From bcfcf8be8e3ad96282c9a7b645609af535629e27 Mon Sep 17 00:00:00 2001
From: lvzhaoyang <lvzhaoyang1990@gmail.com>
Date: Fri, 12 Dec 2014 11:34:34 -0500
Subject: [PATCH] fix gtsam wrapper for priorFactorVector

---
 gtsam.h                                   |  2 +-
 wrap/Argument.cpp                         |  6 +++---
 wrap/tests/expected2/geometry_wrapper.cpp |  2 +-
 wrap/tests/testClass.cpp                  | 22 ++++++++++++++++++++++
 4 files changed, 27 insertions(+), 5 deletions(-)

diff --git a/gtsam.h b/gtsam.h
index caac58750..25c34ebd1 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2154,7 +2154,7 @@ class NonlinearISAM {
 #include <gtsam/geometry/StereoPoint2.h>
 
 #include <gtsam/slam/PriorFactor.h>
-template<T = { Vector, Matrix, 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 = {Vector, 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;
diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp
index 1f57917d8..848998eb0 100644
--- a/wrap/Argument.cpp
+++ b/wrap/Argument.cpp
@@ -78,11 +78,11 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const {
   string cppType = type.qualifiedName("::");
   string matlabUniqueType = type.qualifiedName();
 
-  if (is_ptr)
+  if (is_ptr && type.category != Qualified::EIGEN)
     // A pointer: emit an "unwrap_shared_ptr" call which returns a pointer
     file.oss << "boost::shared_ptr<" << cppType << "> " << name
         << " = unwrap_shared_ptr< ";
-  else if (is_ref)
+  else if (is_ref && type.category != Qualified::EIGEN)
     // A reference: emit an "unwrap_shared_ptr" call and de-reference the pointer
     file.oss << cppType << "& " << name << " = *unwrap_shared_ptr< ";
   else
@@ -94,7 +94,7 @@ void Argument::matlab_unwrap(FileWriter& file, const string& matlabName) const {
     file.oss << cppType << " " << name << " = unwrap< ";
 
   file.oss << cppType << " >(" << matlabName;
-  if (is_ptr || is_ref)
+  if( (is_ptr || is_ref) && type.category != Qualified::EIGEN)
     file.oss << ", \"ptr_" << matlabUniqueType << "\"";
   file.oss << ");" << endl;
 }
diff --git a/wrap/tests/expected2/geometry_wrapper.cpp b/wrap/tests/expected2/geometry_wrapper.cpp
index 82926e2ce..1c8403ac9 100644
--- a/wrap/tests/expected2/geometry_wrapper.cpp
+++ b/wrap/tests/expected2/geometry_wrapper.cpp
@@ -679,7 +679,7 @@ void MyTemplatePoint2_templatedMethod_55(int nargout, mxArray *out[], int nargin
   typedef boost::shared_ptr<MyTemplatePoint2> Shared;
   checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
   Shared obj = unwrap_shared_ptr<MyTemplatePoint2>(in[0], "ptr_MyTemplatePoint2");
-  Matrix& t = *unwrap_shared_ptr< Matrix >(in[1], "ptr_Matrix");
+  Matrix& t = unwrap< Matrix >(in[1]);
   out[0] = wrap< Matrix >(obj->templatedMethod<Matrix>(t));
 }
 
diff --git a/wrap/tests/testClass.cpp b/wrap/tests/testClass.cpp
index f7d9a3ade..ea86a174c 100644
--- a/wrap/tests/testClass.cpp
+++ b/wrap/tests/testClass.cpp
@@ -217,6 +217,28 @@ TEST( Class, TemplateSubstition ) {
 
 }
 
+TEST(Class, Template) {
+
+
+    using classic::space_p;
+
+    // Create type grammar that will place result in cls
+    Class cls;
+    Template t;
+    ClassGrammar g(cls, t);
+
+    string markup(
+        string("template<T = {Vector, Matrix}>"
+           " virtual class PriorFactor : gtsam::NoiseModelFactor {"
+           "   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); "
+           "   T prior() const; "
+           "  void serialize() const; "
+           "};" ));
+
+    EXPECT(parse(markup.c_str(), g, space_p).full);
+
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;