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Starting down the path of a templated method

release/4.3a0
dellaert 2014-11-11 22:38:50 +01:00
parent c66d6bd1a4
commit b8d9d5b6ca
9 changed files with 224 additions and 28 deletions
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45
wrap/Module.cpp
View File

@ -62,17 +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()) {
classes.push_back(cls);
} else {
vector<Class> classInstantiations = cls.expandTemplate(templateArgument, instantiations);
BOOST_FOREACH(const Class& c, classInstantiations) {
classes.push_back(c);
}
}
}
// 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 string& templateArgument,
const vector<vector<string> >& instantiations) {
if (instantiations.empty()) {
classes.push_back(cls);
} else {
vector<Class> classInstantiations = //
cls.expandTemplate(templateArgument, instantiations);
BOOST_FOREACH(const Class& c, classInstantiations)
classes.push_back(c);
}
}
/* ************************************************************************* */
Module::Module(const std::string& moduleName, bool enable_verbose)
: name(moduleName), verbose(enable_verbose)
@ -162,6 +166,8 @@ void Module::parseMarkup(const std::string& data) {
*(namespace_name_p[push_back_a(cls.qualifiedParent)] >> str_p("::")) >>
className_p[push_back_a(cls.qualifiedParent)];
// TODO: get rid of copy/paste below?
// parse "gtsam::Pose2" and add to templateInstantiations
vector<string> templateArgumentValue;
vector<vector<string> > templateInstantiations;
@ -180,6 +186,22 @@ void Module::parseMarkup(const std::string& data) {
'}' >> '>')
[push_back_a(cls.templateArgs, templateArgument)];
// parse "gtsam::Pose2" and add to methodInstantiations
vector<vector<string> > methodInstantiations;
Rule methodInstantiation_p =
(*(namespace_name_p[push_back_a(templateArgumentValue)] >> str_p("::")) >>
className_p[push_back_a(templateArgumentValue)])
[push_back_a(methodInstantiations, templateArgumentValue)]
[clear_a(templateArgumentValue)];
// template<CALIBRATION = {gtsam::Cal3DS2}>
string methodArgument;
Rule methodInstantiations_p =
(str_p("template") >>
'<' >> name_p[assign_a(methodArgument)] >> '=' >> '{' >>
!(methodInstantiation_p >> *(',' >> methodInstantiation_p)) >>
'}' >> '>');
// parse "gtsam::Pose2" and add to singleInstantiation.typeList
TemplateInstantiationTypedef singleInstantiation;
Rule templateSingleInstantiationArg_p =
@ -261,6 +283,7 @@ void Module::parseMarkup(const std::string& data) {
// gtsam::Values retract(const gtsam::VectorValues& delta) const;
Rule method_p =
!methodInstantiations_p >>
(returnType_p >> methodName_p[assign_a(methodName)] >>
'(' >> argumentList_p >> ')' >>
!str_p("const")[assign_a(isConst,true)] >> ';' >> *comments_p)

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

54
wrap/tests/expected2/MyTemplatePoint2.m Normal file
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@ -0,0 +1,54 @@
%class MyTemplatePoint2, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%MyTemplatePoint2()
%
%-------Methods-------
%templatedMethod(Test 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 = templatedMethod(this, varargin)
% TEMPLATEDMETHOD usage: templatedMethod(Test 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},'Test')
geometry_wrapper(47, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethod');
end
end
end
methods(Static = true)
end
end

54
wrap/tests/expected2/MyTemplatePoint3.m Normal file
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@ -0,0 +1,54 @@
%class MyTemplatePoint3, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%MyTemplatePoint3()
%
%-------Methods-------
%templatedMethod(Test 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(49, varargin{2});
end
base_ptr = geometry_wrapper(48, my_ptr);
elseif nargin == 0
[ my_ptr, base_ptr ] = geometry_wrapper(50);
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(51, 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 = templatedMethod(this, varargin)
% TEMPLATEDMETHOD usage: templatedMethod(Test 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},'Test')
geometry_wrapper(52, this, varargin{:});
else
error('Arguments do not match any overload of function MyTemplatePoint3.templatedMethod');
end
end
end
methods(Static = true)
end
end

2
wrap/tests/expected2/aGlobalFunction.m
View File

@ -1,6 +1,6 @@
function varargout = aGlobalFunction(varargin)
if length(varargin) == 0
varargout{1} = geometry_wrapper(51, varargin{:});
varargout{1} = geometry_wrapper(53, varargin{:});
else
error('Arguments do not match any overload of function aGlobalFunction');
end

52
wrap/tests/expected2/geometry_wrapper.cpp
View File

@ -579,7 +579,16 @@ void MyTemplatePoint2_deconstructor_46(int nargout, mxArray *out[], int nargin,
}
}
void MyTemplatePoint3_collectorInsertAndMakeBase_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyTemplatePoint2_templatedMethod_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplatePoint2> Shared;
checkArguments("templatedMethod",nargout,nargin-1,1);
Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");
obj->templatedMethod(t);
}
void MyTemplatePoint3_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplatePoint3> Shared;
@ -592,7 +601,7 @@ void MyTemplatePoint3_collectorInsertAndMakeBase_47(int nargout, mxArray *out[],
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}
void MyTemplatePoint3_upcastFromVoid_48(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
void MyTemplatePoint3_upcastFromVoid_49(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplatePoint3> Shared;
boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));
@ -601,7 +610,7 @@ void MyTemplatePoint3_upcastFromVoid_48(int nargout, mxArray *out[], int nargin,
*reinterpret_cast<Shared**>(mxGetData(out[0])) = self;
}
void MyTemplatePoint3_constructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyTemplatePoint3_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplatePoint3> Shared;
@ -616,7 +625,7 @@ void MyTemplatePoint3_constructor_49(int nargout, mxArray *out[], int nargin, co
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
}
void MyTemplatePoint3_deconstructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyTemplatePoint3_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplatePoint3> Shared;
checkArguments("delete_MyTemplatePoint3",nargout,nargin,1);
@ -629,18 +638,27 @@ void MyTemplatePoint3_deconstructor_50(int nargout, mxArray *out[], int nargin,
}
}
void aGlobalFunction_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyTemplatePoint3_templatedMethod_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplatePoint3> Shared;
checkArguments("templatedMethod",nargout,nargin-1,1);
Shared obj = unwrap_shared_ptr<MyTemplatePoint3>(in[0], "ptr_MyTemplatePoint3");
Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");
obj->templatedMethod(t);
}
void aGlobalFunction_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("aGlobalFunction",nargout,nargin,0);
out[0] = wrap< Vector >(aGlobalFunction());
}
void overloadedGlobalFunction_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void overloadedGlobalFunction_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,1);
int a = unwrap< int >(in[0]);
out[0] = wrap< Vector >(overloadedGlobalFunction(a));
}
void overloadedGlobalFunction_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void overloadedGlobalFunction_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,2);
int a = unwrap< int >(in[0]);
@ -801,25 +819,31 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
MyTemplatePoint2_deconstructor_46(nargout, out, nargin-1, in+1);
break;
case 47:
MyTemplatePoint3_collectorInsertAndMakeBase_47(nargout, out, nargin-1, in+1);
MyTemplatePoint2_templatedMethod_47(nargout, out, nargin-1, in+1);
break;
case 48:
MyTemplatePoint3_upcastFromVoid_48(nargout, out, nargin-1, in+1);
MyTemplatePoint3_collectorInsertAndMakeBase_48(nargout, out, nargin-1, in+1);
break;
case 49:
MyTemplatePoint3_constructor_49(nargout, out, nargin-1, in+1);
MyTemplatePoint3_upcastFromVoid_49(nargout, out, nargin-1, in+1);
break;
case 50:
MyTemplatePoint3_deconstructor_50(nargout, out, nargin-1, in+1);
MyTemplatePoint3_constructor_50(nargout, out, nargin-1, in+1);
break;
case 51:
aGlobalFunction_51(nargout, out, nargin-1, in+1);
MyTemplatePoint3_deconstructor_51(nargout, out, nargin-1, in+1);
break;
case 52:
overloadedGlobalFunction_52(nargout, out, nargin-1, in+1);
MyTemplatePoint3_templatedMethod_52(nargout, out, nargin-1, in+1);
break;
case 53:
overloadedGlobalFunction_53(nargout, out, nargin-1, in+1);
aGlobalFunction_53(nargout, out, nargin-1, in+1);
break;
case 54:
overloadedGlobalFunction_54(nargout, out, nargin-1, in+1);
break;
case 55:
overloadedGlobalFunction_55(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {

4
wrap/tests/expected2/overloadedGlobalFunction.m
View File

@ -1,8 +1,8 @@
function varargout = overloadedGlobalFunction(varargin)
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = geometry_wrapper(52, varargin{:});
varargout{1} = geometry_wrapper(54, varargin{:});
elseif length(varargin) == 2 && isa(varargin{1},'numeric') && isa(varargin{2},'double')
varargout{1} = geometry_wrapper(53, varargin{:});
varargout{1} = geometry_wrapper(55, varargin{:});
else
error('Arguments do not match any overload of function overloadedGlobalFunction');
end

3
wrap/tests/geometry.h
View File

@ -100,6 +100,9 @@ virtual class MyBase {
template<T = {Point2, Point3}>
virtual class MyTemplate : MyBase {
MyTemplate();
template<ARG = {Point2, Point3}>
void templatedMethod(const Test& t);
};

3
wrap/tests/testWrap.cpp
View File

@ -458,6 +458,9 @@ TEST( wrap, matlab_code_geometry ) {
EXPECT(files_equal(epath + "Point2.m" , apath + "Point2.m" ));
EXPECT(files_equal(epath + "Point3.m" , apath + "Point3.m" ));
EXPECT(files_equal(epath + "Test.m" , apath + "Test.m" ));
EXPECT(files_equal(epath + "MyBase.m" , apath + "MyBase.m" ));
EXPECT(files_equal(epath + "MyTemplatePoint2.m" , apath + "MyTemplatePoint2.m" ));
EXPECT(files_equal(epath + "MyTemplatePoint3.m" , apath + "MyTemplatePoint3.m" ));
EXPECT(files_equal(epath + "aGlobalFunction.m" , apath + "aGlobalFunction.m" ));
EXPECT(files_equal(epath + "overloadedGlobalFunction.m" , apath + "overloadedGlobalFunction.m" ));
}