum_p | '_')] - keywords_p;
Rule namespace_arg_p = namespace_name_p[push_back_a(arg.namespaces)] >> str_p("::");
Argument arg0, arg;
Rule namespace_arg_p = namespace_name_p
[push_back_a(arg.type.namespaces)] >> str_p("::");
Rule argEigenType_p =
eigenType_p[assign_a(arg.type)];
eigenType_p[assign_a(arg.type.name)];
Rule eigenRef_p =
!str_p("const") [assign_a(arg.is_const,true)] >>
eigenType_p [assign_a(arg.type)] >>
eigenType_p [assign_a(arg.type.name)] >>
ch_p('&') [assign_a(arg.is_ref,true)];
Rule classArg_p =
!str_p("const") [assign_a(arg.is_const,true)] >>
*namespace_arg_p >>
className_p[assign_a(arg.type)] >>
className_p[assign_a(arg.type.name)] >>
!ch_p('&')[assign_a(arg.is_ref,true)];
Rule name_p = lexeme_d[alpha_p >> *(alnum_p | '_')];
// TODO, do we really need cls here? Non-local
Class cls0(verbose),cls(verbose);
Rule classParent_p =
*(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >>
className_p[push_back_a(cls.qualifiedParent)];
*(namespace_name_p[push_back_a(cls.qualifiedParent.namespaces)] >> str_p("::")) >>
className_p[assign_a(cls.qualifiedParent.name)];
Rule templateInstantiation_p =
(*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >>
className_p[push_back_a(templateInstantiationNamespace)])
[push_back_a(templateInstantiations, templateInstantiationNamespace)]
[clear_a(templateInstantiationNamespace)];
// parse "gtsam::Pose2" and add to templateArgValues
Qualified templateArgValue;
vector<Qualified> templateArgValues;
Rule templateArgValue_p =
(*(namespace_name_p[push_back_a(templateArgValue.namespaces)] >> str_p("::")) >>
className_p[assign_a(templateArgValue.name)])
[push_back_a(templateArgValues, templateArgValue)]
[clear_a(templateArgValue)];
Rule templateInstantiations_p =
// template<CALIBRATION = {gtsam::Cal3DS2}>
string templateArgName;
Rule templateArgValues_p =
(str_p("template") >>
'<' >> name_p[assign_a(templateArgument)] >> '=' >> '{' >>
!(templateInstantiation_p >> *(',' >> templateInstantiation_p)) >>
'}' >> '>')
[push_back_a(cls.templateArgs, templateArgument)];
'<' >> name_p[assign_a(templateArgName)] >> '=' >>
'{' >> !(templateArgValue_p >> *(',' >> templateArgValue_p)) >> '}' >>
'>');
// parse "gtsam::Pose2" and add to singleInstantiation.typeList
TemplateInstantiationTypedef singleInstantiation;
Rule templateSingleInstantiationArg_p =
(*(namespace_name_p[push_back_a(templateInstantiationNamespace)] >> str_p("::")) >>
className_p[push_back_a(templateInstantiationNamespace)])
[push_back_a(singleInstantiation.typeList, templateInstantiationNamespace)]
[clear_a(templateInstantiationNamespace)];
(*(namespace_name_p[push_back_a(templateArgValue.namespaces)] >> str_p("::")) >>
className_p[assign_a(templateArgValue.name)])
[push_back_a(singleInstantiation.typeList, templateArgValue)]
[clear_a(templateArgValue)];
// typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
TemplateInstantiationTypedef singleInstantiation0;
Rule templateSingleInstantiation_p =
(str_p("typedef") >>
*(namespace_name_p[push_back_a(singleInstantiation.classNamespaces)] >> str_p("::")) >>
className_p[assign_a(singleInstantiation.className)] >>
*(namespace_name_p[push_back_a(singleInstantiation.class_.namespaces)] >> str_p("::")) >>
className_p[assign_a(singleInstantiation.class_.name)] >>
'<' >> templateSingleInstantiationArg_p >> *(',' >> templateSingleInstantiationArg_p) >>
'>' >>
className_p[assign_a(singleInstantiation.name)] >>
@ -197,14 +196,16 @@ void Module::parseMarkup(const std::string& data) {
[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
[assign_a(singleInstantiation, singleInstantiation0)];
// template<POSE, POINT>
Rule templateList_p =
(str_p("template") >>
'<' >> name_p[push_back_a(cls.templateArgs)] >> *(',' >> name_p[push_back_a(cls.templateArgs)]) >>
'>');
// NOTE: allows for pointers to all types
ArgumentList args;
Rule argument_p =
((basisType_p[assign_a(arg.type)] | argEigenType_p | eigenRef_p | classArg_p)
((basisType_p[assign_a(arg.type.name)] | argEigenType_p | eigenRef_p | classArg_p)
>> !ch_p('*')[assign_a(arg.is_ptr,true)]
>> name_p[assign_a(arg.name)])
[push_back_a(args, arg)]
@ -212,114 +213,111 @@ void Module::parseMarkup(const std::string& data) {
Rule argumentList_p = !argument_p >> * (',' >> argument_p);
// parse class constructor
Constructor constructor0(verbose), constructor(verbose);
Rule constructor_p =
(className_p >> '(' >> argumentList_p >> ')' >> ';' >> !comments_p)
[push_back_a(constructor.args_list, args)]
[assign_a(args,args0)];
//[assign_a(constructor.args,args)]
//[assign_a(constructor.name,cls.name)]
//[push_back_a(cls.constructors, constructor)]
//[assign_a(constructor,constructor0)];
[bl::bind(&Constructor::push_back, bl::var(constructor), bl::var(args))]
[clear_a(args)];
vector<string> namespaces_return; /// namespace for current return type
Rule namespace_ret_p = namespace_name_p[push_back_a(namespaces_return)] >> str_p("::");
// HACK: use const values instead of using enums themselves - somehow this doesn't result in values getting assigned to gibberish
static const ReturnValue::return_category RETURN_EIGEN = ReturnValue::EIGEN;
static const ReturnValue::return_category RETURN_BASIS = ReturnValue::BASIS;
static const ReturnValue::return_category RETURN_CLASS = ReturnValue::CLASS;
static const ReturnValue::return_category RETURN_VOID = ReturnValue::VOID;
static const ReturnType::return_category RETURN_EIGEN = ReturnType::EIGEN;
static const ReturnType::return_category RETURN_BASIS = ReturnType::BASIS;
static const ReturnType::return_category RETURN_CLASS = ReturnType::CLASS;
static const ReturnType::return_category RETURN_VOID = ReturnType::VOID;
Rule returnType1_p =
(basisType_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_BASIS)]) |
((*namespace_ret_p)[assign_a(retVal.namespaces1, namespaces_return)][clear_a(namespaces_return)]
>> (className_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_CLASS)]) >>
!ch_p('*')[assign_a(retVal.isPtr1,true)]) |
(eigenType_p[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_EIGEN)]);
ReturnType retType0, retType;
Rule returnType_p =
(basisType_p[assign_a(retType.name)][assign_a(retType.category, RETURN_BASIS)]) |
((*namespace_ret_p)[assign_a(retType.namespaces, namespaces_return)][clear_a(namespaces_return)]
>> (className_p[assign_a(retType.name)][assign_a(retType.category, RETURN_CLASS)]) >>
!ch_p('*')[assign_a(retType.isPtr,true)]) |
(eigenType_p[assign_a(retType.name)][assign_a(retType.category, RETURN_EIGEN)]);
Rule returnType2_p =
(basisType_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_BASIS)]) |
((*namespace_ret_p)[assign_a(retVal.namespaces2, namespaces_return)][clear_a(namespaces_return)]
>> (className_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_CLASS)]) >>
!ch_p('*') [assign_a(retVal.isPtr2,true)]) |
(eigenType_p[assign_a(retVal.type2)][assign_a(retVal.category2, RETURN_EIGEN)]);
ReturnValue retVal0, retVal;
Rule returnType1_p = returnType_p[assign_a(retVal.type1,retType)][assign_a(retType,retType0)];
Rule returnType2_p = returnType_p[assign_a(retVal.type2,retType)][assign_a(retType,retType0)];
Rule pair_p =
(str_p("pair") >> '<' >> returnType1_p >> ',' >> returnType2_p >> '>')
[assign_a(retVal.isPair,true)];
Rule void_p = str_p("void")[assign_a(retVal.type1)][assign_a(retVal.category1, RETURN_VOID)];
Rule void_p = str_p("void")[assign_a(retVal.type1.name)][assign_a(retVal.type1.category, RETURN_VOID)];
Rule returnType_p = void_p | pair_p | returnType1_p;
Rule returnValue_p = void_p | pair_p | returnType1_p;
Rule methodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
// gtsam::Values retract(const gtsam::VectorValues& delta) const;
string methodName;
bool isConst, isConst0 = false;
Rule method_p =
(returnType_p >> methodName_p[assign_a(methodName)] >>
!templateArgValues_p >>
(returnValue_p >> methodName_p[assign_a(methodName)] >>
'(' >> argumentList_p >> ')' >>
!str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p)
[bl::bind(&Method::addOverload,
bl::var(cls.methods)[bl::var(methodName)],
verbose,
bl::var(isConst),
bl::var(methodName),
bl::var(args),
bl::var(retVal))]
[assign_a(isConst,isConst0)]
[assign_a(methodName,methodName0)]
[assign_a(args,args0)]
[assign_a(retVal,retVal0)];
[bl::bind(&Class::addMethod, bl::var(cls), verbose, bl::var(isConst),
bl::var(methodName), bl::var(args), bl::var(retVal),
bl::var(templateArgName), bl::var(templateArgValues))]
[assign_a(retVal,retVal0)]
[clear_a(args)]
[clear_a(templateArgValues)]
[assign_a(isConst,isConst0)];
Rule staticMethodName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
Rule static_method_p =
(str_p("static") >> returnType_p >> staticMethodName_p[assign_a(methodName)] >>
(str_p("static") >> returnValue_p >> staticMethodName_p[assign_a(methodName)] >>
'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
[bl::bind(&StaticMethod::addOverload,
bl::var(cls.static_methods)[bl::var(methodName)],
verbose,
bl::var(methodName),
bl::var(args),
bl::var(retVal))]
[assign_a(methodName,methodName0)]
[assign_a(args,args0)]
[assign_a(retVal,retVal0)];
bl::var(methodName), bl::var(args), bl::var(retVal), Qualified(),verbose)]
[assign_a(retVal,retVal0)]
[clear_a(args)];
Rule functions_p = constructor_p | method_p | static_method_p;
// parse a full class
vector<Qualified> templateInstantiations;
Rule class_p =
(str_p("")[assign_a(cls,cls0)])
>> (!(templateInstantiations_p | templateList_p)
eps_p[assign_a(cls,cls0)]
>> (!(templateArgValues_p
[push_back_a(cls.templateArgs, templateArgName)]
[assign_a(templateInstantiations,templateArgValues)]
[clear_a(templateArgValues)]
| templateList_p)
>> !(str_p("virtual")[assign_a(cls.isVirtual, true)])
>> str_p("class")
>> className_p[assign_a(cls.name)]
>> ((':' >> classParent_p >> '{') | '{')
>> *(functions_p | comments_p)
>> str_p("};"))
[assign_a(constructor.name, cls.name)]
[bl::bind(&Constructor::initializeOrCheck, bl::var(constructor),
bl::var(cls.name), Qualified(), verbose)]
[assign_a(cls.constructor, constructor)]
[assign_a(cls.namespaces, namespaces)]
[assign_a(deconstructor.name,cls.name)]
[assign_a(cls.deconstructor, deconstructor)]
[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))]
[assign_a(deconstructor,deconstructor0)]
[assign_a(cls.deconstructor.name,cls.name)]
[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls),
bl::var(templateInstantiations))]
[clear_a(templateInstantiations)]
[assign_a(constructor, constructor0)]
[assign_a(cls,cls0)]
[clear_a(templateArgument)]
[clear_a(templateInstantiations)];
[assign_a(cls,cls0)];
// parse a global function
Qualified globalFunction;
Rule global_function_p =
(returnType_p >> staticMethodName_p[assign_a(methodName)] >>
(returnValue_p >> staticMethodName_p[assign_a(globalFunction.name)] >>
'(' >> argumentList_p >> ')' >> ';' >> *comments_p)
[assign_a(globalFunction.namespaces,namespaces)]
[bl::bind(&GlobalFunction::addOverload,
bl::var(global_functions)[bl::var(methodName)],
verbose,
bl::var(methodName),
bl::var(args),
bl::var(retVal),
bl::var(namespaces))]
[assign_a(methodName,methodName0)]
[assign_a(args,args0)]
[assign_a(retVal,retVal0)];
bl::var(global_functions)[bl::var(globalFunction.name)],
bl::var(globalFunction), bl::var(args), bl::var(retVal), Qualified(),verbose)]
[assign_a(retVal,retVal0)]
[clear_a(globalFunction)]
[clear_a(args)];
Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>');
@ -340,6 +338,8 @@ void Module::parseMarkup(const std::string& data) {
#pragma clang diagnostic pop
#endif
// parse forward declaration
ForwardDeclaration fwDec0, fwDec;
Rule forward_declaration_p =
!(str_p("virtual")[assign_a(fwDec.isVirtual, true)])
>> str_p("class")
@ -367,7 +367,7 @@ void Module::parseMarkup(const std::string& data) {
BOOST_SPIRIT_DEBUG_NODE(returnType2_p);
BOOST_SPIRIT_DEBUG_NODE(pair_p);
BOOST_SPIRIT_DEBUG_NODE(void_p);
BOOST_SPIRIT_DEBUG_NODE(returnType_p);
BOOST_SPIRIT_DEBUG_NODE(returnValue_p);
BOOST_SPIRIT_DEBUG_NODE(methodName_p);
BOOST_SPIRIT_DEBUG_NODE(method_p);
BOOST_SPIRIT_DEBUG_NODE(class_p);
@ -388,125 +388,41 @@ void Module::parseMarkup(const std::string& data) {
}
// Post-process classes for serialization markers
BOOST_FOREACH(Class& cls, classes) {
Class::Methods::iterator serializable_it = cls.methods.find("serializable");
if (serializable_it != cls.methods.end()) {
#ifndef WRAP_DISABLE_SERIALIZE
cls.isSerializable = true;
#else
cout << "Ignoring serializable() flag in class " << cls.name << endl;
#endif
cls.methods.erase(serializable_it);
}
Class::Methods::iterator serialize_it = cls.methods.find("serialize");
if (serialize_it != cls.methods.end()) {
#ifndef WRAP_DISABLE_SERIALIZE
cls.isSerializable = true;
cls.hasSerialization= true;
#else
cout << "Ignoring serialize() flag in class " << cls.name << endl;
#endif
cls.methods.erase(serialize_it);
}
}
BOOST_FOREACH(Class& cls, classes)
cls.erase_serialization();
// Explicitly add methods to the classes from parents so it shows in documentation
BOOST_FOREACH(Class& cls, classes)
{
map<string, Method> inhereted = appendInheretedMethods(cls, classes);
cls.methods.insert(inhereted.begin(), inhereted.end());
}
}
/* ************************************************************************* */
template<class T>
void verifyArguments(const vector<string>& validArgs, const map<string,T>& vt) {
typedef typename map<string,T>::value_type Name_Method;
BOOST_FOREACH(const Name_Method& name_method, vt) {
const T& t = name_method.second;
BOOST_FOREACH(const ArgumentList& argList, t.argLists) {
BOOST_FOREACH(Argument arg, argList) {
string fullType = arg.qualifiedType("::");
if(find(validArgs.begin(), validArgs.end(), fullType)
== validArgs.end())
throw DependencyMissing(fullType, t.name);
}
}
}
}
/* ************************************************************************* */
template<class T>
void verifyReturnTypes(const vector<string>& validtypes, const map<string,T>& vt) {
typedef typename map<string,T>::value_type Name_Method;
BOOST_FOREACH(const Name_Method& name_method, vt) {
const T& t = name_method.second;
BOOST_FOREACH(const ReturnValue& retval, t.returnVals) {
if (find(validtypes.begin(), validtypes.end(), retval.qualifiedType1("::")) == validtypes.end())
throw DependencyMissing(retval.qualifiedType1("::"), t.name);
if (retval.isPair && find(validtypes.begin(), validtypes.end(), retval.qualifiedType2("::")) == validtypes.end())
throw DependencyMissing(retval.qualifiedType2("::"), t.name);
}
}
}
/* ************************************************************************* */
void Module::generateIncludes(FileWriter& file) const {
// collect includes
vector<string> all_includes(includes);
// sort and remove duplicates
sort(all_includes.begin(), all_includes.end());
vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
vector<string>::const_iterator it = all_includes.begin();
// add includes to file
for (; it != last_include; ++it)
file.oss << "#include <" << *it << ">" << endl;
file.oss << "\n";
}
/* ************************************************************************* */
void Module::matlab_code(const string& toolboxPath, const string& headerPath) const {
fs::create_directories(toolboxPath);
cls.appendInheritedMethods(cls, classes);
// Expand templates - This is done first so that template instantiations are
// counted in the list of valid types, have their attributes and dependencies
// checked, etc.
vector<Class> expandedClasses = ExpandTypedefInstantiations(classes, templateInstantiationTypedefs);
expandedClasses = ExpandTypedefInstantiations(classes,
templateInstantiationTypedefs);
// Dependency check list
vector<string> validTypes = GenerateValidTypes(expandedClasses, forward_declarations);
vector<string> validTypes = GenerateValidTypes(expandedClasses,
forward_declarations);
// Check that all classes have been defined somewhere
verifyArguments<GlobalFunction>(validTypes, global_functions);
verifyReturnTypes<GlobalFunction>(validTypes, global_functions);
bool hasSerialiable = false;
BOOST_FOREACH(const Class& cls, expandedClasses) {
hasSerialiable |= cls.isSerializable;
// verify all of the function arguments
//TODO:verifyArguments<ArgumentList>(validTypes, cls.constructor.args_list);
verifyArguments<StaticMethod>(validTypes, cls.static_methods);
verifyArguments<Method>(validTypes, cls.methods);
// verify function return types
verifyReturnTypes<StaticMethod>(validTypes, cls.static_methods);
verifyReturnTypes<Method>(validTypes, cls.methods);
// verify parents
if(!cls.qualifiedParent.empty() && std::find(validTypes.begin(), validTypes.end(), wrap::qualifiedName("::", cls.qualifiedParent)) == validTypes.end())
throw DependencyMissing(wrap::qualifiedName("::", cls.qualifiedParent), cls.qualifiedName("::"));
}
hasSerialiable = false;
BOOST_FOREACH(const Class& cls, expandedClasses)
cls.verifyAll(validTypes,hasSerialiable);
// Create type attributes table and check validity
TypeAttributesTable typeAttributes;
typeAttributes.addClasses(expandedClasses);
typeAttributes.addForwardDeclarations(forward_declarations);
typeAttributes.checkValidity(expandedClasses);
}
/* ************************************************************************* */
void Module::matlab_code(const string& toolboxPath) const {
fs::create_directories(toolboxPath);
// create the unified .cpp switch file
const string wrapperName = name + "_wrapper";
@ -527,19 +443,18 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
// Generate includes while avoiding redundant includes
generateIncludes(wrapperFile);
// create typedef classes - we put this at the top of the wrap file so that collectors and method arguments can use these typedefs
BOOST_FOREACH(const Class& cls, expandedClasses) {
// create typedef classes - we put this at the top of the wrap file so that
// collectors and method arguments can use these typedefs
BOOST_FOREACH(const Class& cls, expandedClasses)
if(!cls.typedefName.empty())
wrapperFile.oss << cls.getTypedef() << "\n";
}
wrapperFile.oss << "\n";
// Generate boost.serialization export flags (needs typedefs from above)
if (hasSerialiable) {
BOOST_FOREACH(const Class& cls, expandedClasses) {
BOOST_FOREACH(const Class& cls, expandedClasses)
if(cls.isSerializable)
wrapperFile.oss << cls.getSerializationExport() << "\n";
}
wrapperFile.oss << "\n";
}
@ -552,14 +467,12 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
vector<string> functionNames; // Function names stored by index for switch
// create proxy class and wrapper code
BOOST_FOREACH(const Class& cls, expandedClasses) {
BOOST_FOREACH(const Class& cls, expandedClasses)
cls.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
}
// create matlab files and wrapper code for global functions
BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions) {
BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions)
p.second.matlab_proxy(toolboxPath, wrapperName, typeAttributes, wrapperFile, functionNames);
}
// finish wrapper file
wrapperFile.oss << "\n";
@ -567,28 +480,24 @@ void Module::matlab_code(const string& toolboxPath, const string& headerPath) co
wrapperFile.emit(true);
}
/* ************************************************************************* */
map<string, Method> Module::appendInheretedMethods(const Class& cls, const vector<Class>& classes)
{
map<string, Method> methods;
if(!cls.qualifiedParent.empty())
{
//Find Class
BOOST_FOREACH(const Class& parent, classes) {
//We found the class for our parent
if(parent.name == cls.qualifiedParent.back())
{
Methods inhereted = appendInheretedMethods(parent, classes);
methods.insert(inhereted.begin(), inhereted.end());
}
}
} else {
methods.insert(cls.methods.begin(), cls.methods.end());
}
return methods;
/* ************************************************************************* */
void Module::generateIncludes(FileWriter& file) const {
// collect includes
vector<string> all_includes(includes);
// sort and remove duplicates
sort(all_includes.begin(), all_includes.end());
vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
vector<string>::const_iterator it = all_includes.begin();
// add includes to file
for (; it != last_include; ++it)
file.oss << "#include <" << *it << ">" << endl;
file.oss << "\n";
}
/* ************************************************************************* */
void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
@ -741,3 +650,31 @@ void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& modul
}
/* ************************************************************************* */
void Module::python_wrapper(const string& toolboxPath) const {
fs::create_directories(toolboxPath);
// create the unified .cpp switch file
const string wrapperName = name + "_python";
string wrapperFileName = toolboxPath + "/" + wrapperName + ".cpp";
FileWriter wrapperFile(wrapperFileName, verbose, "//");
wrapperFile.oss << "#include <boost/python.hpp>\n\n";
wrapperFile.oss << "using namespace boost::python;\n";
wrapperFile.oss << "BOOST_PYTHON_MODULE(" + name + ")\n";
wrapperFile.oss << "{\n";
// write out classes
BOOST_FOREACH(const Class& cls, expandedClasses)
cls.python_wrapper(wrapperFile);
// write out global functions
BOOST_FOREACH(const GlobalFunctions::value_type& p, global_functions)
p.second.python_wrapper(wrapperFile);
// finish wrapper file
wrapperFile.oss << "}\n";
wrapperFile.emit(true);
}
/* ************************************************************************* */

50
wrap/Module.h
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@ -37,6 +37,7 @@ struct Module {
typedef std::map<std::string, GlobalFunction> GlobalFunctions;
typedef std::map<std::string, Method> Methods;
// Filled during parsing:
std::string name; ///< module name
bool verbose; ///< verbose flag
std::vector<Class> classes; ///< list of classes
@ -45,35 +46,44 @@ struct Module {
std::vector<std::string> includes; ///< Include statements
GlobalFunctions global_functions;
// After parsing:
std::vector<Class> expandedClasses;
bool hasSerialiable;
TypeAttributesTable typeAttributes;
/// constructor that parses interface file
Module(const std::string& interfacePath,
const std::string& moduleName,
bool enable_verbose=true);
Module(const std::string& interfacePath, const std::string& moduleName,
bool enable_verbose = true);
/// Dummy constructor that does no parsing - use only for testing
Module(const std::string& moduleName, bool enable_verbose=true);
//Recursive method to append all methods inhereted from parent classes
std::map<std::string, Method> appendInheretedMethods(const Class& cls, const std::vector<Class>& classes);
/// MATLAB code generation:
void matlab_code(
const std::string& path,
const std::string& headerPath) const; // FIXME: headerPath not actually used?
void finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const;
void generateIncludes(FileWriter& file) const;
Module(const std::string& moduleName, bool enable_verbose = true);
/// non-const function that performs parsing - typically called by constructor
/// Throws exception on failure
void parseMarkup(const std::string& data);
/// MATLAB code generation:
void matlab_code(const std::string& path) const;
void generateIncludes(FileWriter& file) const;
void finish_wrapper(FileWriter& file,
const std::vector<std::string>& functionNames) const;
/// Python code generation:
void python_wrapper(const std::string& path) const;
private:
static std::vector<Class> ExpandTypedefInstantiations(const std::vector<Class>& classes, const std::vector<TemplateInstantiationTypedef> instantiations);
static std::vector<std::string> GenerateValidTypes(const std::vector<Class>& classes, const std::vector<ForwardDeclaration> forwardDeclarations);
static void WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes);
static void WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes);
static std::vector<Class> ExpandTypedefInstantiations(
const std::vector<Class>& classes,
const std::vector<TemplateInstantiationTypedef> instantiations);
static std::vector<std::string> GenerateValidTypes(
const std::vector<Class>& classes,
const std::vector<ForwardDeclaration> forwardDeclarations);
static void WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile,
const std::string& moduleName, const std::vector<Class>& classes);
static void WriteRTTIRegistry(FileWriter& wrapperFile,
const std::string& moduleName, const std::vector<Class>& classes);
};
} // \namespace wrap

126
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@ -0,0 +1,126 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file OverloadedFunction.h
* @brief Function that can overload its arguments only
* @author Frank Dellaert
* @date Nov 13, 2014
**/
#pragma once
#include "Function.h"
#include "Argument.h"
namespace wrap {
/**
* ArgumentList Overloads
*/
class ArgumentOverloads {
protected:
std::vector<ArgumentList> argLists_;
public:
size_t nrOverloads() const {
return argLists_.size();
}
const ArgumentList& argumentList(size_t i) const {
return argLists_.at(i);
}
void push_back(const ArgumentList& args) {
argLists_.push_back(args);
}
std::vector<ArgumentList> expandArgumentListsTemplate(
const TemplateSubstitution& ts) const {
std::vector<ArgumentList> result;
BOOST_FOREACH(const ArgumentList& argList, argLists_) {
ArgumentList instArgList = argList.expandTemplate(ts);
result.push_back(instArgList);
}
return result;
}
/// Expand templates, imperative !
virtual void ExpandTemplate(const TemplateSubstitution& ts) {
argLists_ = expandArgumentListsTemplate(ts);
}
void verifyArguments(const std::vector<std::string>& validArgs,
const std::string s) const {
BOOST_FOREACH(const ArgumentList& argList, argLists_) {
BOOST_FOREACH(Argument arg, argList) {
std::string fullType = arg.type.qualifiedName("::");
if (find(validArgs.begin(), validArgs.end(), fullType)
== validArgs.end())
throw DependencyMissing(fullType, "checking argument of " + s);
}
}
}
friend std::ostream& operator<<(std::ostream& os,
const ArgumentOverloads& overloads) {
BOOST_FOREACH(const ArgumentList& argList, overloads.argLists_)
os << argList << std::endl;
return os;
}
};
class OverloadedFunction: public Function, public ArgumentOverloads {
public:
bool addOverload(const std::string& name, const ArgumentList& args,
const Qualified& instName = Qualified(), bool verbose = false) {
bool first = initializeOrCheck(name, instName, verbose);
ArgumentOverloads::push_back(args);
return first;
}
private:
};
// Templated checking functions
// TODO: do this via polymorphism, use transform ?
template<class F>
static std::map<std::string, F> expandMethodTemplate(
const std::map<std::string, F>& methods, const TemplateSubstitution& ts) {
std::map<std::string, F> result;
typedef std::pair<const std::string, F> NamedMethod;
BOOST_FOREACH(NamedMethod namedMethod, methods) {
F instMethod = namedMethod.second;
instMethod.expandTemplate(ts);
namedMethod.second = instMethod;
result.insert(namedMethod);
}
return result;
}
template<class F>
inline void verifyArguments(const std::vector<std::string>& validArgs,
const std::map<std::string, F>& vt) {
typedef typename std::map<std::string, F>::value_type NamedMethod;
BOOST_FOREACH(const NamedMethod& namedMethod, vt)
namedMethod.second.verifyArguments(validArgs);
}
} // \namespace wrap

77
wrap/Qualified.h Normal file
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@ -0,0 +1,77 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file Qualified.h
* @brief Qualified name
* @author Frank Dellaert
* @date Nov 11, 2014
**/
#pragma once
#include <string>
#include <vector>
namespace wrap {
/**
* Class to encapuslate a qualified name, i.e., with (nested) namespaces
*/
struct Qualified {
std::vector<std::string> namespaces; ///< Stack of namespaces
std::string name; ///< type name
Qualified(const std::string& name_ = "") :
name(name_) {
}
bool empty() const {
return namespaces.empty() && name.empty();
}
void clear() {
namespaces.clear();
name.clear();
}
bool operator!=(const Qualified& other) const {
return other.name != name || other.namespaces != namespaces;
}
/// Return a qualified string using given delimiter
std::string qualifiedName(const std::string& delimiter = "") const {
std::string result;
for (std::size_t i = 0; i < namespaces.size(); ++i)
result += (namespaces[i] + delimiter);
result += name;
return result;
}
/// Return a matlab file name, i.e. "toolboxPath/+ns1/+ns2/name.m"
std::string matlabName(const std::string& toolboxPath) const {
std::string result = toolboxPath;
for (std::size_t i = 0; i < namespaces.size(); ++i)
result += ("/+" + namespaces[i]);
result += "/" + name + ".m";
return result;
}
friend std::ostream& operator<<(std::ostream& os, const Qualified& q) {
os << q.qualifiedName("::");
return os;
}
};
} // \namespace wrap

61
wrap/ReturnType.cpp Normal file
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@ -0,0 +1,61 @@
/**
* @file ReturnType.cpp
* @date Nov 13, 2014
* @author Frank Dellaert
*/
#include "ReturnType.h"
#include "utilities.h"
#include <boost/foreach.hpp>
#include <iostream>
using namespace std;
using namespace wrap;
/* ************************************************************************* */
string ReturnType::str(bool add_ptr) const {
return maybe_shared_ptr(add_ptr && isPtr, qualifiedName("::"), name);
}
/* ************************************************************************* */
void ReturnType::wrap_result(const string& out, const string& result,
FileWriter& wrapperFile, const TypeAttributesTable& typeAttributes) const {
string cppType = qualifiedName("::"), matlabType = qualifiedName(".");
if (category == CLASS) {
string objCopy, ptrType;
ptrType = "Shared" + name;
const bool isVirtual = typeAttributes.at(cppType).isVirtual;
if (isVirtual) {
if (isPtr)
objCopy = result;
else
objCopy = result + ".clone()";
} else {
if (isPtr)
objCopy = result;
else
objCopy = ptrType + "(new " + cppType + "(" + result + "))";
}
wrapperFile.oss << out << " = wrap_shared_ptr(" << objCopy << ",\""
<< matlabType << "\", " << (isVirtual ? "true" : "false") << ");\n";
} else if (isPtr) {
wrapperFile.oss << " Shared" << name << "* ret = new Shared" << name << "("
<< result << ");" << endl;
wrapperFile.oss << out << " = wrap_shared_ptr(ret,\"" << matlabType
<< "\");\n";
} else if (matlabType != "void")
wrapperFile.oss << out << " = wrap< " << str(false) << " >(" << result
<< ");\n";
}
/* ************************************************************************* */
void ReturnType::wrapTypeUnwrap(FileWriter& wrapperFile) const {
if (category == CLASS)
wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedName("::")
<< "> Shared" << name << ";" << endl;
}
/* ************************************************************************* */

67
wrap/ReturnType.h Normal file
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@ -0,0 +1,67 @@
/**
* @file ReturnValue.h
* @brief Encapsulates a return type of a method
* @date Nov 13, 2014
* @author Frank Dellaert
*/
#include "Qualified.h"
#include "FileWriter.h"
#include "TypeAttributesTable.h"
#include "utilities.h"
#pragma once
namespace wrap {
/**
* Encapsulates return value of a method or function
*/
struct ReturnType: Qualified {
/// the different supported return value categories
typedef enum {
CLASS = 1, EIGEN = 2, BASIS = 3, VOID = 4
} return_category;
bool isPtr;
return_category category;
ReturnType() :
isPtr(false), category(CLASS) {
}
ReturnType(const std::string& name) :
isPtr(false), category(CLASS) {
Qualified::name = name;
}
void rename(const Qualified& q) {
name = q.name;
namespaces = q.namespaces;
}
/// Check if this type is in a set of valid types
template<class TYPES>
void verify(TYPES validtypes, const std::string& s) const {
std::string key = qualifiedName("::");
if (find(validtypes.begin(), validtypes.end(), key) == validtypes.end())
throw DependencyMissing(key, "checking return type of " + s);
}
private:
friend struct ReturnValue;
std::string str(bool add_ptr) const;
/// Example: out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
void wrap_result(const std::string& out, const std::string& result,
FileWriter& wrapperFile, const TypeAttributesTable& typeAttributes) const;
/// Creates typedef
void wrapTypeUnwrap(FileWriter& wrapperFile) const;
};
} // \namespace wrap

151
wrap/ReturnValue.cpp
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@ -1,153 +1,72 @@
/**
* @file ReturnValue.cpp
*
* @date Dec 1, 2011
* @author Alex Cunningham
* @author Andrew Melim
* @author Richard Roberts
*/
#include <boost/foreach.hpp>
#include "ReturnValue.h"
#include "utilities.h"
#include <boost/foreach.hpp>
#include <iostream>
using namespace std;
using namespace wrap;
/* ************************************************************************* */
string ReturnValue::return_type(bool add_ptr, pairing p) const {
if (p==pair && isPair) {
string str = "pair< " +
maybe_shared_ptr(add_ptr || isPtr1, qualifiedType1("::"), type1) + ", " +
maybe_shared_ptr(add_ptr || isPtr2, qualifiedType2("::"), type2) + " >";
return str;
} else
return maybe_shared_ptr(add_ptr && isPtr1, (p==arg2)? qualifiedType2("::") : qualifiedType1("::"), (p==arg2)? type2 : type1);
ReturnValue ReturnValue::expandTemplate(const TemplateSubstitution& ts) const {
ReturnValue instRetVal = *this;
instRetVal.type1 = ts(type1);
if (isPair)
instRetVal.type2 = ts(type2);
return instRetVal;
}
/* ************************************************************************* */
string ReturnValue::return_type(bool add_ptr) const {
if (isPair)
return "pair< " + type1.str(add_ptr) + ", " + type2.str(add_ptr) + " >";
else
return type1.str(add_ptr);
}
/* ************************************************************************* */
string ReturnValue::matlab_returnType() const {
return isPair? "[first,second]" : "result";
return isPair ? "[first,second]" : "result";
}
/* ************************************************************************* */
string ReturnValue::qualifiedType1(const string& delim) const {
string result;
BOOST_FOREACH(const string& ns, namespaces1) result += ns + delim;
return result + type1;
}
/* ************************************************************************* */
string ReturnValue::qualifiedType2(const string& delim) const {
string result;
BOOST_FOREACH(const string& ns, namespaces2) result += ns + delim;
return result + type2;
}
/* ************************************************************************* */
//TODO:Fix this
void ReturnValue::wrap_result(const string& result, FileWriter& file, const TypeAttributesTable& typeAttributes) const {
string cppType1 = qualifiedType1("::"), matlabType1 = qualifiedType1(".");
string cppType2 = qualifiedType2("::"), matlabType2 = qualifiedType2(".");
void ReturnValue::wrap_result(const string& result, FileWriter& wrapperFile,
const TypeAttributesTable& typeAttributes) const {
if (isPair) {
// For a pair, store the returned pair so we do not evaluate the function twice
file.oss << " " << return_type(false, pair) << " pairResult = " << result << ";\n";
// first return value in pair
if (category1 == ReturnValue::CLASS) { // if we are going to make one
string objCopy, ptrType;
ptrType = "Shared" + type1;
const bool isVirtual = typeAttributes.at(cppType1).isVirtual;
if(isVirtual) {
if(isPtr1)
objCopy = "pairResult.first";
else
objCopy = "pairResult.first.clone()";
} else {
if(isPtr1)
objCopy = "pairResult.first";
else
objCopy = ptrType + "(new " + cppType1 + "(pairResult.first))";
}
file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n";
} else if(isPtr1) {
file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(pairResult.first);" << endl;
file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\", false);\n";
} else // if basis type
file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(pairResult.first);\n";
// second return value in pair
if (category2 == ReturnValue::CLASS) { // if we are going to make one
string objCopy, ptrType;
ptrType = "Shared" + type2;
const bool isVirtual = typeAttributes.at(cppType2).isVirtual;
if(isVirtual) {
if(isPtr2)
objCopy = "pairResult.second";
else
objCopy = "pairResult.second.clone()";
} else {
if(isPtr2)
objCopy = "pairResult.second";
else
objCopy = ptrType + "(new " + cppType2 + "(pairResult.second))";
}
file.oss << " out[1] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType2 << "\", " << (isVirtual ? "true" : "false") << ");\n";
} else if(isPtr2) {
file.oss << " Shared" << type2 <<"* ret = new Shared" << type2 << "(pairResult.second);" << endl;
file.oss << " out[1] = wrap_shared_ptr(ret,\"" << matlabType2 << "\");\n";
} else
file.oss << " out[1] = wrap< " << return_type(true,arg2) << " >(pairResult.second);\n";
wrapperFile.oss << " " << return_type(true) << " pairResult = " << result
<< ";\n";
type1.wrap_result(" out[0]", "pairResult.first", wrapperFile,
typeAttributes);
type2.wrap_result(" out[1]", "pairResult.second", wrapperFile,
typeAttributes);
} else { // Not a pair
if (category1 == ReturnValue::CLASS) {
string objCopy, ptrType;
ptrType = "Shared" + type1;
const bool isVirtual = typeAttributes.at(cppType1).isVirtual;
if(isVirtual) {
if(isPtr1)
objCopy = result;
else
objCopy = result + ".clone()";
} else {
if(isPtr1)
objCopy = result;
else
objCopy = ptrType + "(new " + cppType1 + "(" + result + "))";
}
file.oss << " out[0] = wrap_shared_ptr(" << objCopy << ",\"" << matlabType1 << "\", " << (isVirtual ? "true" : "false") << ");\n";
} else if(isPtr1) {
file.oss << " Shared" << type1 <<"* ret = new Shared" << type1 << "(" << result << ");" << endl;
file.oss << " out[0] = wrap_shared_ptr(ret,\"" << matlabType1 << "\");\n";
} else if (matlabType1!="void")
file.oss << " out[0] = wrap< " << return_type(true,arg1) << " >(" << result << ");\n";
type1.wrap_result(" out[0]", result, wrapperFile, typeAttributes);
}
}
/* ************************************************************************* */
void ReturnValue::wrapTypeUnwrap(FileWriter& wrapperFile) const {
if(isPair)
{
if(category1 == ReturnValue::CLASS)
wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType1("::") << "> Shared" << type1 << ";"<< endl;
if(category2 == ReturnValue::CLASS)
wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType2("::") << "> Shared" << type2 << ";"<< endl;
}
else {
if (category1 == ReturnValue::CLASS)
wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedType1("::") << "> Shared" << type1 << ";"<< endl;
}
type1.wrapTypeUnwrap(wrapperFile);
if (isPair)
type2.wrapTypeUnwrap(wrapperFile);
}
/* ************************************************************************* */
void ReturnValue::emit_matlab(FileWriter& file) const {
void ReturnValue::emit_matlab(FileWriter& proxyFile) const {
string output;
if (isPair)
file.oss << "[ varargout{1} varargout{2} ] = ";
else if (category1 != ReturnValue::VOID)
file.oss << "varargout{1} = ";
proxyFile.oss << "[ varargout{1} varargout{2} ] = ";
else if (type1.category != ReturnType::VOID)
proxyFile.oss << "varargout{1} = ";
}
/* ************************************************************************* */

48
wrap/ReturnValue.h
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@ -2,59 +2,61 @@
* @file ReturnValue.h
*
* @brief Encapsulates a return value from a method
*
* @date Dec 1, 2011
* @author Alex Cunningham
* @author Richard Roberts
*/
#include "ReturnType.h"
#include "TemplateSubstitution.h"
#include "FileWriter.h"
#include "TypeAttributesTable.h"
#include <vector>
#include "utilities.h"
#pragma once
namespace wrap {
/**
* Encapsulates return value of a method or function
* Encapsulates return type of a method or function, possibly a pair
*/
struct ReturnValue {
/// the different supported return value categories
typedef enum {
CLASS = 1, EIGEN = 2, BASIS = 3, VOID = 4
} return_category;
bool isPtr1, isPtr2, isPair;
return_category category1, category2;
std::string type1, type2;
std::vector<std::string> namespaces1, namespaces2;
bool isPair;
ReturnType type1, type2;
/// Constructor
ReturnValue() :
isPtr1(false), isPtr2(false), isPair(false), category1(CLASS), category2(
CLASS) {
isPair(false) {
}
typedef enum {
arg1, arg2, pair
} pairing;
/// Constructor
ReturnValue(const ReturnType& type) :
isPair(false), type1(type) {
}
std::string return_type(bool add_ptr, pairing p) const;
/// Substitute template argument
ReturnValue expandTemplate(const TemplateSubstitution& ts) const;
std::string qualifiedType1(const std::string& delim = "") const;
std::string qualifiedType2(const std::string& delim = "") const;
std::string return_type(bool add_ptr) const;
std::string matlab_returnType() const;
void wrap_result(const std::string& result, FileWriter& file,
void wrap_result(const std::string& result, FileWriter& wrapperFile,
const TypeAttributesTable& typeAttributes) const;
void wrapTypeUnwrap(FileWriter& wrapperFile) const;
void emit_matlab(FileWriter& file) const;
void emit_matlab(FileWriter& proxyFile) const;
friend std::ostream& operator<<(std::ostream& os, const ReturnValue& r) {
if (!r.isPair && r.type1.category == ReturnType::VOID)
os << "void";
else
os << r.return_type(true);
return os;
}
};
} // \namespace wrap

170
wrap/StaticMethod.cpp
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@ -16,7 +16,7 @@
* @author Richard Roberts
**/
#include "StaticMethod.h"
#include "Method.h"
#include "utilities.h"
#include <boost/foreach.hpp>
@ -30,117 +30,145 @@ using namespace std;
using namespace wrap;
/* ************************************************************************* */
void StaticMethod::addOverload(bool verbose, const std::string& name,
const ArgumentList& args, const ReturnValue& retVal) {
this->verbose = verbose;
this->name = name;
this->argLists.push_back(args);
this->returnVals.push_back(retVal);
void StaticMethod::proxy_header(FileWriter& proxyFile) const {
string upperName = matlabName();
upperName[0] = toupper(upperName[0], locale());
proxyFile.oss << " function varargout = " << upperName << "(varargin)\n";
}
/* ************************************************************************* */
void StaticMethod::proxy_wrapper_fragments(FileWriter& file,
FileWriter& wrapperFile, const string& cppClassName,
const std::string& matlabQualName, const std::string& matlabUniqueName,
const string& wrapperName, const TypeAttributesTable& typeAttributes,
void StaticMethod::proxy_wrapper_fragments(FileWriter& proxyFile,
FileWriter& wrapperFile, Str cppClassName, Str matlabQualName,
Str matlabUniqueName, Str wrapperName,
const TypeAttributesTable& typeAttributes,
vector<string>& functionNames) const {
string upperName = name;
upperName[0] = std::toupper(upperName[0], std::locale());
// emit header, e.g., function varargout = templatedMethod(this, varargin)
proxy_header(proxyFile);
file.oss << " function varargout = " << upperName << "(varargin)\n";
//Comments for documentation
string up_name = boost::to_upper_copy(name);
file.oss << " % " << up_name << " usage: ";
unsigned int argLCount = 0;
BOOST_FOREACH(ArgumentList argList, argLists) {
argList.emit_prototype(file, name);
if (argLCount != argLists.size() - 1)
file.oss << ", ";
else
file.oss << " : returns "
<< returnVals[0].return_type(false, returnVals[0].pair) << endl;
argLCount++;
}
// Emit comments for documentation
string up_name = boost::to_upper_copy(matlabName());
proxyFile.oss << " % " << up_name << " usage: ";
usage_fragment(proxyFile, matlabName());
file.oss << " % "
// Emit URL to Doxygen page
proxyFile.oss << " % "
<< "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html"
<< endl;
file.oss << " % " << "" << endl;
file.oss << " % " << "Usage" << endl;
BOOST_FOREACH(ArgumentList argList, argLists) {
file.oss << " % ";
argList.emit_prototype(file, up_name);
file.oss << endl;
}
// Check arguments for all overloads
for (size_t overload = 0; overload < argLists.size(); ++overload) {
// Handle special case of single overload with all numeric arguments
if (nrOverloads() == 1 && argumentList(0).allScalar()) {
// Output proxy matlab code
file.oss << " " << (overload == 0 ? "" : "else");
// TODO: document why is it OK to not check arguments in this case
proxyFile.oss << " ";
const int id = (int) functionNames.size();
argLists[overload].emit_conditional_call(file, returnVals[overload],
wrapperName, id, true); // last bool is to indicate static !
argumentList(0).emit_call(proxyFile, returnValue(0), wrapperName, id,
isStatic());
// Output C++ wrapper code
const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
matlabUniqueName, (int) overload, id, typeAttributes);
matlabUniqueName, 0, id, typeAttributes, templateArgValue_);
// Add to function list
functionNames.push_back(wrapFunctionName);
} else {
// Check arguments for all overloads
for (size_t i = 0; i < nrOverloads(); ++i) {
// Output proxy matlab code
proxyFile.oss << " " << (i == 0 ? "" : "else");
const int id = (int) functionNames.size();
argumentList(i).emit_conditional_call(proxyFile, returnValue(i),
wrapperName, id, isStatic());
// Output C++ wrapper code
const string wrapFunctionName = wrapper_fragment(wrapperFile,
cppClassName, matlabUniqueName, i, id, typeAttributes,
templateArgValue_);
// Add to function list
functionNames.push_back(wrapFunctionName);
}
file.oss << " else\n";
file.oss << " error('Arguments do not match any overload of function "
<< matlabQualName << "." << upperName << "');" << endl;
file.oss << " end\n";
proxyFile.oss << " else\n";
proxyFile.oss
<< " error('Arguments do not match any overload of function "
<< matlabQualName << "." << name_ << "');" << endl;
proxyFile.oss << " end\n";
}
file.oss << " end\n";
proxyFile.oss << " end\n";
}
/* ************************************************************************* */
string StaticMethod::wrapper_fragment(FileWriter& file,
const string& cppClassName, const string& matlabUniqueName, int overload,
int id, const TypeAttributesTable& typeAttributes) const {
string StaticMethod::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, int overload, int id,
const TypeAttributesTable& typeAttributes,
const Qualified& instName) const {
// generate code
const string wrapFunctionName = matlabUniqueName + "_" + name + "_"
const string wrapFunctionName = matlabUniqueName + "_" + name_ + "_"
+ boost::lexical_cast<string>(id);
const ArgumentList& args = argLists[overload];
const ReturnValue& returnVal = returnVals[overload];
const ArgumentList& args = argumentList(overload);
const ReturnValue& returnVal = returnValue(overload);
// call
file.oss << "void " << wrapFunctionName
wrapperFile.oss << "void " << wrapFunctionName
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
// start
file.oss << "{\n";
wrapperFile.oss << "{\n";
returnVal.wrapTypeUnwrap(file);
returnVal.wrapTypeUnwrap(wrapperFile);
file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;"
<< endl;
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName
<< "> Shared;" << endl;
// check arguments
// NOTE: for static functions, there is no object passed
file.oss << " checkArguments(\"" << matlabUniqueName << "." << name
<< "\",nargout,nargin," << args.size() << ");\n";
// get call
// for static methods: cppClassName::staticMethod<TemplateVal>
// for instance methods: obj->instanceMethod<TemplateVal>
string expanded = wrapper_call(wrapperFile, cppClassName, matlabUniqueName,
args, returnVal, typeAttributes, instName);
// unwrap arguments, see Argument.cpp
args.matlab_unwrap(file, 0); // We start at 0 because there is no self object
// call method with default type and wrap result
if (returnVal.type1 != "void")
returnVal.wrap_result(cppClassName + "::" + name + "(" + args.names() + ")",
file, typeAttributes);
expanded += ("(" + args.names() + ")");
if (returnVal.type1.name != "void")
returnVal.wrap_result(expanded, wrapperFile, typeAttributes);
else
file.oss << cppClassName + "::" + name + "(" + args.names() + ");\n";
wrapperFile.oss << " " + expanded + ";\n";
// finish
file.oss << "}\n";
wrapperFile.oss << "}\n";
return wrapFunctionName;
}
/* ************************************************************************* */
string StaticMethod::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, const ArgumentList& args,
const ReturnValue& returnVal, const TypeAttributesTable& typeAttributes,
const Qualified& instName) const {
// check arguments
// NOTE: for static functions, there is no object passed
wrapperFile.oss << " checkArguments(\"" << matlabUniqueName << "." << name_
<< "\",nargout,nargin," << args.size() << ");\n";
// unwrap arguments, see Argument.cpp
args.matlab_unwrap(wrapperFile, 0); // We start at 0 because there is no self object
// call method and wrap result
// example: out[0]=wrap<bool>(staticMethod(t));
string expanded = cppClassName + "::" + name_;
if (!instName.empty())
expanded += ("<" + instName.qualifiedName("::") + ">");
return expanded;
}
/* ************************************************************************* */
void StaticMethod::python_wrapper(FileWriter& wrapperFile,
Str className) const {
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className << "::" << name_
<< ");\n";
}
/* ************************************************************************* */

65
wrap/StaticMethod.h
View File

@ -19,44 +19,61 @@
#pragma once
#include "Argument.h"
#include "ReturnValue.h"
#include "TypeAttributesTable.h"
#include "FullyOverloadedFunction.h"
namespace wrap {
/// StaticMethod class
struct StaticMethod {
struct StaticMethod: public FullyOverloadedFunction {
/// Constructor creates empty object
StaticMethod(bool verbosity = true) :
verbose(verbosity) {
typedef const std::string& Str;
virtual bool isStatic() const {
return true;
}
// Then the instance variables are set directly by the Module constructor
bool verbose;
std::string name;
std::vector<ArgumentList> argLists;
std::vector<ReturnValue> returnVals;
// emit a list of comments, one for each overload
void comment_fragment(FileWriter& proxyFile) const {
SignatureOverloads::comment_fragment(proxyFile, matlabName());
}
// The first time this function is called, it initializes the class members
// with those in rhs, but in subsequent calls it adds additional argument
// lists as function overloads.
void addOverload(bool verbose, const std::string& name,
const ArgumentList& args, const ReturnValue& retVal);
void verifyArguments(const std::vector<std::string>& validArgs) const {
SignatureOverloads::verifyArguments(validArgs, name_);
}
void verifyReturnTypes(const std::vector<std::string>& validtypes) const {
SignatureOverloads::verifyReturnTypes(validtypes, name_);
}
// MATLAB code generation
// classPath is class directory, e.g., ../matlab/@Point2
void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& cppClassName, const std::string& matlabQualName,
const std::string& matlabUniqueName, const std::string& wrapperName,
const TypeAttributesTable& typeAttributes,
Str cppClassName, Str matlabQualName, Str matlabUniqueName,
Str wrapperName, const TypeAttributesTable& typeAttributes,
std::vector<std::string>& functionNames) const;
private:
std::string wrapper_fragment(FileWriter& file,
const std::string& cppClassName, const std::string& matlabUniqueName,
int overload, int id, const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper
// emit python wrapper
void python_wrapper(FileWriter& wrapperFile, Str className) const;
friend std::ostream& operator<<(std::ostream& os, const StaticMethod& m) {
for (size_t i = 0; i < m.nrOverloads(); i++)
os << "static " << m.returnVals_[i] << " " << m.name_ << m.argLists_[i];
return os;
}
protected:
virtual void proxy_header(FileWriter& proxyFile) const;
std::string wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, int overload, int id,
const TypeAttributesTable& typeAttributes, const Qualified& instName =
Qualified()) const; ///< cpp wrapper
virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
Str matlabUniqueName, const ArgumentList& args,
const ReturnValue& returnVal, const TypeAttributesTable& typeAttributes,
const Qualified& instName) const;
};
} // \namespace wrap

43
wrap/TemplateInstantiationTypedef.cpp
View File

@ -19,43 +19,50 @@
#include "TemplateInstantiationTypedef.h"
#include "utilities.h"
#include <iostream>
#include <boost/foreach.hpp>
#include <boost/optional.hpp>
using namespace std;
namespace wrap {
Class TemplateInstantiationTypedef::findAndExpand(const vector<Class>& classes) const {
Class TemplateInstantiationTypedef::findAndExpand(
const vector<Class>& classes) const {
// Find matching class
std::vector<Class>::const_iterator clsIt = classes.end();
for(std::vector<Class>::const_iterator it = classes.begin(); it != classes.end(); ++it) {
if(it->name == className && it->namespaces == classNamespaces && it->templateArgs.size() == typeList.size()) {
clsIt = it;
boost::optional<Class const &> matchedClass;
BOOST_FOREACH(const Class& cls, classes) {
if (cls.name == class_.name && cls.namespaces == class_.namespaces
&& cls.templateArgs.size() == typeList.size()) {
matchedClass.reset(cls);
break;
}
}
if(clsIt == classes.end())
throw DependencyMissing(wrap::qualifiedName("::", classNamespaces, className),
"instantiation into typedef name " + wrap::qualifiedName("::", namespaces, name) +
". Ensure that the typedef provides the correct number of template arguments.");
if (!matchedClass)
throw DependencyMissing(class_.qualifiedName("::"),
"instantiation into typedef name " + qualifiedName("::")
+ ". Ensure that the typedef provides the correct number of template arguments.");
// Instantiate it
Class classInst = *clsIt;
for(size_t i = 0; i < typeList.size(); ++i)
classInst = classInst.expandTemplate(classInst.templateArgs[i], typeList[i], namespaces, name);
Class classInst = *matchedClass;
for (size_t i = 0; i < typeList.size(); ++i) {
TemplateSubstitution ts(classInst.templateArgs[i], typeList[i], *this);
classInst = classInst.expandTemplate(ts);
}
// Fix class properties
classInst.name = name;
classInst.templateArgs.clear();
classInst.typedefName = clsIt->qualifiedName("::") + "<";
if(typeList.size() > 0)
classInst.typedefName += wrap::qualifiedName("::", typeList[0]);
for(size_t i = 1; i < typeList.size(); ++i)
classInst.typedefName += (", " + wrap::qualifiedName("::", typeList[i]));
classInst.typedefName = matchedClass->qualifiedName("::") + "<";
if (typeList.size() > 0)
classInst.typedefName += typeList[0].qualifiedName("::");
for (size_t i = 1; i < typeList.size(); ++i)
classInst.typedefName += (", " + typeList[i].qualifiedName("::"));
classInst.typedefName += ">";
classInst.namespaces = namespaces;
return classInst;
}
}
}

9
wrap/TemplateInstantiationTypedef.h
View File

@ -26,12 +26,9 @@
namespace wrap {
struct TemplateInstantiationTypedef {
std::vector<std::string> classNamespaces;
std::string className;
std::vector<std::string> namespaces;
std::string name;
std::vector<std::vector<std::string> > typeList;
struct TemplateInstantiationTypedef : public Qualified {
Qualified class_;
std::vector<Qualified> typeList;
Class findAndExpand(const std::vector<Class>& classes) const;
};

76
wrap/TemplateSubstitution.h Normal file
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@ -0,0 +1,76 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file TemplateSubstitution.h
* @brief Auxiliary class for template substitutions
* @author Frank Dellaert
* @date Nov 13, 2014
**/
#pragma once
#include "ReturnType.h"
#include <string>
#include <iostream>
namespace wrap {
/**
* e.g. TemplateSubstitution("T", gtsam::Point2, gtsam::PriorFactorPoint2)
*/
class TemplateSubstitution {
std::string templateArg_;
Qualified qualifiedType_, expandedClass_;
public:
TemplateSubstitution(const std::string& a, const Qualified& t,
const Qualified& e) :
templateArg_(a), qualifiedType_(t), expandedClass_(e) {
}
std::string expandedClassName() const {
return expandedClass_.name;
}
// Substitute if needed
Qualified operator()(const Qualified& type) const {
if (type.name == templateArg_ && type.namespaces.empty())
return qualifiedType_;
else if (type.name == "This")
return expandedClass_;
else
return type;
}
// Substitute if needed
ReturnType operator()(const ReturnType& type) const {
ReturnType instType = type;
if (type.name == templateArg_ && type.namespaces.empty())
instType.rename(qualifiedType_);
else if (type.name == "This")
instType.rename(expandedClass_);
return instType;
}
friend std::ostream& operator<<(std::ostream& os,
const TemplateSubstitution& ts) {
os << ts.templateArg_ << '/' << ts.qualifiedType_.qualifiedName("::")
<< " (" << ts.expandedClass_.qualifiedName("::") << ")";
return os;
}
};
} // \namespace wrap

14
wrap/TypeAttributesTable.cpp
View File

@ -46,12 +46,16 @@ namespace wrap {
void TypeAttributesTable::checkValidity(const vector<Class>& classes) const {
BOOST_FOREACH(const Class& cls, classes) {
// Check that class is virtual if it has a parent
if(!cls.qualifiedParent.empty() && !cls.isVirtual)
throw AttributeError(cls.qualifiedName("::"), "Has a base class so needs to be declared virtual, change to 'virtual class "+cls.name+" ...'");
if (!cls.qualifiedParent.empty() && !cls.isVirtual)
throw AttributeError(cls.qualifiedName("::"),
"Has a base class so needs to be declared virtual, change to 'virtual class "
+ cls.name + " ...'");
// Check that parent is virtual as well
if(!cls.qualifiedParent.empty() && !at(wrap::qualifiedName("::", cls.qualifiedParent)).isVirtual)
throw AttributeError(wrap::qualifiedName("::", cls.qualifiedParent),
"Is the base class of " + cls.qualifiedName("::") + ", so needs to be declared virtual");
Qualified parent = cls.qualifiedParent;
if (!parent.empty() && !at(parent.qualifiedName("::")).isVirtual)
throw AttributeError(parent.qualifiedName("::"),
"Is the base class of " + cls.qualifiedName("::")
+ ", so needs to be declared virtual");
}
}

2
wrap/TypeAttributesTable.h
View File

@ -28,7 +28,7 @@
namespace wrap {
// Forward declarations
struct Class;
class Class;
/** Attributes about valid classes, both for classes defined in this module and
* also those forward-declared from others. At the moment this only contains

83
wrap/tests/expected-python/geometry_python.cpp Normal file
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@ -0,0 +1,83 @@
#include <boost/python.hpp>
using namespace boost::python;
BOOST_PYTHON_MODULE(geometry)
{
class_<Point2>("Point2")
.def("Point2", &Point2::Point2);
.def("argChar", &Point2::argChar);
.def("argUChar", &Point2::argUChar);
.def("dim", &Point2::dim);
.def("returnChar", &Point2::returnChar);
.def("vectorConfusion", &Point2::vectorConfusion);
.def("x", &Point2::x);
.def("y", &Point2::y);
;
class_<Point3>("Point3")
.def("Point3", &Point3::Point3);
.def("StaticFunctionRet", &Point3::StaticFunctionRet);
.def("staticFunction", &Point3::staticFunction);
.def("norm", &Point3::norm);
;
class_<Test>("Test")
.def("Test", &Test::Test);
.def("arg_EigenConstRef", &Test::arg_EigenConstRef);
.def("create_MixedPtrs", &Test::create_MixedPtrs);
.def("create_ptrs", &Test::create_ptrs);
.def("print", &Test::print);
.def("return_Point2Ptr", &Test::return_Point2Ptr);
.def("return_Test", &Test::return_Test);
.def("return_TestPtr", &Test::return_TestPtr);
.def("return_bool", &Test::return_bool);
.def("return_double", &Test::return_double);
.def("return_field", &Test::return_field);
.def("return_int", &Test::return_int);
.def("return_matrix1", &Test::return_matrix1);
.def("return_matrix2", &Test::return_matrix2);
.def("return_pair", &Test::return_pair);
.def("return_ptrs", &Test::return_ptrs);
.def("return_size_t", &Test::return_size_t);
.def("return_string", &Test::return_string);
.def("return_vector1", &Test::return_vector1);
.def("return_vector2", &Test::return_vector2);
;
class_<MyBase>("MyBase")
.def("MyBase", &MyBase::MyBase);
;
class_<MyTemplatePoint2>("MyTemplatePoint2")
.def("MyTemplatePoint2", &MyTemplatePoint2::MyTemplatePoint2);
.def("accept_T", &MyTemplatePoint2::accept_T);
.def("accept_Tptr", &MyTemplatePoint2::accept_Tptr);
.def("create_MixedPtrs", &MyTemplatePoint2::create_MixedPtrs);
.def("create_ptrs", &MyTemplatePoint2::create_ptrs);
.def("return_T", &MyTemplatePoint2::return_T);
.def("return_Tptr", &MyTemplatePoint2::return_Tptr);
.def("return_ptrs", &MyTemplatePoint2::return_ptrs);
.def("templatedMethod", &MyTemplatePoint2::templatedMethod);
.def("templatedMethod", &MyTemplatePoint2::templatedMethod);
;
class_<MyTemplatePoint3>("MyTemplatePoint3")
.def("MyTemplatePoint3", &MyTemplatePoint3::MyTemplatePoint3);
.def("accept_T", &MyTemplatePoint3::accept_T);
.def("accept_Tptr", &MyTemplatePoint3::accept_Tptr);
.def("create_MixedPtrs", &MyTemplatePoint3::create_MixedPtrs);
.def("create_ptrs", &MyTemplatePoint3::create_ptrs);
.def("return_T", &MyTemplatePoint3::return_T);
.def("return_Tptr", &MyTemplatePoint3::return_Tptr);
.def("return_ptrs", &MyTemplatePoint3::return_ptrs);
.def("templatedMethod", &MyTemplatePoint3::templatedMethod);
.def("templatedMethod", &MyTemplatePoint3::templatedMethod);
;
class_<MyFactorPosePoint2>("MyFactorPosePoint2")
.def("MyFactorPosePoint2", &MyFactorPosePoint2::MyFactorPosePoint2);
;
def("aGlobalFunction", aGlobalFunction);
def("overloadedGlobalFunction", overloadedGlobalFunction);
}

90
wrap/tests/expected2/+gtsam/Point2.m Normal file
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@ -0,0 +1,90 @@
%class Point2, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%Point2()
%Point2(double x, double y)
%
%-------Methods-------
%argChar(char a) : returns void
%argUChar(unsigned char a) : returns void
%dim() : returns int
%returnChar() : returns char
%vectorConfusion() : returns VectorNotEigen
%x() : returns double
%y() : returns double
%
classdef Point2 < handle
properties
ptr_gtsamPoint2 = 0
end
methods
function obj = Point2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(0, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(1);
elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')
my_ptr = geometry_wrapper(2, varargin{1}, varargin{2});
else
error('Arguments do not match any overload of gtsam.Point2 constructor');
end
obj.ptr_gtsamPoint2 = my_ptr;
end
function delete(obj)
geometry_wrapper(3, obj.ptr_gtsamPoint2);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = argChar(this, varargin)
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
geometry_wrapper(4, this, varargin{:});
end
function varargout = argUChar(this, varargin)
% ARGUCHAR usage: argUChar(unsigned char a) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
geometry_wrapper(5, this, varargin{:});
end
function varargout = dim(this, varargin)
% DIM usage: dim() : returns int
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(6, this, varargin{:});
end
function varargout = returnChar(this, varargin)
% RETURNCHAR usage: returnChar() : returns char
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(7, this, varargin{:});
end
function varargout = vectorConfusion(this, varargin)
% VECTORCONFUSION usage: vectorConfusion() : returns VectorNotEigen
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(8, this, varargin{:});
end
function varargout = x(this, varargin)
% X usage: x() : returns double
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(9, this, varargin{:});
end
function varargout = y(this, varargin)
% Y usage: y() : returns double
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(10, this, varargin{:});
end
end
methods(Static = true)
end
end

61
wrap/tests/expected2/+gtsam/Point3.m Normal file
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@ -0,0 +1,61 @@
%class Point3, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%Point3(double x, double y, double z)
%
%-------Methods-------
%norm() : returns double
%
%-------Static Methods-------
%StaticFunctionRet(double z) : returns gtsam::Point3
%staticFunction() : returns double
%
classdef Point3 < handle
properties
ptr_gtsamPoint3 = 0
end
methods
function obj = Point3(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(11, my_ptr);
elseif nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')
my_ptr = geometry_wrapper(12, varargin{1}, varargin{2}, varargin{3});
else
error('Arguments do not match any overload of gtsam.Point3 constructor');
end
obj.ptr_gtsamPoint3 = my_ptr;
end
function delete(obj)
geometry_wrapper(13, obj.ptr_gtsamPoint3);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = norm(this, varargin)
% NORM usage: norm() : returns double
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(14, this, varargin{:});
end
end
methods(Static = true)
function varargout = StaticFunctionRet(varargin)
% STATICFUNCTIONRET usage: StaticFunctionRet(double z) : returns gtsam::Point3
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(15, varargin{:});
end
function varargout = StaticFunction(varargin)
% STATICFUNCTION usage: staticFunction() : returns double
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
varargout{1} = geometry_wrapper(16, varargin{:});
end
end
end

35
wrap/tests/expected2/MyBase.m Normal file
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@ -0,0 +1,35 @@
%class MyBase, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
classdef MyBase < handle
properties
ptr_MyBase = 0
end
methods
function obj = MyBase(varargin)
if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void'))) && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(41, varargin{2});
end
geometry_wrapper(40, my_ptr);
else
error('Arguments do not match any overload of MyBase constructor');
end
obj.ptr_MyBase = my_ptr;
end
function delete(obj)
geometry_wrapper(42, obj.ptr_MyBase);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

36
wrap/tests/expected2/MyFactorPosePoint2.m Normal file
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%class MyFactorPosePoint2, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%MyFactorPosePoint2(size_t key1, size_t key2, double measured, Base noiseModel)
%
classdef MyFactorPosePoint2 < handle
properties
ptr_MyFactorPosePoint2 = 0
end
methods
function obj = MyFactorPosePoint2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(69, 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 = geometry_wrapper(70, varargin{1}, varargin{2}, varargin{3}, varargin{4});
else
error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
end
obj.ptr_MyFactorPosePoint2 = my_ptr;
end
function delete(obj)
geometry_wrapper(71, obj.ptr_MyFactorPosePoint2);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

134
wrap/tests/expected2/MyTemplatePoint2.m Normal file
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%class MyTemplatePoint2, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%MyTemplatePoint2()
%
%-------Methods-------
%accept_T(Point2 value) : returns void
%accept_Tptr(Point2 value) : returns void
%create_MixedPtrs() : returns pair< gtsam::Point2, gtsam::Point2 >
%create_ptrs() : returns pair< gtsam::Point2, gtsam::Point2 >
%return_T(Point2 value) : returns gtsam::Point2
%return_Tptr(Point2 value) : returns gtsam::Point2
%return_ptrs(Point2 p1, Point2 p2) : returns pair< gtsam::Point2, gtsam::Point2 >
%templatedMethodPoint2(Point2 t) : returns void
%templatedMethodPoint3(Point3 t) : returns void
%
classdef MyTemplatePoint2 < MyBase
properties
ptr_MyTemplatePoint2 = 0
end
methods
function obj = MyTemplatePoint2(varargin)
if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void'))) && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(44, varargin{2});
end
base_ptr = geometry_wrapper(43, my_ptr);
elseif nargin == 0
[ my_ptr, base_ptr ] = geometry_wrapper(45);
else
error('Arguments do not match any overload of MyTemplatePoint2 constructor');
end
obj = obj@MyBase(uint64(5139824614673773682), base_ptr);
obj.ptr_MyTemplatePoint2 = my_ptr;
end
function delete(obj)
geometry_wrapper(46, obj.ptr_MyTemplatePoint2);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = accept_T(this, varargin)
% ACCEPT_T usage: accept_T(Point2 value) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
geometry_wrapper(47, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.accept_T');
end
end
function varargout = accept_Tptr(this, varargin)
% ACCEPT_TPTR usage: accept_Tptr(Point2 value) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
geometry_wrapper(48, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.accept_Tptr');
end
end
function varargout = create_MixedPtrs(this, varargin)
% CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< gtsam::Point2, gtsam::Point2 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
[ varargout{1} varargout{2} ] = geometry_wrapper(49, this, varargin{:});
end
function varargout = create_ptrs(this, varargin)
% CREATE_PTRS usage: create_ptrs() : returns pair< gtsam::Point2, gtsam::Point2 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
[ varargout{1} varargout{2} ] = geometry_wrapper(50, this, varargin{:});
end
function varargout = return_T(this, varargin)
% RETURN_T usage: return_T(Point2 value) : returns gtsam::Point2
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
varargout{1} = geometry_wrapper(51, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.return_T');
end
end
function varargout = return_Tptr(this, varargin)
% RETURN_TPTR usage: return_Tptr(Point2 value) : returns gtsam::Point2
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
varargout{1} = geometry_wrapper(52, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.return_Tptr');
end
end
function varargout = return_ptrs(this, varargin)
% RETURN_PTRS usage: return_ptrs(Point2 p1, Point2 p2) : returns pair< gtsam::Point2, gtsam::Point2 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 2 && isa(varargin{1},'gtsam.Point2') && isa(varargin{2},'gtsam.Point2')
[ varargout{1} varargout{2} ] = geometry_wrapper(53, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.return_ptrs');
end
end
function varargout = templatedMethodPoint2(this, varargin)
% TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
geometry_wrapper(54, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethod');
end
end
function varargout = templatedMethodPoint3(this, varargin)
% TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
geometry_wrapper(55, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethod');
end
end
end
methods(Static = true)
end
end

134
wrap/tests/expected2/MyTemplatePoint3.m Normal file
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%class MyTemplatePoint3, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%MyTemplatePoint3()
%
%-------Methods-------
%accept_T(Point3 value) : returns void
%accept_Tptr(Point3 value) : returns void
%create_MixedPtrs() : returns pair< gtsam::Point3, gtsam::Point3 >
%create_ptrs() : returns pair< gtsam::Point3, gtsam::Point3 >
%return_T(Point3 value) : returns gtsam::Point3
%return_Tptr(Point3 value) : returns gtsam::Point3
%return_ptrs(Point3 p1, Point3 p2) : returns pair< gtsam::Point3, gtsam::Point3 >
%templatedMethodPoint2(Point2 t) : returns void
%templatedMethodPoint3(Point3 t) : returns void
%
classdef MyTemplatePoint3 < MyBase
properties
ptr_MyTemplatePoint3 = 0
end
methods
function obj = MyTemplatePoint3(varargin)
if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void'))) && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(57, varargin{2});
end
base_ptr = geometry_wrapper(56, my_ptr);
elseif nargin == 0
[ my_ptr, base_ptr ] = geometry_wrapper(58);
else
error('Arguments do not match any overload of MyTemplatePoint3 constructor');
end
obj = obj@MyBase(uint64(5139824614673773682), base_ptr);
obj.ptr_MyTemplatePoint3 = my_ptr;
end
function delete(obj)
geometry_wrapper(59, obj.ptr_MyTemplatePoint3);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = accept_T(this, varargin)
% ACCEPT_T usage: accept_T(Point3 value) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
geometry_wrapper(60, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.accept_T');
end
end
function varargout = accept_Tptr(this, varargin)
% ACCEPT_TPTR usage: accept_Tptr(Point3 value) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
geometry_wrapper(61, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.accept_Tptr');
end
end
function varargout = create_MixedPtrs(this, varargin)
% CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< gtsam::Point3, gtsam::Point3 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
[ varargout{1} varargout{2} ] = geometry_wrapper(62, this, varargin{:});
end
function varargout = create_ptrs(this, varargin)
% CREATE_PTRS usage: create_ptrs() : returns pair< gtsam::Point3, gtsam::Point3 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
[ varargout{1} varargout{2} ] = geometry_wrapper(63, this, varargin{:});
end
function varargout = return_T(this, varargin)
% RETURN_T usage: return_T(Point3 value) : returns gtsam::Point3
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
varargout{1} = geometry_wrapper(64, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.return_T');
end
end
function varargout = return_Tptr(this, varargin)
% RETURN_TPTR usage: return_Tptr(Point3 value) : returns gtsam::Point3
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
varargout{1} = geometry_wrapper(65, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.return_Tptr');
end
end
function varargout = return_ptrs(this, varargin)
% RETURN_PTRS usage: return_ptrs(Point3 p1, Point3 p2) : returns pair< gtsam::Point3, gtsam::Point3 >
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 2 && isa(varargin{1},'gtsam.Point3') && isa(varargin{2},'gtsam.Point3')
[ varargout{1} varargout{2} ] = geometry_wrapper(66, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.return_ptrs');
end
end
function varargout = templatedMethodPoint2(this, varargin)
% TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point2')
geometry_wrapper(67, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.templatedMethod');
end
end
function varargout = templatedMethodPoint3(this, varargin)
% TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns void
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'gtsam.Point3')
geometry_wrapper(68, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.templatedMethod');
end
end
end
methods(Static = true)
end
end

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