Starting down the path of a templated method

wrap/Module.cpp

@@ -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 a number of template arguments were given, generate a number of expanded
-  if(instantiations.empty()) { 
+// class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
-    classes.push_back(cls); 
+static void handle_possible_template(vector<Class>& classes, const Class& cls,
-  } else { 
+    const string& templateArgument,
-    vector<Class> classInstantiations = cls.expandTemplate(templateArgument, instantiations); 
+    const vector<vector<string> >& instantiations) {
-    BOOST_FOREACH(const Class& c, classInstantiations) { 
+  if (instantiations.empty()) {
-      classes.push_back(c); 
+    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) 

wrap/tests/expected2/MyBase.m

@@ -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

wrap/tests/expected2/MyTemplatePoint2.m

@@ -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

wrap/tests/expected2/MyTemplatePoint3.m

@@ -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

wrap/tests/expected2/aGlobalFunction.m

@@ -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

wrap/tests/expected2/geometry_wrapper.cpp

@@ -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) {

wrap/tests/expected2/overloadedGlobalFunction.m

@@ -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

wrap/tests/geometry.h

@@ -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);
 };
 
 

wrap/tests/testWrap.cpp

@@ -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"    ));
 }