Merge branch 'feature/improvementsIncrementalFilter' of https://bitbucket.org/gtborg/gtsam into feature/improvementsIncrementalFilter
lucacarlone
commit
c827d4cd6b
|
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@ -9,3 +9,9 @@
|
|||
*.txt.user.6d59f0c
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/python-build/
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*.pydevproject
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cython/venv
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||||
cython/gtsam.cpp
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cython/gtsam.cpython-35m-darwin.so
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cython/gtsam.pyx
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cython/gtsam.so
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cython/gtsam_wrapper.pxd
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|
|
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@ -73,11 +73,12 @@ option(GTSAM_TANGENT_PREINTEGRATION "Use new ImuFactor with integration on
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# Options relating to MATLAB wrapper
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# TODO: Check for matlab mex binary before handling building of binaries
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option(GTSAM_INSTALL_MATLAB_TOOLBOX "Enable/Disable installation of matlab toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
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option(GTSAM_INSTALL_CYTHON_TOOLBOX "Enable/Disable installation of Cython toolbox" OFF)
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option(GTSAM_BUILD_WRAP "Enable/Disable building of matlab/cython wrap utility (necessary for matlab/cython interface)" ON)
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# Check / set dependent variables for MATLAB wrapper
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if(GTSAM_INSTALL_MATLAB_TOOLBOX AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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if((GTSAM_INSTALL_MATLAB_TOOLBOX OR GTSAM_INSTALL_CYTHON_TOOLBOX) AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX or GTSAM_INSTALL_CYTHON_TOOLBOX is enabled, please also enable GTSAM_BUILD_WRAP")
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endif()
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if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
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message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
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@ -95,6 +96,10 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the MATLAB toolbox cannot deal with this yet. Please turn one of the two options off.")
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endif()
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if(GTSAM_INSTALL_CYTHON_TOOLBOX AND GTSAM_TYPEDEF_POINTS_TO_VECTORS)
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message(FATAL_ERROR "GTSAM_INSTALL_CYTHON_TOOLBOX and GTSAM_TYPEDEF_POINTS_TO_VECTORS are both enabled. For now, the CYTHON toolbox cannot deal with this yet. Please turn one of the two options off.")
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endif()
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# Flags for choosing default packaging tools
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set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
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set(CPACK_GENERATOR "TGZ" CACHE STRING "CPack Default Binary Generator")
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@ -359,6 +364,11 @@ add_subdirectory(examples)
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# Build timing
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add_subdirectory(timing)
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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add_subdirectory(gtsam_unstable)
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endif(GTSAM_BUILD_UNSTABLE)
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# Matlab toolbox
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if (GTSAM_INSTALL_MATLAB_TOOLBOX)
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add_subdirectory(matlab)
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@ -378,10 +388,20 @@ if (GTSAM_BUILD_PYTHON)
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endif()
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# Build gtsam_unstable
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if (GTSAM_BUILD_UNSTABLE)
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add_subdirectory(gtsam_unstable)
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endif(GTSAM_BUILD_UNSTABLE)
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# Cython wrap
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if (GTSAM_INSTALL_CYTHON_TOOLBOX)
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set(GTSAM_INSTALL_CYTHON_TOOLBOX 1)
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# Set up cache options
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set(GTSAM_CYTHON_INSTALL_PATH "" CACHE PATH "Cython toolbox destination, blank defaults to CMAKE_INSTALL_PREFIX/cython")
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if(NOT GTSAM_CYTHON_INSTALL_PATH)
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set(GTSAM_CYTHON_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/cython")
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endif()
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set(GTSAM_EIGENCY_INSTALL_PATH ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
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add_subdirectory(cython)
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else()
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set(GTSAM_INSTALL_CYTHON_TOOLBOX 0) # This will go into config.h
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endif()
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# Install config and export files
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GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
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@ -509,6 +529,10 @@ endif()
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if(GTSAM_BUILD_PYTHON)
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message(STATUS " Python version : ${GTSAM_PYTHON_VERSION}")
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endif()
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message(STATUS "Cython toolbox flags ")
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print_config_flag(${GTSAM_INSTALL_CYTHON_TOOLBOX} "Install Cython toolbox ")
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print_config_flag(${GTSAM_BUILD_WRAP} "Build Wrap ")
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message(STATUS "===============================================================")
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|
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# Print warnings at the end
|
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|
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6
LICENSE
6
LICENSE
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@ -4,11 +4,11 @@ LICENSE.BSD in this directory.
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GTSAM contains two third party libraries, with documentation of licensing and
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modifications as follows:
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|
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- CCOLAMD 2.73: Tim Davis' constrained column approximate minimum degree
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- CCOLAMD 2.9.3: Tim Davis' constrained column approximate minimum degree
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ordering library
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- Included unmodified in gtsam/3rdparty/CCOLAMD and gtsam/3rdparty/UFconfig
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- http://www.cise.ufl.edu/research/sparse
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- Licenced under LGPL v2.1, provided in gtsam/3rdparty/CCOLAMD/Doc/lesser.txt
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- http://faculty.cse.tamu.edu/davis/suitesparse.html
|
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- Licenced under BSD-3, provided in gtsam/3rdparty/CCOLAMD/Doc/License.txt
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- Eigen 3.2: General C++ matrix and linear algebra library
|
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- Modified with 3 patches that have been contributed back to the Eigen team:
|
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- http://eigen.tuxfamily.org/bz/show_bug.cgi?id=704 (Householder QR MKL selection)
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|
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|
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@ -66,7 +66,9 @@ In GTSAM 4 a new and more efficient implementation, based on integrating on the
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Additional Information
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----------------------
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|
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Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here.
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Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
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which support (superfast) automatic differentiation,
|
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can be found on the [GTSAM wiki on BitBucket](https://bitbucket.org/gtborg/gtsam/wiki/Home).
|
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|
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See the [`INSTALL`](INSTALL) file for more detailed installation instructions.
|
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@ -18,7 +18,10 @@ install(FILES
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GtsamMakeConfigFile.cmake
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GtsamMatlabWrap.cmake
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GtsamPythonWrap.cmake
|
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GtsamCythonWrap.cmake
|
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GtsamTesting.cmake
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FindCython.cmake
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FindNumPy.cmake
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README.html
|
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DESTINATION "${SCRIPT_INSTALL_DIR}/GTSAMCMakeTools")
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|
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|
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@ -0,0 +1,76 @@
|
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# Modifed from: https://github.com/nest/nest-simulator/blob/master/cmake/FindCython.cmake
|
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#
|
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# Find the Cython compiler.
|
||||
#
|
||||
# This code sets the following variables:
|
||||
#
|
||||
# CYTHON_FOUND
|
||||
# CYTHON_PATH
|
||||
# CYTHON_EXECUTABLE
|
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# CYTHON_VERSION
|
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#
|
||||
# See also UseCython.cmake
|
||||
|
||||
#=============================================================================
|
||||
# Copyright 2011 Kitware, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#=============================================================================
|
||||
|
||||
# Use the Cython executable that lives next to the Python executable
|
||||
# if it is a local installation.
|
||||
find_package( PythonInterp )
|
||||
if ( PYTHONINTERP_FOUND )
|
||||
execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
||||
"import Cython; print Cython.__path__"
|
||||
RESULT_VARIABLE RESULT
|
||||
OUTPUT_VARIABLE CYTHON_PATH
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
endif ()
|
||||
|
||||
# RESULT=0 means ok
|
||||
if ( NOT RESULT )
|
||||
get_filename_component( _python_path ${PYTHON_EXECUTABLE} PATH )
|
||||
find_program( CYTHON_EXECUTABLE
|
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NAMES cython cython.bat cython3
|
||||
HINTS ${_python_path}
|
||||
)
|
||||
endif ()
|
||||
|
||||
# RESULT=0 means ok
|
||||
if ( NOT RESULT )
|
||||
execute_process( COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
||||
"import Cython; print Cython.__version__"
|
||||
RESULT_VARIABLE RESULT
|
||||
OUTPUT_VARIABLE CYTHON_VAR_OUTPUT
|
||||
ERROR_VARIABLE CYTHON_VAR_OUTPUT
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
)
|
||||
if ( RESULT EQUAL 0 )
|
||||
string( REGEX REPLACE ".* ([0-9]+\\.[0-9]+(\\.[0-9]+)?).*" "\\1"
|
||||
CYTHON_VERSION "${CYTHON_VAR_OUTPUT}" )
|
||||
endif ()
|
||||
endif ()
|
||||
|
||||
include( FindPackageHandleStandardArgs )
|
||||
find_package_handle_standard_args( Cython
|
||||
FOUND_VAR
|
||||
CYTHON_FOUND
|
||||
REQUIRED_VARS
|
||||
CYTHON_PATH
|
||||
CYTHON_EXECUTABLE
|
||||
VERSION_VAR
|
||||
CYTHON_VERSION
|
||||
)
|
||||
|
||||
|
|
@ -0,0 +1,246 @@
|
|||
# Check Cython version, need to be >=0.25.2
|
||||
# Unset these cached variables to avoid surprises when the python/cython
|
||||
# in the current environment are different from the cached!
|
||||
unset(PYTHON_EXECUTABLE CACHE)
|
||||
unset(CYTHON_EXECUTABLE CACHE)
|
||||
find_package(Cython 0.25.2 REQUIRED)
|
||||
|
||||
# User-friendly Cython wrapping and installing function.
|
||||
# Builds a Cython module from the provided interface_header.
|
||||
# For example, for the interface header gtsam.h,
|
||||
# this will build the wrap module 'gtsam'.
|
||||
#
|
||||
# Arguments:
|
||||
#
|
||||
# interface_header: The relative path to the wrapper interface definition file.
|
||||
# extra_imports: extra header to import in the Cython pxd file.
|
||||
# For example, to use Cython gtsam.pxd in your own module,
|
||||
# use "from gtsam cimport *"
|
||||
# install_path: destination to install the library
|
||||
# libs: libraries to link with
|
||||
# dependencies: Dependencies which need to be built before the wrapper
|
||||
function(wrap_and_install_library_cython interface_header extra_imports install_path libs dependencies)
|
||||
# Paths for generated files
|
||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
||||
set(generated_files_path "${PROJECT_BINARY_DIR}/cython/${module_name}")
|
||||
wrap_library_cython("${interface_header}" "${generated_files_path}" "${extra_imports}" "${libs}" "${dependencies}")
|
||||
install_cython_wrapped_library("${interface_header}" "${generated_files_path}" "${install_path}")
|
||||
endfunction()
|
||||
|
||||
function(set_up_required_cython_packages)
|
||||
# Set up building of cython module
|
||||
find_package(PythonLibs 2.7 REQUIRED)
|
||||
include_directories(${PYTHON_INCLUDE_DIRS})
|
||||
find_package(NumPy REQUIRED)
|
||||
include_directories(${NUMPY_INCLUDE_DIRS})
|
||||
endfunction()
|
||||
|
||||
# Convert pyx to cpp by executing cython
|
||||
# This is the first step to compile cython from the command line
|
||||
# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
||||
#
|
||||
# Arguments:
|
||||
# - target: The specified target for this step
|
||||
# - pyx_file: The input pyx_file in full *absolute* path
|
||||
# - generated_cpp: The output cpp file in full absolute path
|
||||
# - include_dirs: Directories to include when executing cython
|
||||
function(pyx_to_cpp target pyx_file generated_cpp include_dirs)
|
||||
foreach(dir ${include_dirs})
|
||||
set(includes_for_cython ${includes_for_cython} -I ${dir})
|
||||
endforeach()
|
||||
|
||||
add_custom_command(
|
||||
OUTPUT ${generated_cpp}
|
||||
COMMAND
|
||||
${CYTHON_EXECUTABLE} -X boundscheck=False -a -v --fast-fail --cplus ${includes_for_cython} ${pyx_file} -o ${generated_cpp}
|
||||
VERBATIM)
|
||||
add_custom_target(${target} ALL DEPENDS ${generated_cpp})
|
||||
endfunction()
|
||||
|
||||
# Build the cpp file generated by converting pyx using cython
|
||||
# This is the second step to compile cython from the command line
|
||||
# as described at: http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
||||
#
|
||||
# Arguments:
|
||||
# - target: The specified target for this step
|
||||
# - cpp_file: The input cpp_file in full *absolute* path
|
||||
# - output_lib_we: The output lib filename only (without extension)
|
||||
# - output_dir: The output directory
|
||||
function(build_cythonized_cpp target cpp_file output_lib_we output_dir)
|
||||
add_library(${target} MODULE ${cpp_file})
|
||||
if(APPLE)
|
||||
set(link_flags "-undefined dynamic_lookup")
|
||||
endif()
|
||||
set_target_properties(${target} PROPERTIES COMPILE_FLAGS "-w" LINK_FLAGS "${link_flags}"
|
||||
OUTPUT_NAME ${output_lib_we} PREFIX "" LIBRARY_OUTPUT_DIRECTORY ${output_dir})
|
||||
endfunction()
|
||||
|
||||
# Cythonize a pyx from the command line as described at
|
||||
# http://cython.readthedocs.io/en/latest/src/reference/compilation.html
|
||||
# Arguments:
|
||||
# - target: The specified target
|
||||
# - pyx_file: The input pyx_file in full *absolute* path
|
||||
# - output_lib_we: The output lib filename only (without extension)
|
||||
# - output_dir: The output directory
|
||||
# - include_dirs: Directories to include when executing cython
|
||||
# - libs: Libraries to link with
|
||||
# - interface_header: For dependency. Any update in interface header will re-trigger cythonize
|
||||
function(cythonize target pyx_file output_lib_we output_dir include_dirs libs interface_header dependencies)
|
||||
get_filename_component(pyx_path "${pyx_file}" DIRECTORY)
|
||||
get_filename_component(pyx_name "${pyx_file}" NAME_WE)
|
||||
set(generated_cpp "${output_dir}/${pyx_name}.cpp")
|
||||
|
||||
set_up_required_cython_packages()
|
||||
pyx_to_cpp(${target}_pyx2cpp ${pyx_file} ${generated_cpp} "${include_dirs}")
|
||||
|
||||
# Late dependency injection, to make sure this gets called whenever the interface header is updated
|
||||
# See: https://stackoverflow.com/questions/40032593/cmake-does-not-rebuild-dependent-after-prerequisite-changes
|
||||
add_custom_command(OUTPUT ${generated_cpp} DEPENDS ${interface_header} APPEND)
|
||||
if (NOT "${dependencies}" STREQUAL "")
|
||||
add_dependencies(${target}_pyx2cpp "${dependencies}")
|
||||
endif()
|
||||
|
||||
build_cythonized_cpp(${target} ${generated_cpp} ${output_lib_we} ${output_dir})
|
||||
if (NOT "${libs}" STREQUAL "")
|
||||
target_link_libraries(${target} "${libs}")
|
||||
endif()
|
||||
add_dependencies(${target} ${target}_pyx2cpp)
|
||||
endfunction()
|
||||
|
||||
# Internal function that wraps a library and compiles the wrapper
|
||||
function(wrap_library_cython interface_header generated_files_path extra_imports libs dependencies)
|
||||
# Wrap codegen interface
|
||||
# Extract module path and name from interface header file name
|
||||
# wrap requires interfacePath to be *absolute*
|
||||
get_filename_component(interface_header "${interface_header}" ABSOLUTE)
|
||||
get_filename_component(module_path "${interface_header}" PATH)
|
||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
||||
|
||||
# Wrap module to Cython pyx
|
||||
message(STATUS "Cython wrapper generating ${module_name}.pyx")
|
||||
set(generated_pyx "${generated_files_path}/${module_name}.pyx")
|
||||
file(MAKE_DIRECTORY "${generated_files_path}")
|
||||
add_custom_command(
|
||||
OUTPUT ${generated_pyx}
|
||||
DEPENDS ${interface_header} wrap
|
||||
COMMAND
|
||||
wrap --cython ${module_path} ${module_name} ${generated_files_path} "${extra_imports}"
|
||||
VERBATIM
|
||||
WORKING_DIRECTORY ${generated_files_path}/../)
|
||||
add_custom_target(cython_wrap_${module_name}_pyx ALL DEPENDS ${generated_pyx})
|
||||
if(NOT "${dependencies}" STREQUAL "")
|
||||
add_dependencies(cython_wrap_${module_name}_pyx ${dependencies})
|
||||
endif()
|
||||
|
||||
message(STATUS "Cythonize and build ${module_name}.pyx")
|
||||
get_property(include_dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
|
||||
cythonize(cythonize_${module_name} ${generated_pyx} ${module_name}
|
||||
${generated_files_path} "${include_dirs}" "${libs}" ${interface_header} cython_wrap_${module_name}_pyx)
|
||||
|
||||
# distclean
|
||||
add_custom_target(wrap_${module_name}_cython_distclean
|
||||
COMMAND cmake -E remove_directory ${generated_files_path})
|
||||
endfunction()
|
||||
|
||||
# Internal function that installs a wrap toolbox
|
||||
function(install_cython_wrapped_library interface_header generated_files_path install_path)
|
||||
get_filename_component(module_name "${interface_header}" NAME_WE)
|
||||
|
||||
# NOTE: only installs .pxd and .pyx and binary files (not .cpp) - the trailing slash on the directory name
|
||||
# here prevents creating the top-level module name directory in the destination.
|
||||
message(STATUS "Installing Cython Toolbox to ${install_path}") #${GTSAM_CYTHON_INSTALL_PATH}")
|
||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
||||
string(TOUPPER "${build_type}" build_type_upper)
|
||||
if(${build_type_upper} STREQUAL "RELEASE")
|
||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
||||
else()
|
||||
set(build_type_tag "${build_type}")
|
||||
endif()
|
||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
|
||||
get_filename_component(location "${install_path}" PATH)
|
||||
get_filename_component(name "${install_path}" NAME)
|
||||
install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}"
|
||||
CONFIGURATIONS "${build_type}"
|
||||
PATTERN "build" EXCLUDE
|
||||
PATTERN "CMakeFiles" EXCLUDE
|
||||
PATTERN "Makefile" EXCLUDE
|
||||
PATTERN "*.cmake" EXCLUDE
|
||||
PATTERN "*.cpp" EXCLUDE
|
||||
PATTERN "*.py" EXCLUDE)
|
||||
endforeach()
|
||||
else()
|
||||
install(DIRECTORY "${generated_files_path}/" DESTINATION ${install_path}
|
||||
PATTERN "build" EXCLUDE
|
||||
PATTERN "CMakeFiles" EXCLUDE
|
||||
PATTERN "Makefile" EXCLUDE
|
||||
PATTERN "*.cmake" EXCLUDE
|
||||
PATTERN "*.cpp" EXCLUDE
|
||||
PATTERN "*.py" EXCLUDE)
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
# Helper function to install Cython scripts and handle multiple build types where the scripts
|
||||
# should be installed to all build type toolboxes
|
||||
#
|
||||
# Arguments:
|
||||
# source_directory: The source directory to be installed. "The last component of each directory
|
||||
# name is appended to the destination directory but a trailing slash may be
|
||||
# used to avoid this because it leaves the last component empty."
|
||||
# (https://cmake.org/cmake/help/v3.3/command/install.html?highlight=install#installing-directories)
|
||||
# dest_directory: The destination directory to install to.
|
||||
# patterns: list of file patterns to install
|
||||
function(install_cython_scripts source_directory dest_directory patterns)
|
||||
set(patterns_args "")
|
||||
set(exclude_patterns "")
|
||||
|
||||
foreach(pattern ${patterns})
|
||||
list(APPEND patterns_args PATTERN "${pattern}")
|
||||
endforeach()
|
||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
||||
string(TOUPPER "${build_type}" build_type_upper)
|
||||
if(${build_type_upper} STREQUAL "RELEASE")
|
||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
||||
else()
|
||||
set(build_type_tag "${build_type}")
|
||||
endif()
|
||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
|
||||
get_filename_component(location "${dest_directory}" PATH)
|
||||
get_filename_component(name "${dest_directory}" NAME)
|
||||
install(DIRECTORY "${source_directory}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
|
||||
FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
|
||||
endforeach()
|
||||
else()
|
||||
install(DIRECTORY "${source_directory}" DESTINATION "${dest_directory}" FILES_MATCHING ${patterns_args} PATTERN "${exclude_patterns}" EXCLUDE)
|
||||
endif()
|
||||
|
||||
endfunction()
|
||||
|
||||
# Helper function to install specific files and handle multiple build types where the scripts
|
||||
# should be installed to all build type toolboxes
|
||||
#
|
||||
# Arguments:
|
||||
# source_files: The source files to be installed.
|
||||
# dest_directory: The destination directory to install to.
|
||||
function(install_cython_files source_files dest_directory)
|
||||
|
||||
if(GTSAM_BUILD_TYPE_POSTFIXES)
|
||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
||||
string(TOUPPER "${build_type}" build_type_upper)
|
||||
if(${build_type_upper} STREQUAL "RELEASE")
|
||||
set(build_type_tag "") # Don't create release mode tag on installed directory
|
||||
else()
|
||||
set(build_type_tag "${build_type}")
|
||||
endif()
|
||||
# Split up filename to strip trailing '/' in GTSAM_CYTHON_INSTALL_PATH if there is one
|
||||
get_filename_component(location "${dest_directory}" PATH)
|
||||
get_filename_component(name "${dest_directory}" NAME)
|
||||
install(FILES "${source_files}" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}")
|
||||
endforeach()
|
||||
else()
|
||||
install(FILES "${source_files}" DESTINATION "${dest_directory}")
|
||||
endif()
|
||||
|
||||
endfunction()
|
||||
|
||||
|
|
@ -208,7 +208,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
OUTPUT ${generated_cpp_file}
|
||||
DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
|
||||
COMMAND
|
||||
wrap
|
||||
wrap --matlab
|
||||
${modulePath}
|
||||
${moduleName}
|
||||
${generated_files_path}
|
||||
|
|
@ -219,9 +219,9 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
# Set up building of mex module
|
||||
string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}")
|
||||
string(REPLACE ";" " " mexFlagsSpaced "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
|
||||
add_library(${moduleName}_wrapper MODULE ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects})
|
||||
target_link_libraries(${moduleName}_wrapper ${correctedOtherLibraries})
|
||||
set_target_properties(${moduleName}_wrapper PROPERTIES
|
||||
add_library(${moduleName}_matlab_wrapper MODULE ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects})
|
||||
target_link_libraries(${moduleName}_matlab_wrapper ${correctedOtherLibraries})
|
||||
set_target_properties(${moduleName}_matlab_wrapper PROPERTIES
|
||||
OUTPUT_NAME "${moduleName}_wrapper"
|
||||
PREFIX ""
|
||||
SUFFIX ".${mexModuleExt}"
|
||||
|
|
@ -229,12 +229,12 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
ARCHIVE_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
|
||||
RUNTIME_OUTPUT_DIRECTORY "${compiled_mex_modules_root}"
|
||||
CLEAN_DIRECT_OUTPUT 1)
|
||||
set_property(TARGET ${moduleName}_wrapper APPEND_STRING PROPERTY COMPILE_FLAGS " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32")
|
||||
set_property(TARGET ${moduleName}_wrapper APPEND PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs})
|
||||
set_property(TARGET ${moduleName}_matlab_wrapper APPEND_STRING PROPERTY COMPILE_FLAGS " ${extraMexFlagsSpaced} ${mexFlagsSpaced} \"-I${MATLAB_ROOT}/extern/include\" -DMATLAB_MEX_FILE -DMX_COMPAT_32")
|
||||
set_property(TARGET ${moduleName}_matlab_wrapper APPEND PROPERTY INCLUDE_DIRECTORIES ${extraIncludeDirs})
|
||||
# Disable build type postfixes for the mex module - we install in different directories for each build type instead
|
||||
foreach(build_type ${CMAKE_CONFIGURATION_TYPES})
|
||||
string(TOUPPER "${build_type}" build_type_upper)
|
||||
set_target_properties(${moduleName}_wrapper PROPERTIES ${build_type_upper}_POSTFIX "")
|
||||
set_target_properties(${moduleName}_matlab_wrapper PROPERTIES ${build_type_upper}_POSTFIX "")
|
||||
endforeach()
|
||||
# Set up platform-specific flags
|
||||
if(MSVC)
|
||||
|
|
@ -243,17 +243,17 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
|
|||
else()
|
||||
set(mxLibPath "${MATLAB_ROOT}/extern/lib/win32/microsoft")
|
||||
endif()
|
||||
target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.lib" "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib")
|
||||
set_target_properties(${moduleName}_wrapper PROPERTIES LINK_FLAGS "/export:mexFunction")
|
||||
target_link_libraries(${moduleName}_matlab_wrapper "${mxLibPath}/libmex.lib" "${mxLibPath}/libmx.lib" "${mxLibPath}/libmat.lib")
|
||||
set_target_properties(${moduleName}_matlab_wrapper PROPERTIES LINK_FLAGS "/export:mexFunction")
|
||||
set_property(SOURCE "${generated_cpp_file}" APPEND PROPERTY COMPILE_FLAGS "/bigobj")
|
||||
elseif(APPLE)
|
||||
set(mxLibPath "${MATLAB_ROOT}/bin/maci64")
|
||||
target_link_libraries(${moduleName}_wrapper "${mxLibPath}/libmex.dylib" "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
|
||||
target_link_libraries(${moduleName}_matlab_wrapper "${mxLibPath}/libmex.dylib" "${mxLibPath}/libmx.dylib" "${mxLibPath}/libmat.dylib")
|
||||
endif()
|
||||
|
||||
# Hacking around output issue with custom command
|
||||
# Deletes generated build folder
|
||||
add_custom_target(wrap_${moduleName}_distclean
|
||||
add_custom_target(wrap_${moduleName}_matlab_distclean
|
||||
COMMAND cmake -E remove_directory ${generated_files_path}
|
||||
COMMAND cmake -E remove_directory ${compiled_mex_modules_root})
|
||||
endfunction()
|
||||
|
|
@ -278,13 +278,13 @@ function(install_wrapped_library_internal interfaceHeader)
|
|||
get_filename_component(location "${GTSAM_TOOLBOX_INSTALL_PATH}" PATH)
|
||||
get_filename_component(name "${GTSAM_TOOLBOX_INSTALL_PATH}" NAME)
|
||||
install(DIRECTORY "${generated_files_path}/" DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}" FILES_MATCHING PATTERN "*.m")
|
||||
install(TARGETS ${moduleName}_wrapper
|
||||
install(TARGETS ${moduleName}_matlab_wrapper
|
||||
LIBRARY DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}"
|
||||
RUNTIME DESTINATION "${location}/${name}${build_type_tag}" CONFIGURATIONS "${build_type}")
|
||||
endforeach()
|
||||
else()
|
||||
install(DIRECTORY "${generated_files_path}/" DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH} FILES_MATCHING PATTERN "*.m")
|
||||
install(TARGETS ${moduleName}_wrapper
|
||||
install(TARGETS ${moduleName}_matlab_wrapper
|
||||
LIBRARY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}
|
||||
RUNTIME DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,40 @@
|
|||
# Install cython components
|
||||
include(GtsamCythonWrap)
|
||||
|
||||
# Create the cython toolbox for the gtsam library
|
||||
if (GTSAM_INSTALL_CYTHON_TOOLBOX)
|
||||
# build and include the eigency version of eigency
|
||||
add_subdirectory(gtsam_eigency)
|
||||
include_directories(${PROJECT_BINARY_DIR}/cython/gtsam_eigency)
|
||||
|
||||
# wrap gtsam
|
||||
add_custom_target(gtsam_header DEPENDS "../gtsam.h")
|
||||
wrap_and_install_library_cython("../gtsam.h" # interface_header
|
||||
"" # extra imports
|
||||
"${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
|
||||
gtsam # library to link with
|
||||
"wrap;cythonize_eigency;gtsam;gtsam_header" # dependencies which need to be built before wrapping
|
||||
)
|
||||
|
||||
# wrap gtsam_unstable
|
||||
if(GTSAM_BUILD_UNSTABLE)
|
||||
add_custom_target(gtsam_unstable_header DEPENDS "../gtsam_unstable/gtsam_unstable.h")
|
||||
set(GTSAM_UNSTABLE_IMPORT "from gtsam_unstable import *")
|
||||
wrap_and_install_library_cython("../gtsam_unstable/gtsam_unstable.h" # interface_header
|
||||
"from gtsam.gtsam cimport *" # extra imports
|
||||
"${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
|
||||
gtsam_unstable # library to link with
|
||||
"gtsam_unstable;gtsam_unstable_header;cythonize_gtsam" # dependencies to be built before wrapping
|
||||
)
|
||||
# for some reasons cython gtsam_unstable can't find gtsam/gtsam.pxd without doing this
|
||||
file(WRITE ${PROJECT_BINARY_DIR}/cython/gtsam_unstable/__init__.py "")
|
||||
endif()
|
||||
|
||||
# Install the custom-generated __init__.py
|
||||
# This is to make the build/cython/gtsam folder a python package, so gtsam can be found while wrapping gtsam_unstable
|
||||
configure_file(${PROJECT_SOURCE_DIR}/cython/gtsam/__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py)
|
||||
install_cython_files("${PROJECT_BINARY_DIR}/cython/gtsam/__init__.py" "${GTSAM_CYTHON_INSTALL_PATH}/gtsam")
|
||||
# install scripts and tests
|
||||
install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
|
||||
|
||||
endif ()
|
||||
|
|
@ -0,0 +1,154 @@
|
|||
This is the Cython/Python wrapper around the GTSAM C++ library.
|
||||
|
||||
INSTALL
|
||||
=======
|
||||
- This wrapper needs Cython(>=0.25.2), backports_abc>=0.5, and numpy. These can be installed as follows:
|
||||
|
||||
```bash
|
||||
pip install -r <gtsam_folder>/cython/requirements.txt
|
||||
```
|
||||
|
||||
- For compatiblity with gtsam's Eigen version, it contains its own cloned version of [Eigency](https://github.com/wouterboomsma/eigency.git),
|
||||
named **gtsam_eigency**, to interface between C++'s Eigen and Python's numpy.
|
||||
|
||||
- Build and install gtsam using cmake with GTSAM_INSTALL_CYTHON_TOOLBOX enabled.
|
||||
The wrapped module will be installed to GTSAM_CYTHON_INSTALL_PATH, which is
|
||||
by default: <your CMAKE_INSTALL_PREFIX>/cython
|
||||
|
||||
- Modify your PYTHONPATH to include the GTSAM_CYTHON_INSTALL_PATH:
|
||||
```bash
|
||||
export PYTHONPATH=$PYTHONPATH:<GTSAM_CYTHON_INSTALL_PATH>
|
||||
```
|
||||
|
||||
UNIT TESTS
|
||||
==========
|
||||
The Cython toolbox also has a small set of unit tests located in the
|
||||
test directory. To run them:
|
||||
|
||||
```bash
|
||||
cd <your GTSAM_CYTHON_INSTALL_PATH>
|
||||
python -m unittest discover
|
||||
```
|
||||
|
||||
WRITING YOUR OWN SCRIPTS
|
||||
========================
|
||||
See the tests for examples.
|
||||
|
||||
## Some important notes:
|
||||
|
||||
- Vector/Matrix:
|
||||
+ GTSAM expects double-precision floating point vectors and matrices.
|
||||
Hence, you should pass numpy matrices with dtype=float, or 'float64'.
|
||||
+ Also, GTSAM expects *column-major* matrices, unlike the default storage
|
||||
scheme in numpy. Hence, you should pass column-major matrices to gtsam using
|
||||
the flag order='F'. And you always get column-major matrices back.
|
||||
For more details, see: https://github.com/wouterboomsma/eigency#storage-layout---why-arrays-are-sometimes-transposed
|
||||
+ Passing row-major matrices of different dtype, e.g. 'int', will also work
|
||||
as the wrapper converts them to column-major and dtype float for you,
|
||||
using numpy.array.astype(float, order='F', copy=False).
|
||||
However, this will result a copy if your matrix is not in the expected type
|
||||
and storage order.
|
||||
|
||||
- Inner namespace: Classes in inner namespace will be prefixed by <innerNamespace>_ in Python.
|
||||
Examples: noiseModel_Gaussian, noiseModel_mEstimator_Tukey
|
||||
|
||||
- Casting from a base class to a derive class must be done explicitly.
|
||||
Examples:
|
||||
```Python
|
||||
noiseBase = factor.get_noiseModel()
|
||||
noiseGaussian = dynamic_cast_noiseModel_Gaussian_noiseModel_Base(noiseBase)
|
||||
```
|
||||
|
||||
WRAPPING YOUR OWN PROJECT THAT USES GTSAM
|
||||
=========================================
|
||||
- Set PYTHONPATH to include ${GTSAM_CYTHON_INSTALL_PATH}
|
||||
+ so that it can find gtsam Cython header: gtsam/gtsam.pxd
|
||||
|
||||
- In your CMakeList.txt
|
||||
```cmake
|
||||
find_package(GTSAM REQUIRED) # Make sure gtsam's install folder is in your PATH
|
||||
set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${GTSAM_DIR}/../GTSAMCMakeTools")
|
||||
|
||||
# Wrap
|
||||
include(GtsamCythonWrap)
|
||||
include_directories(${GTSAM_EIGENCY_INSTALL_PATH})
|
||||
wrap_and_install_library_cython("your_project_interface.h"
|
||||
"from gtsam.gtsam cimport *" # extra import of gtsam/gtsam.pxd Cython header
|
||||
"your_install_path"
|
||||
"libraries_to_link_with_the_cython_module"
|
||||
"dependencies_which_need_to_be_built_before_the_wrapper"
|
||||
)
|
||||
#Optional: install_cython_scripts and install_cython_files. See GtsamCythonWrap.cmake.
|
||||
```
|
||||
|
||||
KNOWN ISSUES
|
||||
============
|
||||
- Doesn't work with python3 installed from homebrew
|
||||
- size-related issue: can only wrap up to a certain number of classes: up to mEstimator!
|
||||
- Guess: 64 vs 32b? disutils Compiler flags?
|
||||
- Bug with Cython 0.24: instantiated factor classes return FastVector<size_t> for keys(), which can't be casted to FastVector<Key>
|
||||
- Upgrading to 0.25 solves the problem
|
||||
- Need default constructor and default copy constructor for almost every classes... :(
|
||||
- support these constructors by default and declare "delete" for special classes?
|
||||
|
||||
|
||||
TODO
|
||||
=====
|
||||
☐ allow duplication of parent' functions in child classes. Not allowed for now due to conflicts in Cython.
|
||||
☐ a common header for boost shared_ptr? (Or wait until everything is switched to std::shared_ptr in gtsam?)
|
||||
☐ inner namespaces ==> inner packages?
|
||||
☐ Wrap fixed-size Matrices/Vectors?
|
||||
|
||||
|
||||
Completed/Cancelled:
|
||||
=====
|
||||
✔ Fix Python tests: don't use " import <package> * ": Bad style!!! @done (18-03-17 19:50)
|
||||
✔ Unit tests for cython wrappers @done (18-03-17 18:45) -- simply compare generated files
|
||||
✔ Wrap unstable @done (18-03-17 15:30)
|
||||
✔ Unify cython/gtsam.h and the original gtsam.h @done (18-03-17 15:30)
|
||||
✔ 18-03-17: manage to unify the two versions by removing std container stubs from the matlab version,and keeping KeyList/KeyVector/KeySet as in the matlab version. Probably Cython 0.25 fixes the casting problem.
|
||||
✔ 06-03-17: manage to remove the requirements for default and copy constructors
|
||||
✘ 25-11-16:
|
||||
Try to unify but failed. Main reasons are: Key/size_t, std containers, KeyVector/KeyList/KeySet.
|
||||
Matlab doesn't need to know about Key, but I can't make Cython to ignore Key as it couldn't cast KeyVector, i.e. FastVector<Key>, to FastVector<size_t>.
|
||||
✘ Marginal and JointMarginal: revert changes @failed (17-03-17 11:00) -- Cython does need a default constructor! It produces cpp code like this: ```gtsam::JointMarginal __pyx_t_1;``` Users don't have to wrap this constructor, however.
|
||||
✔ Convert input numpy Matrix/Vector to float dtype and storage order 'F' automatically, cannot crash! @done (15-03-17 13:00)
|
||||
✔ Remove requirements.txt - Frank: don't bother with only 2 packages and a special case for eigency! @done (08-03-17 10:30)
|
||||
✔ CMake install script @done (25-11-16 02:30)
|
||||
✘ [REFACTOR] better name for uninstantiateClass: very vague!! @cancelled (25-11-16 02:30) -- lazy
|
||||
✘ forward declaration? @cancelled (23-11-16 13:00) - nothing to do, seem to work?
|
||||
✔ wrap VariableIndex: why is it in inference? If need to, shouldn't have constructors to specific FactorGraphs @done (23-11-16 13:00)
|
||||
✔ Global functions @done (22-11-16 21:00)
|
||||
✔ [REFACTOR] typesEqual --> isSameSignature @done (22-11-16 21:00)
|
||||
✔ Proper overloads (constructors, static methods, methods) @done (20-11-16 21:00)
|
||||
✔ Allow overloading methods. The current solution is annoying!!! @done (20-11-16 21:00)
|
||||
✔ Casting from parent and grandparents @done (16-11-16 17:00)
|
||||
✔ Allow overloading constructors. The current solution is annoying!!! @done (16-11-16 17:00)
|
||||
✔ Support "print obj" @done (16-11-16 17:00)
|
||||
✔ methods for FastVector: at, [], ... @done (16-11-16 17:00)
|
||||
✔ Cython: Key and size_t: traits<size_t> doesn't exist @done (16-09-12 18:34)
|
||||
✔ KeyVector, KeyList, KeySet... @done (16-09-13 17:19)
|
||||
✔ [Nice to have] parse typedef @done (16-09-13 17:19)
|
||||
✔ ctypedef at correct places @done (16-09-12 18:34)
|
||||
✔ expand template variable type in constructor/static methods? @done (16-09-12 18:34)
|
||||
✔ NonlinearOptimizer: copy constructor deleted!!! @done (16-09-13 17:20)
|
||||
✔ Value: no default constructor @done (16-09-13 17:20)
|
||||
✔ ctypedef PriorFactor[Vector] PriorFactorVector @done (16-09-19 12:25)
|
||||
✔ Delete duplicate methods in derived class @done (16-09-12 13:38)
|
||||
✔ Fix return properly @done (16-09-11 17:14)
|
||||
✔ handle pair @done (16-09-11 17:14)
|
||||
✔ Eigency: ambiguous call: A(const T&) A(const Vector& v) and Eigency A(Map[Vector]& v) @done (16-09-11 07:59)
|
||||
✔ Eigency: Constructor: ambiguous construct from Vector/Matrix @done (16-09-11 07:59)
|
||||
✔ Eigency: Fix method template of Vector/Matrix: template argument is [Vector] while arugment is Map[Vector] @done (16-09-11 08:22)
|
||||
✔ Robust noise: copy assignment operator is deleted because of shared_ptr of the abstract Base class @done (16-09-10 09:05)
|
||||
✘ Cython: Constructor: generate default constructor? (hack: if it's serializable?) @cancelled (16-09-13 17:20)
|
||||
✘ Eigency: Map[] to Block @created(16-09-10 07:59) @cancelled (16-09-11 08:28)
|
||||
|
||||
- inference before symbolic/linear
|
||||
- what's the purpose of "virtual" ??
|
||||
|
||||
Installation:
|
||||
☐ Prerequisite:
|
||||
- Users create venv and pip install requirements before compiling
|
||||
- Wrap cython script in gtsam/cython folder
|
||||
☐ Install built module into venv?
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
from gtsam import *
|
||||
${GTSAM_UNSTABLE_IMPORT}
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
"""
|
||||
This file is not a real python unittest. It contains small experiments
|
||||
to test the wrapper with gtsam_test, a short version of gtsam.h.
|
||||
Its name convention is different from other tests so it won't be discovered.
|
||||
"""
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
r = gtsam.Rot3()
|
||||
print(r)
|
||||
print(r.pitch())
|
||||
r2 = gtsam.Rot3()
|
||||
r3 = r.compose(r2)
|
||||
print("r3 pitch:", r3.pitch())
|
||||
|
||||
v = np.array([1, 1, 1])
|
||||
print("v = ", v)
|
||||
r4 = r3.retract(v)
|
||||
print("r4 pitch:", r4.pitch())
|
||||
r4.print_(b'r4: ')
|
||||
r3.print_(b"r3: ")
|
||||
|
||||
v = r3.localCoordinates(r4)
|
||||
print("localCoordinates:", v)
|
||||
|
||||
Rmat = np.array([
|
||||
[0.990074, -0.0942928, 0.104218],
|
||||
[0.104218, 0.990074, -0.0942928],
|
||||
[-0.0942928, 0.104218, 0.990074]
|
||||
])
|
||||
r5 = gtsam.Rot3(Rmat)
|
||||
r5.print_(b"r5: ")
|
||||
|
||||
l = gtsam.Rot3.Logmap(r5)
|
||||
print("l = ", l)
|
||||
|
||||
|
||||
noise = gtsam.noiseModel_Gaussian.Covariance(Rmat)
|
||||
noise.print_(b"noise:")
|
||||
|
||||
D = np.array([1.,2.,3.])
|
||||
diag = gtsam.noiseModel_Diagonal.Variances(D)
|
||||
print("diag:", diag)
|
||||
diag.print_(b"diag:")
|
||||
print("diag R:", diag.R())
|
||||
|
||||
p = gtsam.Point3()
|
||||
p.print_("p:")
|
||||
factor = gtsam.BetweenFactorPoint3(1,2,p, noise)
|
||||
factor.print_(b"factor:")
|
||||
|
||||
vv = gtsam.VectorValues()
|
||||
vv.print_(b"vv:")
|
||||
vv.insert(1, np.array([1.,2.,3.]))
|
||||
vv.insert(2, np.array([3.,4.]))
|
||||
vv.insert(3, np.array([5.,6.,7.,8.]))
|
||||
vv.print_(b"vv:")
|
||||
|
||||
vv2 = gtsam.VectorValues(vv)
|
||||
vv2.insert(4, np.array([4.,2.,1]))
|
||||
vv2.print_(b"vv2:")
|
||||
vv.print_(b"vv:")
|
||||
|
||||
vv.insert(4, np.array([1.,2.,4.]))
|
||||
vv.print_(b"vv:")
|
||||
vv3 = vv.add(vv2)
|
||||
|
||||
vv3.print_(b"vv3:")
|
||||
|
||||
values = gtsam.Values()
|
||||
values.insert(1, gtsam.Point3())
|
||||
values.insert(2, gtsam.Rot3())
|
||||
values.print_(b"values:")
|
||||
|
||||
factor = gtsam.PriorFactorVector(1, np.array([1.,2.,3.]), diag)
|
||||
print "Prior factor vector: ", factor
|
||||
|
||||
|
||||
|
||||
keys = gtsam.KeyVector()
|
||||
|
||||
keys.push_back(1)
|
||||
keys.push_back(2)
|
||||
print 'size: ', keys.size()
|
||||
print keys.at(0)
|
||||
print keys.at(1)
|
||||
|
||||
noise = gtsam.noiseModel_Isotropic.Precision(2, 3.0)
|
||||
noise.print_('noise:')
|
||||
print 'noise print:', noise
|
||||
f = gtsam.JacobianFactor(7, np.ones([2,2]), model=noise, b=np.ones(2))
|
||||
print 'JacobianFactor(7):\n', f
|
||||
print "A = ", f.getA()
|
||||
print "b = ", f.getb()
|
||||
|
||||
f = gtsam.JacobianFactor(np.ones(2))
|
||||
f.print_('jacoboian b_in:')
|
||||
|
||||
|
||||
print "JacobianFactor initalized with b_in:", f
|
||||
|
||||
diag = gtsam.noiseModel_Diagonal.Sigmas(np.array([1.,2.,3.]))
|
||||
fv = gtsam.PriorFactorVector(1, np.array([4.,5.,6.]), diag)
|
||||
print "priorfactorvector: ", fv
|
||||
|
||||
print "base noise: ", fv.get_noiseModel()
|
||||
print "casted to gaussian2: ", gtsam.dynamic_cast_noiseModel_Diagonal_noiseModel_Base(fv.get_noiseModel())
|
||||
|
||||
X = gtsam.symbol(65, 19)
|
||||
print X
|
||||
print gtsam.symbolChr(X)
|
||||
print gtsam.symbolIndex(X)
|
||||
|
|
@ -0,0 +1,772 @@
|
|||
namespace gtsam {
|
||||
|
||||
#include <gtsam/inference/Key.h>
|
||||
typedef size_t Key;
|
||||
|
||||
#include <gtsam/base/FastVector.h>
|
||||
template<T> class FastVector {
|
||||
FastVector();
|
||||
FastVector(const This& f);
|
||||
void push_back(const T& e);
|
||||
//T& operator[](int);
|
||||
T at(int i);
|
||||
size_t size() const;
|
||||
};
|
||||
|
||||
typedef gtsam::FastVector<gtsam::Key> KeyVector;
|
||||
|
||||
//*************************************************************************
|
||||
// geometry
|
||||
//*************************************************************************
|
||||
|
||||
#include <gtsam/geometry/Point2.h>
|
||||
class Point2 {
|
||||
// Standard Constructors
|
||||
Point2();
|
||||
Point2(double x, double y);
|
||||
Point2(Vector v);
|
||||
//Point2(const gtsam::Point2& l);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Point2& pose, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Point2 identity();
|
||||
|
||||
// Standard Interface
|
||||
double x() const;
|
||||
double y() const;
|
||||
Vector vector() const;
|
||||
double distance(const gtsam::Point2& p2) const;
|
||||
double norm() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Point3.h>
|
||||
class Point3 {
|
||||
// Standard Constructors
|
||||
Point3();
|
||||
Point3(double x, double y, double z);
|
||||
Point3(Vector v);
|
||||
//Point3(const gtsam::Point3& l);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Point3& p, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Point3 identity();
|
||||
|
||||
// Standard Interface
|
||||
Vector vector() const;
|
||||
double x() const;
|
||||
double y() const;
|
||||
double z() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Rot2.h>
|
||||
class Rot2 {
|
||||
// Standard Constructors and Named Constructors
|
||||
Rot2();
|
||||
Rot2(double theta);
|
||||
//Rot2(const gtsam::Rot2& l);
|
||||
|
||||
static gtsam::Rot2 fromAngle(double theta);
|
||||
static gtsam::Rot2 fromDegrees(double theta);
|
||||
static gtsam::Rot2 fromCosSin(double c, double s);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Rot2& rot, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Rot2 identity();
|
||||
gtsam::Rot2 inverse();
|
||||
gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
|
||||
gtsam::Rot2 between(const gtsam::Rot2& p2) const;
|
||||
|
||||
// Manifold
|
||||
gtsam::Rot2 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Rot2& p) const;
|
||||
|
||||
// Lie Group
|
||||
static gtsam::Rot2 Expmap(Vector v);
|
||||
static Vector Logmap(const gtsam::Rot2& p);
|
||||
|
||||
// Group Action on Point2
|
||||
gtsam::Point2 rotate(const gtsam::Point2& point) const;
|
||||
gtsam::Point2 unrotate(const gtsam::Point2& point) const;
|
||||
|
||||
// Standard Interface
|
||||
static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
|
||||
static gtsam::Rot2 atan2(double y, double x);
|
||||
double theta() const;
|
||||
double degrees() const;
|
||||
double c() const;
|
||||
double s() const;
|
||||
Matrix matrix() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Rot3.h>
|
||||
class Rot3 {
|
||||
// Standard Constructors and Named Constructors
|
||||
Rot3();
|
||||
Rot3(Matrix R);
|
||||
//Rot3(const gtsam::Rot3& l);
|
||||
|
||||
static gtsam::Rot3 Rx(double t);
|
||||
static gtsam::Rot3 Ry(double t);
|
||||
static gtsam::Rot3 Rz(double t);
|
||||
static gtsam::Rot3 RzRyRx(double x, double y, double z);
|
||||
static gtsam::Rot3 RzRyRx(Vector xyz);
|
||||
static gtsam::Rot3 Yaw(double t); // positive yaw is to right (as in aircraft heading)
|
||||
static gtsam::Rot3 Pitch(double t); // positive pitch is up (increasing aircraft altitude)
|
||||
static gtsam::Rot3 Roll(double t); // positive roll is to right (increasing yaw in aircraft)
|
||||
static gtsam::Rot3 Ypr(double y, double p, double r);
|
||||
static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
|
||||
static gtsam::Rot3 Rodrigues(Vector v);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Rot3& rot, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Rot3 identity();
|
||||
gtsam::Rot3 inverse() const;
|
||||
gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
|
||||
gtsam::Rot3 between(const gtsam::Rot3& p2) const;
|
||||
|
||||
// Manifold
|
||||
//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
|
||||
gtsam::Rot3 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Rot3& p) const;
|
||||
|
||||
// Group Action on Point3
|
||||
gtsam::Point3 rotate(const gtsam::Point3& p) const;
|
||||
gtsam::Point3 unrotate(const gtsam::Point3& p) const;
|
||||
|
||||
// Standard Interface
|
||||
static gtsam::Rot3 Expmap(Vector v);
|
||||
static Vector Logmap(const gtsam::Rot3& p);
|
||||
Matrix matrix() const;
|
||||
Matrix transpose() const;
|
||||
gtsam::Point3 column(size_t index) const;
|
||||
Vector xyz() const;
|
||||
Vector ypr() const;
|
||||
Vector rpy() const;
|
||||
double roll() const;
|
||||
double pitch() const;
|
||||
double yaw() const;
|
||||
// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
|
||||
Vector quaternion() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Pose2.h>
|
||||
class Pose2 {
|
||||
// Standard Constructor
|
||||
Pose2();
|
||||
//Pose2(const gtsam::Pose2& pose);
|
||||
Pose2(double x, double y, double theta);
|
||||
Pose2(double theta, const gtsam::Point2& t);
|
||||
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
|
||||
Pose2(Vector v);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Pose2& pose, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Pose2 identity();
|
||||
gtsam::Pose2 inverse() const;
|
||||
gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
|
||||
gtsam::Pose2 between(const gtsam::Pose2& p2) const;
|
||||
|
||||
// Manifold
|
||||
gtsam::Pose2 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Pose2& p) const;
|
||||
|
||||
// Lie Group
|
||||
static gtsam::Pose2 Expmap(Vector v);
|
||||
static Vector Logmap(const gtsam::Pose2& p);
|
||||
Matrix AdjointMap() const;
|
||||
Vector Adjoint(const Vector& xi) const;
|
||||
static Matrix wedge(double vx, double vy, double w);
|
||||
|
||||
// Group Actions on Point2
|
||||
gtsam::Point2 transform_from(const gtsam::Point2& p) const;
|
||||
gtsam::Point2 transform_to(const gtsam::Point2& p) const;
|
||||
|
||||
// Standard Interface
|
||||
double x() const;
|
||||
double y() const;
|
||||
double theta() const;
|
||||
gtsam::Rot2 bearing(const gtsam::Point2& point) const;
|
||||
double range(const gtsam::Point2& point) const;
|
||||
gtsam::Point2 translation() const;
|
||||
gtsam::Rot2 rotation() const;
|
||||
Matrix matrix() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
|
||||
#include <gtsam/geometry/Pose3.h>
|
||||
class Pose3 {
|
||||
// Standard Constructors
|
||||
Pose3();
|
||||
//Pose3(const gtsam::Pose3& pose);
|
||||
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
|
||||
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
|
||||
Pose3(Matrix t);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Pose3& pose, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Pose3 identity();
|
||||
gtsam::Pose3 inverse() const;
|
||||
gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
|
||||
gtsam::Pose3 between(const gtsam::Pose3& p2) const;
|
||||
|
||||
// Manifold
|
||||
gtsam::Pose3 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Pose3& T2) const;
|
||||
|
||||
// Lie Group
|
||||
static gtsam::Pose3 Expmap(Vector v);
|
||||
static Vector Logmap(const gtsam::Pose3& p);
|
||||
Matrix AdjointMap() const;
|
||||
Vector Adjoint(Vector xi) const;
|
||||
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
|
||||
|
||||
// Group Action on Point3
|
||||
gtsam::Point3 transform_from(const gtsam::Point3& p) const;
|
||||
gtsam::Point3 transform_to(const gtsam::Point3& p) const;
|
||||
|
||||
// Standard Interface
|
||||
gtsam::Rot3 rotation() const;
|
||||
gtsam::Point3 translation() const;
|
||||
double x() const;
|
||||
double y() const;
|
||||
double z() const;
|
||||
Matrix matrix() const;
|
||||
gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
|
||||
double range(const gtsam::Point3& point);
|
||||
double range(const gtsam::Pose3& pose);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
//*************************************************************************
|
||||
// noise
|
||||
//*************************************************************************
|
||||
|
||||
namespace noiseModel {
|
||||
#include <gtsam/linear/NoiseModel.h>
|
||||
virtual class Base {
|
||||
};
|
||||
|
||||
virtual class Gaussian : gtsam::noiseModel::Base {
|
||||
static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
|
||||
static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
|
||||
Matrix R() const;
|
||||
bool equals(gtsam::noiseModel::Base& expected, double tol);
|
||||
void print(string s) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Diagonal : gtsam::noiseModel::Gaussian {
|
||||
static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
|
||||
static gtsam::noiseModel::Diagonal* Variances(Vector variances);
|
||||
static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
|
||||
Matrix R() const;
|
||||
void print(string s) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Constrained : gtsam::noiseModel::Diagonal {
|
||||
static gtsam::noiseModel::Constrained* MixedSigmas(const Vector& mu, const Vector& sigmas);
|
||||
static gtsam::noiseModel::Constrained* MixedSigmas(double m, const Vector& sigmas);
|
||||
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& mu, const Vector& variances);
|
||||
static gtsam::noiseModel::Constrained* MixedVariances(const Vector& variances);
|
||||
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& mu, const Vector& precisions);
|
||||
static gtsam::noiseModel::Constrained* MixedPrecisions(const Vector& precisions);
|
||||
|
||||
static gtsam::noiseModel::Constrained* All(size_t dim);
|
||||
static gtsam::noiseModel::Constrained* All(size_t dim, double mu);
|
||||
|
||||
gtsam::noiseModel::Constrained* unit() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Isotropic : gtsam::noiseModel::Diagonal {
|
||||
static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
|
||||
static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
|
||||
static gtsam::noiseModel::Isotropic* Precision(size_t dim, double precision);
|
||||
void print(string s) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Unit : gtsam::noiseModel::Isotropic {
|
||||
static gtsam::noiseModel::Unit* Create(size_t dim);
|
||||
void print(string s) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
namespace mEstimator {
|
||||
virtual class Base {
|
||||
};
|
||||
|
||||
virtual class Null: gtsam::noiseModel::mEstimator::Base {
|
||||
Null();
|
||||
//Null(const gtsam::noiseModel::mEstimator::Null& other);
|
||||
void print(string s) const;
|
||||
static gtsam::noiseModel::mEstimator::Null* Create();
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Fair: gtsam::noiseModel::mEstimator::Base {
|
||||
Fair(double c);
|
||||
//Fair(const gtsam::noiseModel::mEstimator::Fair& other);
|
||||
void print(string s) const;
|
||||
static gtsam::noiseModel::mEstimator::Fair* Create(double c);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Huber: gtsam::noiseModel::mEstimator::Base {
|
||||
Huber(double k);
|
||||
//Huber(const gtsam::noiseModel::mEstimator::Huber& other);
|
||||
|
||||
void print(string s) const;
|
||||
static gtsam::noiseModel::mEstimator::Huber* Create(double k);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
virtual class Tukey: gtsam::noiseModel::mEstimator::Base {
|
||||
Tukey(double k);
|
||||
//Tukey(const gtsam::noiseModel::mEstimator::Tukey& other);
|
||||
|
||||
void print(string s) const;
|
||||
static gtsam::noiseModel::mEstimator::Tukey* Create(double k);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
}///\namespace mEstimator
|
||||
|
||||
virtual class Robust : gtsam::noiseModel::Base {
|
||||
Robust(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
|
||||
//Robust(const gtsam::noiseModel::Robust& other);
|
||||
|
||||
static gtsam::noiseModel::Robust* Create(const gtsam::noiseModel::mEstimator::Base* robust, const gtsam::noiseModel::Base* noise);
|
||||
void print(string s) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serializable() const;
|
||||
};
|
||||
|
||||
}///\namespace noiseModel
|
||||
|
||||
#include <gtsam/linear/Sampler.h>
|
||||
class Sampler {
|
||||
//Constructors
|
||||
Sampler(gtsam::noiseModel::Diagonal* model, int seed);
|
||||
Sampler(Vector sigmas, int seed);
|
||||
Sampler(int seed);
|
||||
//Sampler(const gtsam::Sampler& other);
|
||||
|
||||
|
||||
//Standard Interface
|
||||
size_t dim() const;
|
||||
Vector sigmas() const;
|
||||
gtsam::noiseModel::Diagonal* model() const;
|
||||
Vector sample();
|
||||
Vector sampleNewModel(gtsam::noiseModel::Diagonal* model);
|
||||
};
|
||||
|
||||
#include <gtsam/linear/VectorValues.h>
|
||||
class VectorValues {
|
||||
//Constructors
|
||||
VectorValues();
|
||||
VectorValues(const gtsam::VectorValues& other);
|
||||
|
||||
//Named Constructors
|
||||
static gtsam::VectorValues Zero(const gtsam::VectorValues& model);
|
||||
|
||||
//Standard Interface
|
||||
size_t size() const;
|
||||
size_t dim(size_t j) const;
|
||||
bool exists(size_t j) const;
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::VectorValues& expected, double tol) const;
|
||||
void insert(size_t j, Vector value);
|
||||
Vector vector() const;
|
||||
Vector at(size_t j) const;
|
||||
void update(const gtsam::VectorValues& values);
|
||||
|
||||
//Advanced Interface
|
||||
void setZero();
|
||||
|
||||
gtsam::VectorValues add(const gtsam::VectorValues& c) const;
|
||||
void addInPlace(const gtsam::VectorValues& c);
|
||||
gtsam::VectorValues subtract(const gtsam::VectorValues& c) const;
|
||||
gtsam::VectorValues scale(double a) const;
|
||||
void scaleInPlace(double a);
|
||||
|
||||
bool hasSameStructure(const gtsam::VectorValues& other) const;
|
||||
double dot(const gtsam::VectorValues& V) const;
|
||||
double norm() const;
|
||||
double squaredNorm() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/GaussianFactor.h>
|
||||
virtual class GaussianFactor {
|
||||
gtsam::KeyVector keys() const;
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
||||
double error(const gtsam::VectorValues& c) const;
|
||||
gtsam::GaussianFactor* clone() const;
|
||||
gtsam::GaussianFactor* negate() const;
|
||||
Matrix augmentedInformation() const;
|
||||
Matrix information() const;
|
||||
Matrix augmentedJacobian() const;
|
||||
pair<Matrix, Vector> jacobian() const;
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/JacobianFactor.h>
|
||||
virtual class JacobianFactor : gtsam::GaussianFactor {
|
||||
//Constructors
|
||||
JacobianFactor();
|
||||
JacobianFactor(const gtsam::GaussianFactor& factor);
|
||||
JacobianFactor(Vector b_in);
|
||||
JacobianFactor(size_t i1, Matrix A1, Vector b,
|
||||
const gtsam::noiseModel::Diagonal* model);
|
||||
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, Vector b,
|
||||
const gtsam::noiseModel::Diagonal* model);
|
||||
JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
|
||||
Vector b, const gtsam::noiseModel::Diagonal* model);
|
||||
//JacobianFactor(const gtsam::GaussianFactorGraph& graph);
|
||||
//JacobianFactor(const gtsam::JacobianFactor& other);
|
||||
|
||||
//Testable
|
||||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
||||
size_t size() const;
|
||||
Vector unweighted_error(const gtsam::VectorValues& c) const;
|
||||
Vector error_vector(const gtsam::VectorValues& c) const;
|
||||
double error(const gtsam::VectorValues& c) const;
|
||||
|
||||
//Standard Interface
|
||||
Matrix getA() const;
|
||||
Vector getb() const;
|
||||
size_t rows() const;
|
||||
size_t cols() const;
|
||||
bool isConstrained() const;
|
||||
pair<Matrix, Vector> jacobianUnweighted() const;
|
||||
Matrix augmentedJacobianUnweighted() const;
|
||||
|
||||
void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
|
||||
gtsam::JacobianFactor whiten() const;
|
||||
|
||||
//pair<gtsam::GaussianConditional*, gtsam::JacobianFactor*> eliminate(const gtsam::Ordering& keys) const;
|
||||
|
||||
void setModel(bool anyConstrained, const Vector& sigmas);
|
||||
|
||||
gtsam::noiseModel::Diagonal* get_model() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/HessianFactor.h>
|
||||
virtual class HessianFactor : gtsam::GaussianFactor {
|
||||
//Constructors
|
||||
HessianFactor();
|
||||
HessianFactor(const gtsam::GaussianFactor& factor);
|
||||
HessianFactor(size_t j, Matrix G, Vector g, double f);
|
||||
HessianFactor(size_t j, Vector mu, Matrix Sigma);
|
||||
HessianFactor(size_t j1, size_t j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
|
||||
Vector g2, double f);
|
||||
HessianFactor(size_t j1, size_t j2, size_t j3, Matrix G11, Matrix G12, Matrix G13,
|
||||
Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
|
||||
double f);
|
||||
//HessianFactor(const gtsam::GaussianFactorGraph& factors);
|
||||
//HessianFactor(const gtsam::HessianFactor& other);
|
||||
|
||||
//Testable
|
||||
size_t size() const;
|
||||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
bool equals(const gtsam::GaussianFactor& lf, double tol) const;
|
||||
double error(const gtsam::VectorValues& c) const;
|
||||
|
||||
//Standard Interface
|
||||
size_t rows() const;
|
||||
Matrix information() const;
|
||||
double constantTerm() const;
|
||||
Vector linearTerm() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/Values.h>
|
||||
class Values {
|
||||
Values();
|
||||
//Values(const gtsam::Values& other);
|
||||
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
size_t dim() const;
|
||||
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Values& other, double tol) const;
|
||||
|
||||
void insert(const gtsam::Values& values);
|
||||
void update(const gtsam::Values& values);
|
||||
void erase(size_t j);
|
||||
void swap(gtsam::Values& values);
|
||||
|
||||
bool exists(size_t j) const;
|
||||
gtsam::KeyVector keys() const;
|
||||
|
||||
gtsam::VectorValues zeroVectors() const;
|
||||
|
||||
gtsam::Values retract(const gtsam::VectorValues& delta) const;
|
||||
gtsam::VectorValues localCoordinates(const gtsam::Values& cp) const;
|
||||
|
||||
// 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;
|
||||
|
||||
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
||||
// gtsam::Rot3, gtsam::Pose3}>
|
||||
// void insert(size_t j, const T& t);
|
||||
|
||||
// template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
||||
// gtsam::Rot3, gtsam::Pose3}>
|
||||
// void update(size_t j, const T& t);
|
||||
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, Vector t);
|
||||
void insert(size_t j, Matrix 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, Vector t);
|
||||
void update(size_t j, Matrix t);
|
||||
|
||||
template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
||||
gtsam::Rot3, gtsam::Pose3, Vector, Matrix}>
|
||||
T at(size_t j);
|
||||
|
||||
/// version for double
|
||||
void insertDouble(size_t j, double c);
|
||||
double atDouble(size_t j) const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NonlinearFactor {
|
||||
// Factor base class
|
||||
size_t size() const;
|
||||
gtsam::KeyVector keys() const;
|
||||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
// NonlinearFactor
|
||||
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
|
||||
double error(const gtsam::Values& c) const;
|
||||
size_t dim() const;
|
||||
bool active(const gtsam::Values& c) const;
|
||||
gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
|
||||
gtsam::NonlinearFactor* clone() const;
|
||||
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
class NonlinearFactorGraph {
|
||||
NonlinearFactorGraph();
|
||||
//NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
|
||||
|
||||
// FactorGraph
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::NonlinearFactorGraph& fg, double tol) const;
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void remove(size_t i);
|
||||
size_t nrFactors() const;
|
||||
gtsam::NonlinearFactor* at(size_t idx) const;
|
||||
void push_back(const gtsam::NonlinearFactorGraph& factors);
|
||||
void push_back(gtsam::NonlinearFactor* factor);
|
||||
void add(gtsam::NonlinearFactor* factor);
|
||||
bool exists(size_t idx) const;
|
||||
// gtsam::KeySet keys() const;
|
||||
|
||||
// NonlinearFactorGraph
|
||||
double error(const gtsam::Values& values) const;
|
||||
double probPrime(const gtsam::Values& values) const;
|
||||
//gtsam::Ordering orderingCOLAMD() const;
|
||||
// Ordering* orderingCOLAMDConstrained(const gtsam::Values& c, const std::map<gtsam::Key,int>& constraints) const;
|
||||
//gtsam::GaussianFactorGraph* linearize(const gtsam::Values& values) const;
|
||||
gtsam::NonlinearFactorGraph clone() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
||||
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
|
||||
gtsam::noiseModel::Base* noiseModel() const;
|
||||
Vector unwhitenedError(const gtsam::Values& x) const;
|
||||
Vector whitenedError(const gtsam::Values& x) const;
|
||||
};
|
||||
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
||||
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
||||
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
||||
//PriorFactor(const This& other);
|
||||
T prior() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
|
||||
#include <gtsam/slam/BetweenFactor.h>
|
||||
template<T = {Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3}>
|
||||
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
||||
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
||||
//BetweenFactor(const This& other);
|
||||
T measured() const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/inference/Symbol.h>
|
||||
size_t symbol(char chr, size_t index);
|
||||
char symbolChr(size_t key);
|
||||
size_t symbolIndex(size_t key);
|
||||
|
||||
#include <gtsam/inference/Key.h>
|
||||
// Default keyformatter
|
||||
void PrintKeyVector(const gtsam::KeyVector& keys);
|
||||
void PrintKeyVector(const gtsam::KeyVector& keys, string s);
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
bool checkConvergence(double relativeErrorTreshold,
|
||||
double absoluteErrorTreshold, double errorThreshold,
|
||||
double currentError, double newError);
|
||||
|
||||
#include <gtsam/slam/dataset.h>
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model, int maxID);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
|
||||
gtsam::noiseModel::Diagonal* model);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename);
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D_robust(string filename,
|
||||
gtsam::noiseModel::Base* model);
|
||||
void save2D(const gtsam::NonlinearFactorGraph& graph,
|
||||
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
|
||||
string filename);
|
||||
|
||||
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> readG2o(string filename);
|
||||
void writeG2o(const gtsam::NonlinearFactorGraph& graph,
|
||||
const gtsam::Values& estimate, string filename);
|
||||
|
||||
//*************************************************************************
|
||||
// Utilities
|
||||
//*************************************************************************
|
||||
|
||||
namespace utilities {
|
||||
|
||||
#include <gtsam/nonlinear/utilities.h>
|
||||
// gtsam::KeyList createKeyList(Vector I);
|
||||
// gtsam::KeyList createKeyList(string s, Vector I);
|
||||
gtsam::KeyVector createKeyVector(Vector I);
|
||||
gtsam::KeyVector createKeyVector(string s, Vector I);
|
||||
// gtsam::KeySet createKeySet(Vector I);
|
||||
// gtsam::KeySet createKeySet(string s, Vector I);
|
||||
Matrix extractPoint2(const gtsam::Values& values);
|
||||
Matrix extractPoint3(const gtsam::Values& values);
|
||||
Matrix extractPose2(const gtsam::Values& values);
|
||||
gtsam::Values allPose3s(gtsam::Values& values);
|
||||
Matrix extractPose3(const gtsam::Values& values);
|
||||
void perturbPoint2(gtsam::Values& values, double sigma, int seed);
|
||||
void perturbPose2 (gtsam::Values& values, double sigmaT, double sigmaR, int seed);
|
||||
void perturbPoint3(gtsam::Values& values, double sigma, int seed);
|
||||
// void insertBackprojections(gtsam::Values& values, const gtsam::SimpleCamera& c, Vector J, Matrix Z, double depth);
|
||||
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K);
|
||||
// void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K, const gtsam::Pose3& body_P_sensor);
|
||||
Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& values);
|
||||
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base);
|
||||
gtsam::Values localToWorld(const gtsam::Values& local, const gtsam::Pose2& base, const gtsam::KeyVector& keys);
|
||||
|
||||
} //\namespace utilities
|
||||
|
||||
#include <gtsam/nonlinear/utilities.h>
|
||||
class RedirectCout {
|
||||
RedirectCout();
|
||||
string str();
|
||||
};
|
||||
|
||||
} //\namespace gtsam
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
|
||||
class TestCal3Unified(unittest.TestCase):
|
||||
|
||||
def test_Cal3Unified(self):
|
||||
K = gtsam.Cal3Unified()
|
||||
self.assertEqual(K.fx(), 1.)
|
||||
self.assertEqual(K.fx(), 1.)
|
||||
|
||||
def test_retract(self):
|
||||
expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1)
|
||||
K = gtsam.Cal3Unified(100, 105, 0.0, 320, 240, 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3, 0.1)
|
||||
d = np.array([2, 3, 4, 5, 6, 7, 8, 9, 10, 1], order='F')
|
||||
actual = K.retract(d)
|
||||
self.assertTrue(actual.equals(expected, 1e-9))
|
||||
np.testing.assert_allclose(d, K.localCoordinates(actual))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,78 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
class TestJacobianFactor(unittest.TestCase):
|
||||
|
||||
def test_eliminate(self):
|
||||
# Recommended way to specify a matrix (see cython/README)
|
||||
Ax2 = np.array(
|
||||
[[-5., 0.],
|
||||
[+0., -5.],
|
||||
[10., 0.],
|
||||
[+0., 10.]], order='F')
|
||||
|
||||
# This is good too
|
||||
Al1 = np.array(
|
||||
[[5, 0],
|
||||
[0, 5],
|
||||
[0, 0],
|
||||
[0, 0]], dtype=float, order = 'F')
|
||||
|
||||
# Not recommended for performance reasons, but should still work
|
||||
# as the wrapper should convert it to the correct type and storage order
|
||||
Ax1 = np.array(
|
||||
[[0, 0], # f4
|
||||
[0, 0], # f4
|
||||
[-10, 0], # f2
|
||||
[0, -10]]) # f2
|
||||
|
||||
x2 = 1
|
||||
l1 = 2
|
||||
x1 = 3
|
||||
|
||||
# the RHS
|
||||
b2 = np.array([-1., 1.5, 2., -1.])
|
||||
sigmas = np.array([1., 1., 1., 1.])
|
||||
model4 = gtsam.noiseModel_Diagonal.Sigmas(sigmas)
|
||||
combined = gtsam.JacobianFactor(x2, Ax2, l1, Al1, x1, Ax1, b2, model4)
|
||||
|
||||
# eliminate the first variable (x2) in the combined factor, destructive
|
||||
# !
|
||||
ord = gtsam.Ordering()
|
||||
ord.push_back(x2)
|
||||
actualCG, lf = combined.eliminate(ord)
|
||||
|
||||
# create expected Conditional Gaussian
|
||||
R11 = np.array([[11.1803, 0.00],
|
||||
[0.00, 11.1803]])
|
||||
S12 = np.array([[-2.23607, 0.00],
|
||||
[+0.00, -2.23607]])
|
||||
S13 = np.array([[-8.94427, 0.00],
|
||||
[+0.00, -8.94427]])
|
||||
d = np.array([2.23607, -1.56525])
|
||||
expectedCG = gtsam.GaussianConditional(
|
||||
x2, d, R11, l1, S12, x1, S13, gtsam.noiseModel_Unit.Create(2))
|
||||
# check if the result matches
|
||||
self.assertTrue(actualCG.equals(expectedCG, 1e-4))
|
||||
|
||||
# the expected linear factor
|
||||
Bl1 = np.array([[4.47214, 0.00],
|
||||
[0.00, 4.47214]])
|
||||
|
||||
Bx1 = np.array(
|
||||
# x1
|
||||
[[-4.47214, 0.00],
|
||||
[+0.00, -4.47214]])
|
||||
|
||||
# the RHS
|
||||
b1 = np.array([0.0, 0.894427])
|
||||
|
||||
model2 = gtsam.noiseModel_Diagonal.Sigmas(np.array([1., 1.]))
|
||||
expectedLF = gtsam.JacobianFactor(l1, Bl1, x1, Bx1, b1, model2)
|
||||
|
||||
# check if the result matches the combined (reduced) factor
|
||||
self.assertTrue(lf.equals(expectedLF, 1e-4))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
class TestKalmanFilter(unittest.TestCase):
|
||||
|
||||
def test_KalmanFilter(self):
|
||||
F = np.eye(2)
|
||||
B = np.eye(2)
|
||||
u = np.array([1.0, 0.0])
|
||||
modelQ = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.1, 0.1]))
|
||||
Q = 0.01 * np.eye(2)
|
||||
H = np.eye(2)
|
||||
z1 = np.array([1.0, 0.0])
|
||||
z2 = np.array([2.0, 0.0])
|
||||
z3 = np.array([3.0, 0.0])
|
||||
modelR = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.1, 0.1]))
|
||||
R = 0.01 * np.eye(2)
|
||||
|
||||
# Create the set of expected output TestValues
|
||||
expected0 = np.array([0.0, 0.0])
|
||||
P00 = 0.01 * np.eye(2)
|
||||
|
||||
expected1 = np.array([1.0, 0.0])
|
||||
P01 = P00 + Q
|
||||
I11 = np.linalg.inv(P01) + np.linalg.inv(R)
|
||||
|
||||
expected2 = np.array([2.0, 0.0])
|
||||
P12 = np.linalg.inv(I11) + Q
|
||||
I22 = np.linalg.inv(P12) + np.linalg.inv(R)
|
||||
|
||||
expected3 = np.array([3.0, 0.0])
|
||||
P23 = np.linalg.inv(I22) + Q
|
||||
I33 = np.linalg.inv(P23) + np.linalg.inv(R)
|
||||
|
||||
# Create an KalmanFilter object
|
||||
KF = gtsam.KalmanFilter(n=2)
|
||||
|
||||
# Create the Kalman Filter initialization point
|
||||
x_initial = np.array([0.0, 0.0])
|
||||
P_initial = 0.01 * np.eye(2)
|
||||
|
||||
# Create an KF object
|
||||
state = KF.init(x_initial, P_initial)
|
||||
self.assertTrue(np.allclose(expected0, state.mean()))
|
||||
self.assertTrue(np.allclose(P00, state.covariance()))
|
||||
|
||||
# Run iteration 1
|
||||
state = KF.predict(state, F, B, u, modelQ)
|
||||
self.assertTrue(np.allclose(expected1, state.mean()))
|
||||
self.assertTrue(np.allclose(P01, state.covariance()))
|
||||
state = KF.update(state, H, z1, modelR)
|
||||
self.assertTrue(np.allclose(expected1, state.mean()))
|
||||
self.assertTrue(np.allclose(I11, state.information()))
|
||||
|
||||
# Run iteration 2
|
||||
state = KF.predict(state, F, B, u, modelQ)
|
||||
self.assertTrue(np.allclose(expected2, state.mean()))
|
||||
state = KF.update(state, H, z2, modelR)
|
||||
self.assertTrue(np.allclose(expected2, state.mean()))
|
||||
|
||||
# Run iteration 3
|
||||
state = KF.predict(state, F, B, u, modelQ)
|
||||
self.assertTrue(np.allclose(expected3, state.mean()))
|
||||
state = KF.update(state, H, z3, modelR)
|
||||
self.assertTrue(np.allclose(expected3, state.mean()))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,50 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
class TestLocalizationExample(unittest.TestCase):
|
||||
|
||||
def test_LocalizationExample(self):
|
||||
# Create the graph (defined in pose2SLAM.h, derived from
|
||||
# NonlinearFactorGraph)
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
# Add two odometry factors
|
||||
# create a measurement for both factors (the same in this case)
|
||||
odometry = gtsam.Pose2(2.0, 0.0, 0.0)
|
||||
odometryNoise = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.2, 0.2, 0.1])) # 20cm std on x,y, 0.1 rad on theta
|
||||
graph.add(gtsam.BetweenFactorPose2(0, 1, odometry, odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(1, 2, odometry, odometryNoise))
|
||||
|
||||
# Add three "GPS" measurements
|
||||
# We use Pose2 Priors here with high variance on theta
|
||||
groundTruth = gtsam.Values()
|
||||
groundTruth.insert(0, gtsam.Pose2(0.0, 0.0, 0.0))
|
||||
groundTruth.insert(1, gtsam.Pose2(2.0, 0.0, 0.0))
|
||||
groundTruth.insert(2, gtsam.Pose2(4.0, 0.0, 0.0))
|
||||
model = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.1, 0.1, 10.]))
|
||||
for i in range(3):
|
||||
graph.add(gtsam.PriorFactorPose2(i, groundTruth.atPose2(i), model))
|
||||
|
||||
# Initialize to noisy points
|
||||
initialEstimate = gtsam.Values()
|
||||
initialEstimate.insert(0, gtsam.Pose2(0.5, 0.0, 0.2))
|
||||
initialEstimate.insert(1, gtsam.Pose2(2.3, 0.1, -0.2))
|
||||
initialEstimate.insert(2, gtsam.Pose2(4.1, 0.1, 0.1))
|
||||
|
||||
# Optimize using Levenberg-Marquardt optimization with an ordering from
|
||||
# colamd
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
result = optimizer.optimizeSafely()
|
||||
|
||||
# Plot Covariance Ellipses
|
||||
marginals = gtsam.Marginals(graph, result)
|
||||
P = [None] * result.size()
|
||||
for i in range(0, result.size()):
|
||||
pose_i = result.atPose2(i)
|
||||
self.assertTrue(pose_i.equals(groundTruth.atPose2(i), 1e-4))
|
||||
P[i] = marginals.marginalCovariance(i)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
class TestOdometryExample(unittest.TestCase):
|
||||
|
||||
def test_OdometryExample(self):
|
||||
# Create the graph (defined in pose2SLAM.h, derived from
|
||||
# NonlinearFactorGraph)
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
# Add a Gaussian prior on pose x_1
|
||||
priorMean = gtsam.Pose2(0.0, 0.0, 0.0) # prior mean is at origin
|
||||
priorNoise = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.3, 0.3, 0.1])) # 30cm std on x,y, 0.1 rad on theta
|
||||
# add directly to graph
|
||||
graph.add(gtsam.PriorFactorPose2(1, priorMean, priorNoise))
|
||||
|
||||
# Add two odometry factors
|
||||
# create a measurement for both factors (the same in this case)
|
||||
odometry = gtsam.Pose2(2.0, 0.0, 0.0)
|
||||
odometryNoise = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.2, 0.2, 0.1])) # 20cm std on x,y, 0.1 rad on theta
|
||||
graph.add(gtsam.BetweenFactorPose2(1, 2, odometry, odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(2, 3, odometry, odometryNoise))
|
||||
|
||||
# Initialize to noisy points
|
||||
initialEstimate = gtsam.Values()
|
||||
initialEstimate.insert(1, gtsam.Pose2(0.5, 0.0, 0.2))
|
||||
initialEstimate.insert(2, gtsam.Pose2(2.3, 0.1, -0.2))
|
||||
initialEstimate.insert(3, gtsam.Pose2(4.1, 0.1, 0.1))
|
||||
|
||||
# Optimize using Levenberg-Marquardt optimization with an ordering from
|
||||
# colamd
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
result = optimizer.optimizeSafely()
|
||||
marginals = gtsam.Marginals(graph, result)
|
||||
marginals.marginalCovariance(1)
|
||||
|
||||
# Check first pose equality
|
||||
pose_1 = result.atPose2(1)
|
||||
self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
from math import pi
|
||||
import numpy as np
|
||||
|
||||
class TestPose2SLAMExample(unittest.TestCase):
|
||||
|
||||
def test_Pose2SLAMExample(self):
|
||||
# Assumptions
|
||||
# - All values are axis aligned
|
||||
# - Robot poses are facing along the X axis (horizontal, to the right in images)
|
||||
# - We have full odometry for measurements
|
||||
# - The robot is on a grid, moving 2 meters each step
|
||||
|
||||
# Create graph container and add factors to it
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
# Add prior
|
||||
# gaussian for prior
|
||||
priorMean = gtsam.Pose2(0.0, 0.0, 0.0) # prior at origin
|
||||
priorNoise = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.3, 0.3, 0.1]))
|
||||
# add directly to graph
|
||||
graph.add(gtsam.PriorFactorPose2(1, priorMean, priorNoise))
|
||||
|
||||
# Add odometry
|
||||
# general noisemodel for odometry
|
||||
odometryNoise = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
1, 2, gtsam.Pose2(2.0, 0.0, 0.0), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
2, 3, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
3, 4, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
4, 5, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
|
||||
# Add pose constraint
|
||||
model = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
|
||||
graph.add(gtsam.BetweenFactorPose2(5, 2, gtsam.Pose2(2.0, 0.0, pi / 2), model))
|
||||
|
||||
# Initialize to noisy points
|
||||
initialEstimate = gtsam.Values()
|
||||
initialEstimate.insert(1, gtsam.Pose2(0.5, 0.0, 0.2))
|
||||
initialEstimate.insert(2, gtsam.Pose2(2.3, 0.1, -0.2))
|
||||
initialEstimate.insert(3, gtsam.Pose2(4.1, 0.1, pi / 2))
|
||||
initialEstimate.insert(4, gtsam.Pose2(4.0, 2.0, pi))
|
||||
initialEstimate.insert(5, gtsam.Pose2(2.1, 2.1, -pi / 2))
|
||||
|
||||
# Optimize using Levenberg-Marquardt optimization with an ordering from
|
||||
# colamd
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
result = optimizer.optimizeSafely()
|
||||
|
||||
# Plot Covariance Ellipses
|
||||
marginals = gtsam.Marginals(graph, result)
|
||||
P = marginals.marginalCovariance(1)
|
||||
|
||||
pose_1 = result.atPose2(1)
|
||||
self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
from math import pi
|
||||
import numpy as np
|
||||
|
||||
class TestPose2SLAMExample(unittest.TestCase):
|
||||
|
||||
def test_Pose2SLAMExample(self):
|
||||
# Assumptions
|
||||
# - All values are axis aligned
|
||||
# - Robot poses are facing along the X axis (horizontal, to the right in images)
|
||||
# - We have full odometry for measurements
|
||||
# - The robot is on a grid, moving 2 meters each step
|
||||
|
||||
# Create graph container and add factors to it
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
# Add prior
|
||||
# gaussian for prior
|
||||
priorMean = gtsam.Pose2(0.0, 0.0, 0.0) # prior at origin
|
||||
priorNoise = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.3, 0.3, 0.1]))
|
||||
# add directly to graph
|
||||
graph.add(gtsam.PriorFactorPose2(1, priorMean, priorNoise))
|
||||
|
||||
# Add odometry
|
||||
# general noisemodel for odometry
|
||||
odometryNoise = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
1, 2, gtsam.Pose2(2.0, 0.0, 0.0), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
2, 3, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
3, 4, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
graph.add(gtsam.BetweenFactorPose2(
|
||||
4, 5, gtsam.Pose2(2.0, 0.0, pi / 2), odometryNoise))
|
||||
|
||||
# Add pose constraint
|
||||
model = gtsam.noiseModel_Diagonal.Sigmas(np.array([0.2, 0.2, 0.1]))
|
||||
graph.add(gtsam.BetweenFactorPose2(5, 2, gtsam.Pose2(2.0, 0.0, pi / 2), model))
|
||||
|
||||
# Initialize to noisy points
|
||||
initialEstimate = gtsam.Values()
|
||||
initialEstimate.insert(1, gtsam.Pose2(0.5, 0.0, 0.2))
|
||||
initialEstimate.insert(2, gtsam.Pose2(2.3, 0.1, -0.2))
|
||||
initialEstimate.insert(3, gtsam.Pose2(4.1, 0.1, pi / 2))
|
||||
initialEstimate.insert(4, gtsam.Pose2(4.0, 2.0, pi))
|
||||
initialEstimate.insert(5, gtsam.Pose2(2.1, 2.1, -pi / 2))
|
||||
|
||||
# Optimize using Levenberg-Marquardt optimization with an ordering from
|
||||
# colamd
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
result = optimizer.optimizeSafely()
|
||||
|
||||
# Plot Covariance Ellipses
|
||||
marginals = gtsam.Marginals(graph, result)
|
||||
P = marginals.marginalCovariance(1)
|
||||
|
||||
pose_1 = result.atPose2(1)
|
||||
self.assertTrue(pose_1.equals(gtsam.Pose2(), 1e-4))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
import math
|
||||
import unittest
|
||||
|
||||
from gtsam import Point3, Rot3, Pose3
|
||||
|
||||
|
||||
class TestPose3(unittest.TestCase):
|
||||
|
||||
def test__between(self):
|
||||
T2 = Pose3(Rot3.Rodrigues(0.3,0.2,0.1),Point3(3.5,-8.2,4.2))
|
||||
T3 = Pose3(Rot3.Rodrigues(-90, 0, 0), Point3(1, 2, 3))
|
||||
expected = T2.inverse().compose(T3)
|
||||
actual = T2.between(T3)
|
||||
self.assertTrue(actual.equals(expected, 1e-6))
|
||||
|
||||
def test_transform_to(self):
|
||||
transform = Pose3(Rot3.Rodrigues(0,0,-1.570796), Point3(2,4, 0))
|
||||
actual = transform.transform_to(Point3(3,2,10))
|
||||
expected = Point3 (2,1,10)
|
||||
self.assertTrue(actual.equals(expected, 1e-6))
|
||||
|
||||
def test_range(self):
|
||||
l1 = Point3(1, 0, 0)
|
||||
l2 = Point3(1, 1, 0)
|
||||
x1 = Pose3()
|
||||
|
||||
xl1 = Pose3(Rot3.Ypr(0.0, 0.0, 0.0), Point3(1, 0, 0))
|
||||
xl2 = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
|
||||
|
||||
# establish range is indeed zero
|
||||
self.assertEqual(1,x1.range(point=l1))
|
||||
|
||||
# establish range is indeed sqrt2
|
||||
self.assertEqual(math.sqrt(2.0),x1.range(point=l2))
|
||||
|
||||
# establish range is indeed zero
|
||||
self.assertEqual(1,x1.range(pose=xl1))
|
||||
|
||||
# establish range is indeed sqrt2
|
||||
self.assertEqual(math.sqrt(2.0),x1.range(pose=xl2))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,46 @@
|
|||
import unittest
|
||||
import numpy as np
|
||||
import gtsam
|
||||
from math import pi
|
||||
from gtsam.utils.circlePose3 import *
|
||||
|
||||
class TestPose3SLAMExample(unittest.TestCase):
|
||||
|
||||
def test_Pose3SLAMExample(self):
|
||||
# Create a hexagon of poses
|
||||
hexagon = circlePose3(6, 1.0)
|
||||
p0 = hexagon.atPose3(0)
|
||||
p1 = hexagon.atPose3(1)
|
||||
|
||||
# create a Pose graph with one equality constraint and one measurement
|
||||
fg = gtsam.NonlinearFactorGraph()
|
||||
fg.add(gtsam.NonlinearEqualityPose3(0, p0))
|
||||
delta = p0.between(p1)
|
||||
covariance = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.05, 0.05, 0.05, 5. * pi / 180, 5. * pi / 180, 5. * pi / 180]))
|
||||
fg.add(gtsam.BetweenFactorPose3(0, 1, delta, covariance))
|
||||
fg.add(gtsam.BetweenFactorPose3(1, 2, delta, covariance))
|
||||
fg.add(gtsam.BetweenFactorPose3(2, 3, delta, covariance))
|
||||
fg.add(gtsam.BetweenFactorPose3(3, 4, delta, covariance))
|
||||
fg.add(gtsam.BetweenFactorPose3(4, 5, delta, covariance))
|
||||
fg.add(gtsam.BetweenFactorPose3(5, 0, delta, covariance))
|
||||
|
||||
# Create initial config
|
||||
initial = gtsam.Values()
|
||||
s = 0.10
|
||||
initial.insert(0, p0)
|
||||
initial.insert(1, hexagon.atPose3(1).retract(s * np.random.randn(6, 1)))
|
||||
initial.insert(2, hexagon.atPose3(2).retract(s * np.random.randn(6, 1)))
|
||||
initial.insert(3, hexagon.atPose3(3).retract(s * np.random.randn(6, 1)))
|
||||
initial.insert(4, hexagon.atPose3(4).retract(s * np.random.randn(6, 1)))
|
||||
initial.insert(5, hexagon.atPose3(5).retract(s * np.random.randn(6, 1)))
|
||||
|
||||
# optimize
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(fg, initial)
|
||||
result = optimizer.optimizeSafely()
|
||||
|
||||
pose_1 = result.atPose3(1)
|
||||
self.assertTrue(pose_1.equals(p1, 1e-4))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
import numpy as np
|
||||
|
||||
class TestPriorFactor(unittest.TestCase):
|
||||
|
||||
def test_PriorFactor(self):
|
||||
values = gtsam.Values()
|
||||
|
||||
key = 5
|
||||
priorPose3 = gtsam.Pose3()
|
||||
model = gtsam.noiseModel_Unit.Create(6)
|
||||
factor = gtsam.PriorFactorPose3(key, priorPose3, model)
|
||||
values.insert(key, priorPose3)
|
||||
self.assertEqual(factor.error(values), 0)
|
||||
|
||||
key = 3
|
||||
priorVector = np.array([0., 0., 0.])
|
||||
model = gtsam.noiseModel_Unit.Create(3)
|
||||
factor = gtsam.PriorFactorVector(key, priorVector, model)
|
||||
values.insert(key, priorVector)
|
||||
self.assertEqual(factor.error(values), 0)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
from gtsam import symbol
|
||||
import numpy as np
|
||||
import gtsam.utils.visual_data_generator as generator
|
||||
|
||||
|
||||
class TestSFMExample(unittest.TestCase):
|
||||
|
||||
def test_SFMExample(self):
|
||||
options = generator.Options()
|
||||
options.triangle = False
|
||||
options.nrCameras = 10
|
||||
|
||||
[data, truth] = generator.generate_data(options)
|
||||
|
||||
measurementNoiseSigma = 1.0
|
||||
pointNoiseSigma = 0.1
|
||||
poseNoiseSigmas = np.array([0.001, 0.001, 0.001, 0.1, 0.1, 0.1])
|
||||
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
# Add factors for all measurements
|
||||
measurementNoise = gtsam.noiseModel_Isotropic.Sigma(2, measurementNoiseSigma)
|
||||
for i in range(len(data.Z)):
|
||||
for k in range(len(data.Z[i])):
|
||||
j = data.J[i][k]
|
||||
graph.add(gtsam.GenericProjectionFactorCal3_S2(
|
||||
data.Z[i][k], measurementNoise,
|
||||
symbol(ord('x'), i), symbol(ord('p'), j), data.K))
|
||||
|
||||
posePriorNoise = gtsam.noiseModel_Diagonal.Sigmas(poseNoiseSigmas)
|
||||
graph.add(gtsam.PriorFactorPose3(symbol(ord('x'), 0),
|
||||
truth.cameras[0].pose(), posePriorNoise))
|
||||
pointPriorNoise = gtsam.noiseModel_Isotropic.Sigma(3, pointNoiseSigma)
|
||||
graph.add(gtsam.PriorFactorPoint3(symbol(ord('p'), 0),
|
||||
truth.points[0], pointPriorNoise))
|
||||
|
||||
# Initial estimate
|
||||
initialEstimate = gtsam.Values()
|
||||
for i in range(len(truth.cameras)):
|
||||
pose_i = truth.cameras[i].pose()
|
||||
initialEstimate.insert(symbol(ord('x'), i), pose_i)
|
||||
for j in range(len(truth.points)):
|
||||
point_j = truth.points[j]
|
||||
initialEstimate.insert(symbol(ord('p'), j), point_j)
|
||||
|
||||
# Optimization
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
for i in range(5):
|
||||
optimizer.iterate()
|
||||
result = optimizer.values()
|
||||
|
||||
# Marginalization
|
||||
marginals = gtsam.Marginals(graph, result)
|
||||
marginals.marginalCovariance(symbol(ord('p'), 0))
|
||||
marginals.marginalCovariance(symbol(ord('x'), 0))
|
||||
|
||||
# Check optimized results, should be equal to ground truth
|
||||
for i in range(len(truth.cameras)):
|
||||
pose_i = result.atPose3(symbol(ord('x'), i))
|
||||
self.assertTrue(pose_i.equals(truth.cameras[i].pose(), 1e-5))
|
||||
|
||||
for j in range(len(truth.points)):
|
||||
point_j = result.atPoint3(symbol(ord('p'), j))
|
||||
self.assertTrue(point_j.equals(truth.points[j], 1e-5))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,32 @@
|
|||
import math
|
||||
import numpy as np
|
||||
import unittest
|
||||
|
||||
from gtsam import Pose2, Point3, Rot3, Pose3, Cal3_S2, SimpleCamera
|
||||
|
||||
K = Cal3_S2(625, 625, 0, 0, 0)
|
||||
|
||||
class TestSimpleCamera(unittest.TestCase):
|
||||
|
||||
def test_constructor(self):
|
||||
pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5))
|
||||
camera = SimpleCamera(pose1, K)
|
||||
self.assertTrue(camera.calibration().equals(K, 1e-9))
|
||||
self.assertTrue(camera.pose().equals(pose1, 1e-9))
|
||||
|
||||
def test_level2(self):
|
||||
# Create a level camera, looking in Y-direction
|
||||
pose2 = Pose2(0.4,0.3,math.pi/2.0)
|
||||
camera = SimpleCamera.Level(K, pose2, 0.1)
|
||||
|
||||
# expected
|
||||
x = Point3(1,0,0)
|
||||
y = Point3(0,0,-1)
|
||||
z = Point3(0,1,0)
|
||||
wRc = Rot3(x,y,z)
|
||||
expected = Pose3(wRc,Point3(0.4,0.3,0.1))
|
||||
self.assertTrue(camera.pose().equals(expected, 1e-9))
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
import unittest
|
||||
import gtsam
|
||||
from gtsam import symbol
|
||||
import numpy as np
|
||||
|
||||
|
||||
class TestStereoVOExample(unittest.TestCase):
|
||||
|
||||
def test_StereoVOExample(self):
|
||||
## Assumptions
|
||||
# - For simplicity this example is in the camera's coordinate frame
|
||||
# - X: right, Y: down, Z: forward
|
||||
# - Pose x1 is at the origin, Pose 2 is 1 meter forward (along Z-axis)
|
||||
# - x1 is fixed with a constraint, x2 is initialized with noisy values
|
||||
# - No noise on measurements
|
||||
|
||||
## Create keys for variables
|
||||
x1 = symbol(ord('x'),1)
|
||||
x2 = symbol(ord('x'),2)
|
||||
l1 = symbol(ord('l'),1)
|
||||
l2 = symbol(ord('l'),2)
|
||||
l3 = symbol(ord('l'),3)
|
||||
|
||||
## Create graph container and add factors to it
|
||||
graph = gtsam.NonlinearFactorGraph()
|
||||
|
||||
## add a constraint on the starting pose
|
||||
first_pose = gtsam.Pose3()
|
||||
graph.add(gtsam.NonlinearEqualityPose3(x1, first_pose))
|
||||
|
||||
## Create realistic calibration and measurement noise model
|
||||
# format: fx fy skew cx cy baseline
|
||||
K = gtsam.Cal3_S2Stereo(1000, 1000, 0, 320, 240, 0.2)
|
||||
stereo_model = gtsam.noiseModel_Diagonal.Sigmas(np.array([1.0, 1.0, 1.0]))
|
||||
|
||||
## Add measurements
|
||||
# pose 1
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2(520, 480, 440), stereo_model, x1, l1, K))
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2(120, 80, 440), stereo_model, x1, l2, K))
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2(320, 280, 140), stereo_model, x1, l3, K))
|
||||
|
||||
#pose 2
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2(570, 520, 490), stereo_model, x2, l1, K))
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2( 70, 20, 490), stereo_model, x2, l2, K))
|
||||
graph.add(gtsam.GenericStereoFactor3D(gtsam.StereoPoint2(320, 270, 115), stereo_model, x2, l3, K))
|
||||
|
||||
## Create initial estimate for camera poses and landmarks
|
||||
initialEstimate = gtsam.Values()
|
||||
initialEstimate.insert(x1, first_pose)
|
||||
# noisy estimate for pose 2
|
||||
initialEstimate.insert(x2, gtsam.Pose3(gtsam.Rot3(), gtsam.Point3(0.1,-.1,1.1)))
|
||||
expected_l1 = gtsam.Point3( 1, 1, 5)
|
||||
initialEstimate.insert(l1, expected_l1)
|
||||
initialEstimate.insert(l2, gtsam.Point3(-1, 1, 5))
|
||||
initialEstimate.insert(l3, gtsam.Point3( 0,-.5, 5))
|
||||
|
||||
## optimize
|
||||
optimizer = gtsam.LevenbergMarquardtOptimizer(graph, initialEstimate)
|
||||
result = optimizer.optimize()
|
||||
|
||||
## check equality for the first pose and point
|
||||
pose_x1 = result.atPose3(x1)
|
||||
self.assertTrue(pose_x1.equals(first_pose,1e-4))
|
||||
|
||||
point_l1 = result.atPoint3(l1)
|
||||
self.assertTrue(point_l1.equals(expected_l1,1e-4))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
import unittest
|
||||
import numpy as np
|
||||
|
||||
from gtsam import Point2, Point3, Unit3, Rot2, Pose2, Rot3, Pose3
|
||||
from gtsam import Values, Cal3_S2, Cal3DS2, Cal3Bundler, EssentialMatrix, imuBias_ConstantBias
|
||||
|
||||
|
||||
class TestValues(unittest.TestCase):
|
||||
|
||||
def test_values(self):
|
||||
values = Values()
|
||||
E = EssentialMatrix(Rot3(), Unit3())
|
||||
tol = 1e-9
|
||||
|
||||
values.insert(0, Point2(0,0))
|
||||
values.insert(1, Point3(0,0,0))
|
||||
values.insert(2, Rot2())
|
||||
values.insert(3, Pose2())
|
||||
values.insert(4, Rot3())
|
||||
values.insert(5, Pose3())
|
||||
values.insert(6, Cal3_S2())
|
||||
values.insert(7, Cal3DS2())
|
||||
values.insert(8, Cal3Bundler())
|
||||
values.insert(9, E)
|
||||
values.insert(10, imuBias_ConstantBias())
|
||||
|
||||
# Special cases for Vectors and Matrices
|
||||
# Note that gtsam's Eigen Vectors and Matrices requires double-precision
|
||||
# floating point numbers in column-major (Fortran style) storage order,
|
||||
# whereas by default, numpy.array is in row-major order and the type is
|
||||
# in whatever the number input type is, e.g. np.array([1,2,3])
|
||||
# will have 'int' type.
|
||||
#
|
||||
# The wrapper will automatically fix the type and storage order for you,
|
||||
# but for performance reasons, it's recommended to specify the correct
|
||||
# type and storage order.
|
||||
vec = np.array([1., 2., 3.]) # for vectors, the order is not important, but dtype still is
|
||||
values.insert(11, vec)
|
||||
mat = np.array([[1., 2.], [3., 4.]], order='F')
|
||||
values.insert(12, mat)
|
||||
# Test with dtype int and the default order='C'
|
||||
# This still works as the wrapper converts to the correct type and order for you
|
||||
# but is nornally not recommended!
|
||||
mat2 = np.array([[1,2,],[3,5]])
|
||||
values.insert(13, mat2)
|
||||
|
||||
self.assertTrue(values.atPoint2(0).equals(Point2(), tol))
|
||||
self.assertTrue(values.atPoint3(1).equals(Point3(), tol))
|
||||
self.assertTrue(values.atRot2(2).equals(Rot2(), tol))
|
||||
self.assertTrue(values.atPose2(3).equals(Pose2(), tol))
|
||||
self.assertTrue(values.atRot3(4).equals(Rot3(), tol))
|
||||
self.assertTrue(values.atPose3(5).equals(Pose3(), tol))
|
||||
self.assertTrue(values.atCal3_S2(6).equals(Cal3_S2(), tol))
|
||||
self.assertTrue(values.atCal3DS2(7).equals(Cal3DS2(), tol))
|
||||
self.assertTrue(values.atCal3Bundler(8).equals(Cal3Bundler(), tol))
|
||||
self.assertTrue(values.atEssentialMatrix(9).equals(E, tol))
|
||||
self.assertTrue(values.atimuBias_ConstantBias(
|
||||
10).equals(imuBias_ConstantBias(), tol))
|
||||
|
||||
# special cases for Vector and Matrix:
|
||||
actualVector = values.atVector(11)
|
||||
self.assertTrue(np.allclose(vec, actualVector, tol))
|
||||
actualMatrix = values.atMatrix(12)
|
||||
self.assertTrue(np.allclose(mat, actualMatrix, tol))
|
||||
actualMatrix2 = values.atMatrix(13)
|
||||
self.assertTrue(np.allclose(mat2, actualMatrix2, tol))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
import unittest
|
||||
import numpy as np
|
||||
from gtsam import symbol
|
||||
import gtsam.utils.visual_data_generator as generator
|
||||
import gtsam.utils.visual_isam as visual_isam
|
||||
|
||||
class TestVisualISAMExample(unittest.TestCase):
|
||||
|
||||
def test_VisualISAMExample(self):
|
||||
# Data Options
|
||||
options = generator.Options()
|
||||
options.triangle = False
|
||||
options.nrCameras = 20
|
||||
|
||||
# iSAM Options
|
||||
isamOptions = visual_isam.Options()
|
||||
isamOptions.hardConstraint = False
|
||||
isamOptions.pointPriors = False
|
||||
isamOptions.batchInitialization = True
|
||||
isamOptions.reorderInterval = 10
|
||||
isamOptions.alwaysRelinearize = False
|
||||
|
||||
# Generate data
|
||||
data, truth = generator.generate_data(options)
|
||||
|
||||
# Initialize iSAM with the first pose and points
|
||||
isam, result, nextPose = visual_isam.initialize(data, truth, isamOptions)
|
||||
|
||||
# Main loop for iSAM: stepping through all poses
|
||||
for currentPose in range(nextPose, options.nrCameras):
|
||||
isam, result = visual_isam.step(data, isam, result, truth, currentPose)
|
||||
|
||||
for i in range(len(truth.cameras)):
|
||||
pose_i = result.atPose3(symbol(ord('x'), i))
|
||||
self.assertTrue(pose_i.equals(truth.cameras[i].pose(), 1e-5))
|
||||
|
||||
for j in range(len(truth.points)):
|
||||
point_j = result.atPoint3(symbol(ord('l'), j))
|
||||
self.assertTrue(point_j.equals(truth.points[j], 1e-5))
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
import gtsam
|
||||
import numpy as np
|
||||
from math import pi, cos, sin
|
||||
|
||||
|
||||
def circlePose3(numPoses=8, radius=1.0, symbolChar=0):
|
||||
"""
|
||||
circlePose3 generates a set of poses in a circle. This function
|
||||
returns those poses inside a gtsam.Values object, with sequential
|
||||
keys starting from 0. An optional character may be provided, which
|
||||
will be stored in the msb of each key (i.e. gtsam.Symbol).
|
||||
|
||||
We use aerospace/navlab convention, X forward, Y right, Z down
|
||||
First pose will be at (R,0,0)
|
||||
^y ^ X
|
||||
| |
|
||||
z-->xZ--> Y (z pointing towards viewer, Z pointing away from viewer)
|
||||
Vehicle at p0 is looking towards y axis (X-axis points towards world y)
|
||||
"""
|
||||
|
||||
# Force symbolChar to be a single character
|
||||
if type(symbolChar) is str:
|
||||
symbolChar = ord(symbolChar[0])
|
||||
|
||||
values = gtsam.Values()
|
||||
theta = 0.0
|
||||
dtheta = 2 * pi / numPoses
|
||||
gRo = gtsam.Rot3(
|
||||
np.array([[0., 1., 0.], [1., 0., 0.], [0., 0., -1.]], order='F'))
|
||||
for i in range(numPoses):
|
||||
key = gtsam.symbol(symbolChar, i)
|
||||
gti = gtsam.Point3(radius * cos(theta), radius * sin(theta), 0)
|
||||
oRi = gtsam.Rot3.Yaw(
|
||||
-theta) # negative yaw goes counterclockwise, with Z down !
|
||||
gTi = gtsam.Pose3(gRo.compose(oRi), gti)
|
||||
values.insert(key, gTi)
|
||||
theta = theta + dtheta
|
||||
return values
|
||||
|
|
@ -0,0 +1,117 @@
|
|||
from __future__ import print_function
|
||||
|
||||
import numpy as np
|
||||
from math import pi, cos, sin
|
||||
import gtsam
|
||||
|
||||
|
||||
class Options:
|
||||
"""
|
||||
Options to generate test scenario
|
||||
"""
|
||||
|
||||
def __init__(self, triangle=False, nrCameras=3, K=gtsam.Cal3_S2()):
|
||||
"""
|
||||
Options to generate test scenario
|
||||
@param triangle: generate a triangle scene with 3 points if True, otherwise
|
||||
a cube with 8 points
|
||||
@param nrCameras: number of cameras to generate
|
||||
@param K: camera calibration object
|
||||
"""
|
||||
self.triangle = triangle
|
||||
self.nrCameras = nrCameras
|
||||
|
||||
|
||||
class GroundTruth:
|
||||
"""
|
||||
Object holding generated ground-truth data
|
||||
"""
|
||||
|
||||
def __init__(self, K=gtsam.Cal3_S2(), nrCameras=3, nrPoints=4):
|
||||
self.K = K
|
||||
self.cameras = [gtsam.Pose3()] * nrCameras
|
||||
self.points = [gtsam.Point3()] * nrPoints
|
||||
|
||||
def print_(self, s=""):
|
||||
print(s)
|
||||
print("K = ", self.K)
|
||||
print("Cameras: ", len(self.cameras))
|
||||
for camera in self.cameras:
|
||||
print("\t", camera)
|
||||
print("Points: ", len(self.points))
|
||||
for point in self.points:
|
||||
print("\t", point)
|
||||
pass
|
||||
|
||||
|
||||
class Data:
|
||||
"""
|
||||
Object holding generated measurement data
|
||||
"""
|
||||
|
||||
class NoiseModels:
|
||||
pass
|
||||
|
||||
def __init__(self, K=gtsam.Cal3_S2(), nrCameras=3, nrPoints=4):
|
||||
self.K = K
|
||||
self.Z = [x[:] for x in [[gtsam.Point2()] * nrPoints] * nrCameras]
|
||||
self.J = [x[:] for x in [[0] * nrPoints] * nrCameras]
|
||||
self.odometry = [gtsam.Pose3()] * nrCameras
|
||||
|
||||
# Set Noise parameters
|
||||
self.noiseModels = Data.NoiseModels()
|
||||
self.noiseModels.posePrior = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.001, 0.001, 0.001, 0.1, 0.1, 0.1]))
|
||||
# noiseModels.odometry = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
# np.array([0.001,0.001,0.001,0.1,0.1,0.1]))
|
||||
self.noiseModels.odometry = gtsam.noiseModel_Diagonal.Sigmas(
|
||||
np.array([0.05, 0.05, 0.05, 0.2, 0.2, 0.2]))
|
||||
self.noiseModels.pointPrior = gtsam.noiseModel_Isotropic.Sigma(3, 0.1)
|
||||
self.noiseModels.measurement = gtsam.noiseModel_Isotropic.Sigma(2, 1.0)
|
||||
|
||||
|
||||
def generate_data(options):
|
||||
""" Generate ground-truth and measurement data. """
|
||||
|
||||
K = gtsam.Cal3_S2(500, 500, 0, 640. / 2., 480. / 2.)
|
||||
nrPoints = 3 if options.triangle else 8
|
||||
|
||||
truth = GroundTruth(K=K, nrCameras=options.nrCameras, nrPoints=nrPoints)
|
||||
data = Data(K, nrCameras=options.nrCameras, nrPoints=nrPoints)
|
||||
|
||||
# Generate simulated data
|
||||
if options.triangle: # Create a triangle target, just 3 points on a plane
|
||||
r = 10
|
||||
for j in range(len(truth.points)):
|
||||
theta = j * 2 * pi / nrPoints
|
||||
truth.points[j] = gtsam.Point3(r * cos(theta), r * sin(theta), 0)
|
||||
else: # 3D landmarks as vertices of a cube
|
||||
truth.points = [
|
||||
gtsam.Point3(10, 10, 10), gtsam.Point3(-10, 10, 10),
|
||||
gtsam.Point3(-10, -10, 10), gtsam.Point3(10, -10, 10),
|
||||
gtsam.Point3(10, 10, -10), gtsam.Point3(-10, 10, -10),
|
||||
gtsam.Point3(-10, -10, -10), gtsam.Point3(10, -10, -10)
|
||||
]
|
||||
|
||||
# Create camera cameras on a circle around the triangle
|
||||
height = 10
|
||||
r = 40
|
||||
for i in range(options.nrCameras):
|
||||
theta = i * 2 * pi / options.nrCameras
|
||||
t = gtsam.Point3(r * cos(theta), r * sin(theta), height)
|
||||
truth.cameras[i] = gtsam.SimpleCamera.Lookat(t,
|
||||
gtsam.Point3(),
|
||||
gtsam.Point3(0, 0, 1),
|
||||
truth.K)
|
||||
# Create measurements
|
||||
for j in range(nrPoints):
|
||||
# All landmarks seen in every frame
|
||||
data.Z[i][j] = truth.cameras[i].project(truth.points[j])
|
||||
data.J[i][j] = j
|
||||
|
||||
# Calculate odometry between cameras
|
||||
for i in range(1, options.nrCameras):
|
||||
data.odometry[i] = truth.cameras[i - 1].pose().between(
|
||||
truth.cameras[i].pose())
|
||||
|
||||
return data, truth
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
import gtsam
|
||||
from gtsam import symbol
|
||||
|
||||
|
||||
class Options:
|
||||
""" Options for visual isam example. """
|
||||
|
||||
def __init__(self):
|
||||
self.hardConstraint = False
|
||||
self.pointPriors = False
|
||||
self.batchInitialization = True
|
||||
self.reorderInterval = 10
|
||||
self.alwaysRelinearize = False
|
||||
|
||||
|
||||
def initialize(data, truth, options):
|
||||
# Initialize iSAM
|
||||
params = gtsam.ISAM2Params()
|
||||
if options.alwaysRelinearize:
|
||||
params.setRelinearizeSkip(1)
|
||||
isam = gtsam.ISAM2(params=params)
|
||||
|
||||
# Add constraints/priors
|
||||
# TODO: should not be from ground truth!
|
||||
newFactors = gtsam.NonlinearFactorGraph()
|
||||
initialEstimates = gtsam.Values()
|
||||
for i in range(2):
|
||||
ii = symbol(ord('x'), i)
|
||||
if i == 0:
|
||||
if options.hardConstraint: # add hard constraint
|
||||
newFactors.add(
|
||||
gtsam.NonlinearEqualityPose3(ii, truth.cameras[0].pose()))
|
||||
else:
|
||||
newFactors.add(
|
||||
gtsam.PriorFactorPose3(ii, truth.cameras[i].pose(),
|
||||
data.noiseModels.posePrior))
|
||||
initialEstimates.insert(ii, truth.cameras[i].pose())
|
||||
|
||||
nextPoseIndex = 2
|
||||
|
||||
# Add visual measurement factors from two first poses and initialize
|
||||
# observed landmarks
|
||||
for i in range(2):
|
||||
ii = symbol(ord('x'), i)
|
||||
for k in range(len(data.Z[i])):
|
||||
j = data.J[i][k]
|
||||
jj = symbol(ord('l'), j)
|
||||
newFactors.add(
|
||||
gtsam.GenericProjectionFactorCal3_S2(data.Z[i][
|
||||
k], data.noiseModels.measurement, ii, jj, data.K))
|
||||
# TODO: initial estimates should not be from ground truth!
|
||||
if not initialEstimates.exists(jj):
|
||||
initialEstimates.insert(jj, truth.points[j])
|
||||
if options.pointPriors: # add point priors
|
||||
newFactors.add(
|
||||
gtsam.PriorFactorPoint3(jj, truth.points[j],
|
||||
data.noiseModels.pointPrior))
|
||||
|
||||
# Add odometry between frames 0 and 1
|
||||
newFactors.add(
|
||||
gtsam.BetweenFactorPose3(
|
||||
symbol(ord('x'), 0),
|
||||
symbol(ord('x'), 1), data.odometry[1], data.noiseModels.odometry))
|
||||
|
||||
# Update ISAM
|
||||
if options.batchInitialization: # Do a full optimize for first two poses
|
||||
batchOptimizer = gtsam.LevenbergMarquardtOptimizer(newFactors,
|
||||
initialEstimates)
|
||||
fullyOptimized = batchOptimizer.optimize()
|
||||
isam.update(newFactors, fullyOptimized)
|
||||
else:
|
||||
isam.update(newFactors, initialEstimates)
|
||||
|
||||
# figure(1)tic
|
||||
# t=toc plot(frame_i,t,'r.') tic
|
||||
result = isam.calculateEstimate()
|
||||
# t=toc plot(frame_i,t,'g.')
|
||||
|
||||
return isam, result, nextPoseIndex
|
||||
|
||||
|
||||
def step(data, isam, result, truth, currPoseIndex):
|
||||
'''
|
||||
Do one step isam update
|
||||
@param[in] data: measurement data (odometry and visual measurements and their noiseModels)
|
||||
@param[in/out] isam: current isam object, will be updated
|
||||
@param[in/out] result: current result object, will be updated
|
||||
@param[in] truth: ground truth data, used to initialize new variables
|
||||
@param[currPoseIndex]: index of the current pose
|
||||
'''
|
||||
# iSAM expects us to give it a new set of factors
|
||||
# along with initial estimates for any new variables introduced.
|
||||
newFactors = gtsam.NonlinearFactorGraph()
|
||||
initialEstimates = gtsam.Values()
|
||||
|
||||
# Add odometry
|
||||
prevPoseIndex = currPoseIndex - 1
|
||||
odometry = data.odometry[prevPoseIndex]
|
||||
newFactors.add(
|
||||
gtsam.BetweenFactorPose3(
|
||||
symbol(ord('x'), prevPoseIndex),
|
||||
symbol(ord('x'), currPoseIndex), odometry,
|
||||
data.noiseModels.odometry))
|
||||
|
||||
# Add visual measurement factors and initializations as necessary
|
||||
for k in range(len(data.Z[currPoseIndex])):
|
||||
zij = data.Z[currPoseIndex][k]
|
||||
j = data.J[currPoseIndex][k]
|
||||
jj = symbol(ord('l'), j)
|
||||
newFactors.add(
|
||||
gtsam.GenericProjectionFactorCal3_S2(
|
||||
zij, data.noiseModels.measurement,
|
||||
symbol(ord('x'), currPoseIndex), jj, data.K))
|
||||
# TODO: initialize with something other than truth
|
||||
if not result.exists(jj) and not initialEstimates.exists(jj):
|
||||
lmInit = truth.points[j]
|
||||
initialEstimates.insert(jj, lmInit)
|
||||
|
||||
# Initial estimates for the new pose.
|
||||
prevPose = result.atPose3(symbol(ord('x'), prevPoseIndex))
|
||||
initialEstimates.insert(
|
||||
symbol(ord('x'), currPoseIndex), prevPose.compose(odometry))
|
||||
|
||||
# Update ISAM
|
||||
# figure(1)tic
|
||||
isam.update(newFactors, initialEstimates)
|
||||
# t=toc plot(frame_i,t,'r.') tic
|
||||
newResult = isam.calculateEstimate()
|
||||
# t=toc plot(frame_i,t,'g.')
|
||||
|
||||
return isam, newResult
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
include(GtsamCythonWrap)
|
||||
|
||||
# Copy eigency's sources to the build folder
|
||||
# so that the cython-generated header "conversions_api.h" can be found when cythonizing eigency's core
|
||||
# and eigency's cython pxd headers can be found when cythonizing gtsam
|
||||
file(COPY "." DESTINATION ".")
|
||||
set(OUTPUT_DIR "${PROJECT_BINARY_DIR}/cython/gtsam_eigency")
|
||||
set(EIGENCY_INCLUDE_DIR ${OUTPUT_DIR})
|
||||
|
||||
# This is to make the build/cython/gtsam_eigency folder a python package
|
||||
configure_file(__init__.py.in ${PROJECT_BINARY_DIR}/cython/gtsam_eigency/__init__.py)
|
||||
|
||||
# include eigency headers
|
||||
include_directories(${EIGENCY_INCLUDE_DIR})
|
||||
|
||||
# Cythonize and build eigency
|
||||
message(STATUS "Cythonize and build eigency")
|
||||
# Important trick: use "../gtsam_eigency/conversions.pyx" to let cython know that the conversions module is
|
||||
# a part of the gtsam_eigency package and generate the function call import_gtsam_igency__conversions()
|
||||
# in conversions_api.h correctly!!!
|
||||
cythonize(cythonize_eigency_conversions "../gtsam_eigency/conversions.pyx" "conversions"
|
||||
"${OUTPUT_DIR}" "${EIGENCY_INCLUDE_DIR}" "" "" "")
|
||||
cythonize(cythonize_eigency_core "../gtsam_eigency/core.pyx" "core"
|
||||
${OUTPUT_DIR} "${EIGENCY_INCLUDE_DIR}" "" "" "")
|
||||
add_dependencies(cythonize_eigency_core cythonize_eigency_conversions)
|
||||
add_custom_target(cythonize_eigency)
|
||||
add_dependencies(cythonize_eigency cythonize_eigency_conversions cythonize_eigency_core)
|
||||
|
||||
# install
|
||||
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}
|
||||
PATTERN "CMakeLists.txt" EXCLUDE
|
||||
PATTERN "__init__.py.in" EXCLUDE)
|
||||
install(TARGETS cythonize_eigency_core cythonize_eigency_conversions
|
||||
DESTINATION "${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency")
|
||||
install(FILES ${OUTPUT_DIR}/conversions_api.h DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
|
||||
configure_file(__init__.py.in ${OUTPUT_DIR}/__init__.py)
|
||||
install(FILES ${OUTPUT_DIR}/__init__.py DESTINATION ${GTSAM_CYTHON_INSTALL_PATH}/gtsam_eigency)
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
Copyright (c) 2016 Wouter Boomsma
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining
|
||||
a copy of this software and associated documentation files (the
|
||||
"Software"), to deal in the Software without restriction, including
|
||||
without limitation the rights to use, copy, modify, merge, publish,
|
||||
distribute, sublicense, and/or sell copies of the Software, and to
|
||||
permit persons to whom the Software is furnished to do so, subject to
|
||||
the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be
|
||||
included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
||||
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
||||
LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
||||
OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
||||
WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
import os
|
||||
import numpy as np
|
||||
|
||||
__eigen_dir__ = "${GTSAM_EIGEN_INCLUDE_PREFIX}"
|
||||
|
||||
def get_includes(include_eigen=True):
|
||||
root = os.path.dirname(__file__)
|
||||
parent = os.path.join(root, "..")
|
||||
path = [root, parent, np.get_include()]
|
||||
if include_eigen:
|
||||
path.append(os.path.join(root, __eigen_dir__))
|
||||
return path
|
||||
|
||||
|
|
@ -0,0 +1,62 @@
|
|||
cimport numpy as np
|
||||
|
||||
cdef api np.ndarray[double, ndim=2] ndarray_double_C(double *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[double, ndim=2] ndarray_double_F(double *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[double, ndim=2] ndarray_copy_double_C(const double *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[double, ndim=2] ndarray_copy_double_F(const double *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[float, ndim=2] ndarray_float_C(float *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[float, ndim=2] ndarray_float_F(float *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[float, ndim=2] ndarray_copy_float_C(const float *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[float, ndim=2] ndarray_copy_float_F(const float *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[long, ndim=2] ndarray_long_C(long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[long, ndim=2] ndarray_long_F(long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[long, ndim=2] ndarray_copy_long_C(const long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[long, ndim=2] ndarray_copy_long_F(const long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_ulong_C(unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_ulong_F(unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_C(const unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_F(const unsigned long *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[int, ndim=2] ndarray_int_C(int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[int, ndim=2] ndarray_int_F(int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[int, ndim=2] ndarray_copy_int_C(const int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[int, ndim=2] ndarray_copy_int_F(const int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_uint_C(unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_uint_F(unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_C(const unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_F(const unsigned int *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[short, ndim=2] ndarray_short_C(short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[short, ndim=2] ndarray_short_F(short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[short, ndim=2] ndarray_copy_short_C(const short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[short, ndim=2] ndarray_copy_short_F(const short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_ushort_C(unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_ushort_F(unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_C(const unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_F(const unsigned short *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[signed char, ndim=2] ndarray_schar_C(signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[signed char, ndim=2] ndarray_schar_F(signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[signed char, ndim=2] ndarray_copy_schar_C(const signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[signed char, ndim=2] ndarray_copy_schar_F(const signed char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_uchar_C(unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_uchar_F(unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_C(const unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_F(const unsigned char *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_C(np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_F(np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_C(const np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_F(const np.complex128_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_C(np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_F(np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_C(const np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
cdef api np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_F(const np.complex64_t *data, long rows, long cols, long outer_stride, long inner_stride)
|
||||
|
||||
|
|
@ -0,0 +1,327 @@
|
|||
cimport cython
|
||||
import numpy as np
|
||||
from numpy.lib.stride_tricks import as_strided
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[double, ndim=2] ndarray_double_C(double *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef double[:,:] mem_view = <double[:rows,:cols]>data
|
||||
dtype = 'double'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[double, ndim=2] ndarray_double_F(double *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef double[::1,:] mem_view = <double[:rows:1,:cols]>data
|
||||
dtype = 'double'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[double, ndim=2] ndarray_copy_double_C(const double *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef double[:,:] mem_view = <double[:rows,:cols]>data
|
||||
dtype = 'double'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[double, ndim=2] ndarray_copy_double_F(const double *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef double[::1,:] mem_view = <double[:rows:1,:cols]>data
|
||||
dtype = 'double'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[float, ndim=2] ndarray_float_C(float *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef float[:,:] mem_view = <float[:rows,:cols]>data
|
||||
dtype = 'float'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[float, ndim=2] ndarray_float_F(float *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef float[::1,:] mem_view = <float[:rows:1,:cols]>data
|
||||
dtype = 'float'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[float, ndim=2] ndarray_copy_float_C(const float *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef float[:,:] mem_view = <float[:rows,:cols]>data
|
||||
dtype = 'float'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[float, ndim=2] ndarray_copy_float_F(const float *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef float[::1,:] mem_view = <float[:rows:1,:cols]>data
|
||||
dtype = 'float'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[long, ndim=2] ndarray_long_C(long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef long[:,:] mem_view = <long[:rows,:cols]>data
|
||||
dtype = 'int_'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[long, ndim=2] ndarray_long_F(long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef long[::1,:] mem_view = <long[:rows:1,:cols]>data
|
||||
dtype = 'int_'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[long, ndim=2] ndarray_copy_long_C(const long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef long[:,:] mem_view = <long[:rows,:cols]>data
|
||||
dtype = 'int_'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[long, ndim=2] ndarray_copy_long_F(const long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef long[::1,:] mem_view = <long[:rows:1,:cols]>data
|
||||
dtype = 'int_'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_ulong_C(unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned long[:,:] mem_view = <unsigned long[:rows,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_ulong_F(unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned long[::1,:] mem_view = <unsigned long[:rows:1,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_C(const unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned long[:,:] mem_view = <unsigned long[:rows,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned long, ndim=2] ndarray_copy_ulong_F(const unsigned long *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned long[::1,:] mem_view = <unsigned long[:rows:1,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[int, ndim=2] ndarray_int_C(int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef int[:,:] mem_view = <int[:rows,:cols]>data
|
||||
dtype = 'int'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[int, ndim=2] ndarray_int_F(int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef int[::1,:] mem_view = <int[:rows:1,:cols]>data
|
||||
dtype = 'int'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[int, ndim=2] ndarray_copy_int_C(const int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef int[:,:] mem_view = <int[:rows,:cols]>data
|
||||
dtype = 'int'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[int, ndim=2] ndarray_copy_int_F(const int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef int[::1,:] mem_view = <int[:rows:1,:cols]>data
|
||||
dtype = 'int'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_uint_C(unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned int[:,:] mem_view = <unsigned int[:rows,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_uint_F(unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned int[::1,:] mem_view = <unsigned int[:rows:1,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_C(const unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned int[:,:] mem_view = <unsigned int[:rows,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned int, ndim=2] ndarray_copy_uint_F(const unsigned int *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned int[::1,:] mem_view = <unsigned int[:rows:1,:cols]>data
|
||||
dtype = 'uint'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[short, ndim=2] ndarray_short_C(short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef short[:,:] mem_view = <short[:rows,:cols]>data
|
||||
dtype = 'short'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[short, ndim=2] ndarray_short_F(short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef short[::1,:] mem_view = <short[:rows:1,:cols]>data
|
||||
dtype = 'short'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[short, ndim=2] ndarray_copy_short_C(const short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef short[:,:] mem_view = <short[:rows,:cols]>data
|
||||
dtype = 'short'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[short, ndim=2] ndarray_copy_short_F(const short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef short[::1,:] mem_view = <short[:rows:1,:cols]>data
|
||||
dtype = 'short'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_ushort_C(unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned short[:,:] mem_view = <unsigned short[:rows,:cols]>data
|
||||
dtype = 'ushort'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_ushort_F(unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned short[::1,:] mem_view = <unsigned short[:rows:1,:cols]>data
|
||||
dtype = 'ushort'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_C(const unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned short[:,:] mem_view = <unsigned short[:rows,:cols]>data
|
||||
dtype = 'ushort'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned short, ndim=2] ndarray_copy_ushort_F(const unsigned short *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned short[::1,:] mem_view = <unsigned short[:rows:1,:cols]>data
|
||||
dtype = 'ushort'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[signed char, ndim=2] ndarray_schar_C(signed char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef signed char[:,:] mem_view = <signed char[:rows,:cols]>data
|
||||
dtype = 'int8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[signed char, ndim=2] ndarray_schar_F(signed char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef signed char[::1,:] mem_view = <signed char[:rows:1,:cols]>data
|
||||
dtype = 'int8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[signed char, ndim=2] ndarray_copy_schar_C(const signed char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef signed char[:,:] mem_view = <signed char[:rows,:cols]>data
|
||||
dtype = 'int8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[signed char, ndim=2] ndarray_copy_schar_F(const signed char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef signed char[::1,:] mem_view = <signed char[:rows:1,:cols]>data
|
||||
dtype = 'int8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_uchar_C(unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned char[:,:] mem_view = <unsigned char[:rows,:cols]>data
|
||||
dtype = 'uint8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_uchar_F(unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned char[::1,:] mem_view = <unsigned char[:rows:1,:cols]>data
|
||||
dtype = 'uint8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_C(const unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned char[:,:] mem_view = <unsigned char[:rows,:cols]>data
|
||||
dtype = 'uint8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[unsigned char, ndim=2] ndarray_copy_uchar_F(const unsigned char *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef unsigned char[::1,:] mem_view = <unsigned char[:rows:1,:cols]>data
|
||||
dtype = 'uint8'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_C(np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex128_t[:,:] mem_view = <np.complex128_t[:rows,:cols]>data
|
||||
dtype = 'complex128'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_complex_double_F(np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex128_t[::1,:] mem_view = <np.complex128_t[:rows:1,:cols]>data
|
||||
dtype = 'complex128'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_C(const np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex128_t[:,:] mem_view = <np.complex128_t[:rows,:cols]>data
|
||||
dtype = 'complex128'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex128_t, ndim=2] ndarray_copy_complex_double_F(const np.complex128_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex128_t[::1,:] mem_view = <np.complex128_t[:rows:1,:cols]>data
|
||||
dtype = 'complex128'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_C(np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex64_t[:,:] mem_view = <np.complex64_t[:rows,:cols]>data
|
||||
dtype = 'complex64'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_complex_float_F(np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex64_t[::1,:] mem_view = <np.complex64_t[:rows:1,:cols]>data
|
||||
dtype = 'complex64'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize])
|
||||
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_C(const np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex64_t[:,:] mem_view = <np.complex64_t[:rows,:cols]>data
|
||||
dtype = 'complex64'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="C"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
@cython.boundscheck(False)
|
||||
cdef np.ndarray[np.complex64_t, ndim=2] ndarray_copy_complex_float_F(const np.complex64_t *data, long rows, long cols, long row_stride, long col_stride):
|
||||
cdef np.complex64_t[::1,:] mem_view = <np.complex64_t[:rows:1,:cols]>data
|
||||
dtype = 'complex64'
|
||||
cdef int itemsize = np.dtype(dtype).itemsize
|
||||
return np.copy(as_strided(np.asarray(mem_view, dtype=dtype, order="F"), strides=[row_stride*itemsize, col_stride*itemsize]))
|
||||
|
||||
|
|
@ -0,0 +1,917 @@
|
|||
cimport cython
|
||||
cimport numpy as np
|
||||
|
||||
ctypedef signed char schar;
|
||||
ctypedef unsigned char uchar;
|
||||
|
||||
ctypedef fused dtype:
|
||||
uchar
|
||||
schar
|
||||
short
|
||||
int
|
||||
long
|
||||
float
|
||||
double
|
||||
|
||||
ctypedef fused DenseType:
|
||||
Matrix
|
||||
Array
|
||||
|
||||
ctypedef fused Rows:
|
||||
_1
|
||||
_2
|
||||
_3
|
||||
_4
|
||||
_5
|
||||
_6
|
||||
_7
|
||||
_8
|
||||
_9
|
||||
_10
|
||||
_11
|
||||
_12
|
||||
_13
|
||||
_14
|
||||
_15
|
||||
_16
|
||||
_17
|
||||
_18
|
||||
_19
|
||||
_20
|
||||
_21
|
||||
_22
|
||||
_23
|
||||
_24
|
||||
_25
|
||||
_26
|
||||
_27
|
||||
_28
|
||||
_29
|
||||
_30
|
||||
_31
|
||||
_32
|
||||
Dynamic
|
||||
|
||||
ctypedef Rows Cols
|
||||
ctypedef Rows StrideOuter
|
||||
ctypedef Rows StrideInner
|
||||
|
||||
ctypedef fused DenseTypeShort:
|
||||
Vector1i
|
||||
Vector2i
|
||||
Vector3i
|
||||
Vector4i
|
||||
VectorXi
|
||||
RowVector1i
|
||||
RowVector2i
|
||||
RowVector3i
|
||||
RowVector4i
|
||||
RowVectorXi
|
||||
Matrix1i
|
||||
Matrix2i
|
||||
Matrix3i
|
||||
Matrix4i
|
||||
MatrixXi
|
||||
Vector1f
|
||||
Vector2f
|
||||
Vector3f
|
||||
Vector4f
|
||||
VectorXf
|
||||
RowVector1f
|
||||
RowVector2f
|
||||
RowVector3f
|
||||
RowVector4f
|
||||
RowVectorXf
|
||||
Matrix1f
|
||||
Matrix2f
|
||||
Matrix3f
|
||||
Matrix4f
|
||||
MatrixXf
|
||||
Vector1d
|
||||
Vector2d
|
||||
Vector3d
|
||||
Vector4d
|
||||
VectorXd
|
||||
RowVector1d
|
||||
RowVector2d
|
||||
RowVector3d
|
||||
RowVector4d
|
||||
RowVectorXd
|
||||
Matrix1d
|
||||
Matrix2d
|
||||
Matrix3d
|
||||
Matrix4d
|
||||
MatrixXd
|
||||
Vector1cf
|
||||
Vector2cf
|
||||
Vector3cf
|
||||
Vector4cf
|
||||
VectorXcf
|
||||
RowVector1cf
|
||||
RowVector2cf
|
||||
RowVector3cf
|
||||
RowVector4cf
|
||||
RowVectorXcf
|
||||
Matrix1cf
|
||||
Matrix2cf
|
||||
Matrix3cf
|
||||
Matrix4cf
|
||||
MatrixXcf
|
||||
Vector1cd
|
||||
Vector2cd
|
||||
Vector3cd
|
||||
Vector4cd
|
||||
VectorXcd
|
||||
RowVector1cd
|
||||
RowVector2cd
|
||||
RowVector3cd
|
||||
RowVector4cd
|
||||
RowVectorXcd
|
||||
Matrix1cd
|
||||
Matrix2cd
|
||||
Matrix3cd
|
||||
Matrix4cd
|
||||
MatrixXcd
|
||||
Array22i
|
||||
Array23i
|
||||
Array24i
|
||||
Array2Xi
|
||||
Array32i
|
||||
Array33i
|
||||
Array34i
|
||||
Array3Xi
|
||||
Array42i
|
||||
Array43i
|
||||
Array44i
|
||||
Array4Xi
|
||||
ArrayX2i
|
||||
ArrayX3i
|
||||
ArrayX4i
|
||||
ArrayXXi
|
||||
Array2i
|
||||
Array3i
|
||||
Array4i
|
||||
ArrayXi
|
||||
Array22f
|
||||
Array23f
|
||||
Array24f
|
||||
Array2Xf
|
||||
Array32f
|
||||
Array33f
|
||||
Array34f
|
||||
Array3Xf
|
||||
Array42f
|
||||
Array43f
|
||||
Array44f
|
||||
Array4Xf
|
||||
ArrayX2f
|
||||
ArrayX3f
|
||||
ArrayX4f
|
||||
ArrayXXf
|
||||
Array2f
|
||||
Array3f
|
||||
Array4f
|
||||
ArrayXf
|
||||
Array22d
|
||||
Array23d
|
||||
Array24d
|
||||
Array2Xd
|
||||
Array32d
|
||||
Array33d
|
||||
Array34d
|
||||
Array3Xd
|
||||
Array42d
|
||||
Array43d
|
||||
Array44d
|
||||
Array4Xd
|
||||
ArrayX2d
|
||||
ArrayX3d
|
||||
ArrayX4d
|
||||
ArrayXXd
|
||||
Array2d
|
||||
Array3d
|
||||
Array4d
|
||||
ArrayXd
|
||||
Array22cf
|
||||
Array23cf
|
||||
Array24cf
|
||||
Array2Xcf
|
||||
Array32cf
|
||||
Array33cf
|
||||
Array34cf
|
||||
Array3Xcf
|
||||
Array42cf
|
||||
Array43cf
|
||||
Array44cf
|
||||
Array4Xcf
|
||||
ArrayX2cf
|
||||
ArrayX3cf
|
||||
ArrayX4cf
|
||||
ArrayXXcf
|
||||
Array2cf
|
||||
Array3cf
|
||||
Array4cf
|
||||
ArrayXcf
|
||||
Array22cd
|
||||
Array23cd
|
||||
Array24cd
|
||||
Array2Xcd
|
||||
Array32cd
|
||||
Array33cd
|
||||
Array34cd
|
||||
Array3Xcd
|
||||
Array42cd
|
||||
Array43cd
|
||||
Array44cd
|
||||
Array4Xcd
|
||||
ArrayX2cd
|
||||
ArrayX3cd
|
||||
ArrayX4cd
|
||||
ArrayXXcd
|
||||
Array2cd
|
||||
Array3cd
|
||||
Array4cd
|
||||
ArrayXcd
|
||||
|
||||
ctypedef fused StorageOrder:
|
||||
RowMajor
|
||||
ColMajor
|
||||
|
||||
ctypedef fused MapOptions:
|
||||
Aligned
|
||||
Unaligned
|
||||
|
||||
cdef extern from "eigency_cpp.h" namespace "eigency":
|
||||
|
||||
cdef cppclass _1 "1":
|
||||
pass
|
||||
|
||||
cdef cppclass _2 "2":
|
||||
pass
|
||||
|
||||
cdef cppclass _3 "3":
|
||||
pass
|
||||
|
||||
cdef cppclass _4 "4":
|
||||
pass
|
||||
|
||||
cdef cppclass _5 "5":
|
||||
pass
|
||||
|
||||
cdef cppclass _6 "6":
|
||||
pass
|
||||
|
||||
cdef cppclass _7 "7":
|
||||
pass
|
||||
|
||||
cdef cppclass _8 "8":
|
||||
pass
|
||||
|
||||
cdef cppclass _9 "9":
|
||||
pass
|
||||
|
||||
cdef cppclass _10 "10":
|
||||
pass
|
||||
|
||||
cdef cppclass _11 "11":
|
||||
pass
|
||||
|
||||
cdef cppclass _12 "12":
|
||||
pass
|
||||
|
||||
cdef cppclass _13 "13":
|
||||
pass
|
||||
|
||||
cdef cppclass _14 "14":
|
||||
pass
|
||||
|
||||
cdef cppclass _15 "15":
|
||||
pass
|
||||
|
||||
cdef cppclass _16 "16":
|
||||
pass
|
||||
|
||||
cdef cppclass _17 "17":
|
||||
pass
|
||||
|
||||
cdef cppclass _18 "18":
|
||||
pass
|
||||
|
||||
cdef cppclass _19 "19":
|
||||
pass
|
||||
|
||||
cdef cppclass _20 "20":
|
||||
pass
|
||||
|
||||
cdef cppclass _21 "21":
|
||||
pass
|
||||
|
||||
cdef cppclass _22 "22":
|
||||
pass
|
||||
|
||||
cdef cppclass _23 "23":
|
||||
pass
|
||||
|
||||
cdef cppclass _24 "24":
|
||||
pass
|
||||
|
||||
cdef cppclass _25 "25":
|
||||
pass
|
||||
|
||||
cdef cppclass _26 "26":
|
||||
pass
|
||||
|
||||
cdef cppclass _27 "27":
|
||||
pass
|
||||
|
||||
cdef cppclass _28 "28":
|
||||
pass
|
||||
|
||||
cdef cppclass _29 "29":
|
||||
pass
|
||||
|
||||
cdef cppclass _30 "30":
|
||||
pass
|
||||
|
||||
cdef cppclass _31 "31":
|
||||
pass
|
||||
|
||||
cdef cppclass _32 "32":
|
||||
pass
|
||||
|
||||
cdef cppclass PlainObjectBase:
|
||||
pass
|
||||
|
||||
cdef cppclass Map[DenseTypeShort](PlainObjectBase):
|
||||
Map() except +
|
||||
Map(np.ndarray array) except +
|
||||
|
||||
cdef cppclass FlattenedMap[DenseType, dtype, Rows, Cols]:
|
||||
FlattenedMap() except +
|
||||
FlattenedMap(np.ndarray array) except +
|
||||
|
||||
cdef cppclass FlattenedMapWithOrder "eigency::FlattenedMap" [DenseType, dtype, Rows, Cols, StorageOrder]:
|
||||
FlattenedMapWithOrder() except +
|
||||
FlattenedMapWithOrder(np.ndarray array) except +
|
||||
|
||||
cdef cppclass FlattenedMapWithStride "eigency::FlattenedMap" [DenseType, dtype, Rows, Cols, StorageOrder, MapOptions, StrideOuter, StrideInner]:
|
||||
FlattenedMapWithStride() except +
|
||||
FlattenedMapWithStride(np.ndarray array) except +
|
||||
|
||||
cdef np.ndarray ndarray_view(PlainObjectBase &)
|
||||
cdef np.ndarray ndarray_copy(PlainObjectBase &)
|
||||
cdef np.ndarray ndarray(PlainObjectBase &)
|
||||
|
||||
|
||||
cdef extern from "eigency_cpp.h" namespace "Eigen":
|
||||
|
||||
cdef cppclass Dynamic:
|
||||
pass
|
||||
|
||||
cdef cppclass RowMajor:
|
||||
pass
|
||||
|
||||
cdef cppclass ColMajor:
|
||||
pass
|
||||
|
||||
cdef cppclass Aligned:
|
||||
pass
|
||||
|
||||
cdef cppclass Unaligned:
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector1i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector2i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector3i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector4i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector1i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector2i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector3i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector4i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVectorXi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix1i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix2i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix3i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix4i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass MatrixXi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector1f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector2f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector3f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector4f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector1f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector2f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector3f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector4f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVectorXf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix1f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix2f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix3f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix4f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass MatrixXf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector1d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector2d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector3d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector4d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector1d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector2d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector3d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector4d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVectorXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix1d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix2d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix3d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix4d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass MatrixXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector1cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector2cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector3cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector4cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector1cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector2cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector3cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector4cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVectorXcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix1cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix2cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix3cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix4cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass MatrixXcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector1cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector2cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector3cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Vector4cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass VectorXcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector1cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector2cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector3cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVector4cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass RowVectorXcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix1cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix2cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix3cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Matrix4cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass MatrixXcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array22i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array23i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array24i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2Xi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array32i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array33i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array34i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3Xi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array42i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array43i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array44i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4Xi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX2i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX3i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX4i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXXi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4i(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXi(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array22f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array23f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array24f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2Xf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array32f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array33f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array34f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3Xf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array42f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array43f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array44f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4Xf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX2f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX3f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX4f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXXf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4f(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array22d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array23d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array24d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2Xd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array32d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array33d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array34d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3Xd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array42d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array43d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array44d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4Xd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX2d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX3d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX4d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4d(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array22cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array23cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array24cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2Xcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array32cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array33cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array34cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3Xcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array42cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array43cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array44cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4Xcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX2cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX3cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX4cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXXcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4cf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXcf(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array22cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array23cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array24cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2Xcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array32cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array33cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array34cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3Xcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array42cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array43cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array44cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4Xcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX2cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX3cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayX4cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXXcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array2cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array3cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass Array4cd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
cdef cppclass ArrayXcd(PlainObjectBase):
|
||||
pass
|
||||
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
|
||||
|
|
@ -0,0 +1,452 @@
|
|||
#include <Eigen/Dense>
|
||||
|
||||
#include <iostream>
|
||||
#include <stdexcept>
|
||||
#include <complex>
|
||||
|
||||
typedef ::std::complex< double > __pyx_t_double_complex;
|
||||
typedef ::std::complex< float > __pyx_t_float_complex;
|
||||
|
||||
#include "conversions_api.h"
|
||||
|
||||
#ifndef EIGENCY_CPP
|
||||
#define EIGENCY_CPP
|
||||
|
||||
namespace eigency {
|
||||
|
||||
template<typename Scalar>
|
||||
inline PyArrayObject *_ndarray_view(Scalar *, long rows, long cols, bool is_row_major, long outer_stride=0, long inner_stride=0);
|
||||
template<typename Scalar>
|
||||
inline PyArrayObject *_ndarray_copy(const Scalar *, long rows, long cols, bool is_row_major, long outer_stride=0, long inner_stride=0);
|
||||
|
||||
// Strides:
|
||||
// Eigen and numpy differ in their way of dealing with strides. Eigen has the concept of outer and
|
||||
// inner strides, which are dependent on whether the array/matrix is row-major of column-major:
|
||||
// Inner stride: denotes the offset between succeeding elements in each row (row-major) or column (column-major).
|
||||
// Outer stride: denotes the offset between succeeding rows (row-major) or succeeding columns (column-major).
|
||||
// In contrast, numpy's stride is simply a measure of how fast each dimension should be incremented.
|
||||
// Consequently, a switch in numpy storage order from row-major to column-major involves a switch
|
||||
// in strides, while it does not affect the stride in Eigen.
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<double>(double *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major) {
|
||||
// Eigen row-major mode: row_stride=outer_stride, and col_stride=inner_stride
|
||||
// If no stride is given, the row_stride is set to the number of columns.
|
||||
return ndarray_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
} else {
|
||||
// Eigen column-major mode: row_stride=outer_stride, and col_stride=inner_stride
|
||||
// If no stride is given, the cow_stride is set to the number of rows.
|
||||
return ndarray_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<double>(const double *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<float>(float *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<float>(const float *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<long>(long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_long_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_long_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<long>(const long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_long_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_long_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<unsigned long>(unsigned long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_ulong_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_ulong_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<unsigned long>(const unsigned long *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_ulong_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_ulong_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<int>(int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_int_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_int_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<int>(const int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_int_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_int_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<unsigned int>(unsigned int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_uint_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_uint_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<unsigned int>(const unsigned int *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_uint_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_uint_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<short>(short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_short_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_short_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<short>(const short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_short_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_short_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<unsigned short>(unsigned short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_ushort_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_ushort_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<unsigned short>(const unsigned short *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_ushort_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_ushort_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<signed char>(signed char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_schar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_schar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<signed char>(const signed char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_schar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_schar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<unsigned char>(unsigned char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_uchar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_uchar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<unsigned char>(const unsigned char *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_uchar_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_uchar_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<std::complex<double> >(std::complex<double> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_complex_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_complex_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<std::complex<double> >(const std::complex<double> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_complex_double_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_complex_double_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_view<std::complex<float> >(std::complex<float> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_complex_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_complex_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
template<>
|
||||
inline PyArrayObject *_ndarray_copy<std::complex<float> >(const std::complex<float> *data, long rows, long cols, bool is_row_major, long outer_stride, long inner_stride) {
|
||||
if (is_row_major)
|
||||
return ndarray_copy_complex_float_C(data, rows, cols, outer_stride>0?outer_stride:cols, inner_stride>0?inner_stride:1);
|
||||
else
|
||||
return ndarray_copy_complex_float_F(data, rows, cols, inner_stride>0?inner_stride:1, outer_stride>0?outer_stride:rows);
|
||||
}
|
||||
|
||||
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray(Eigen::PlainObjectBase<Derived> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
// If C++11 is available, check if m is an r-value reference, in
|
||||
// which case a copy should always be made
|
||||
#if __cplusplus >= 201103L
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray(Eigen::PlainObjectBase<Derived> &&m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
#endif
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray(const Eigen::PlainObjectBase<Derived> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray_view(Eigen::PlainObjectBase<Derived> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray_view(const Eigen::PlainObjectBase<Derived> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
template <typename Derived>
|
||||
inline PyArrayObject *ndarray_copy(const Eigen::PlainObjectBase<Derived> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor);
|
||||
}
|
||||
|
||||
template <typename Derived, int MapOptions, typename Stride>
|
||||
inline PyArrayObject *ndarray(Eigen::Map<Derived, MapOptions, Stride> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
||||
}
|
||||
template <typename Derived, int MapOptions, typename Stride>
|
||||
inline PyArrayObject *ndarray(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
// Since this is a map, we assume that ownership is correctly taken care
|
||||
// of, and we avoid taking a copy
|
||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
||||
}
|
||||
template <typename Derived, int MapOptions, typename Stride>
|
||||
inline PyArrayObject *ndarray_view(Eigen::Map<Derived, MapOptions, Stride> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
||||
}
|
||||
template <typename Derived, int MapOptions, typename Stride>
|
||||
inline PyArrayObject *ndarray_view(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_view(const_cast<typename Derived::Scalar*>(m.data()), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
||||
}
|
||||
template <typename Derived, int MapOptions, typename Stride>
|
||||
inline PyArrayObject *ndarray_copy(const Eigen::Map<Derived, MapOptions, Stride> &m) {
|
||||
import_gtsam_eigency__conversions();
|
||||
return _ndarray_copy(m.data(), m.rows(), m.cols(), m.IsRowMajor, m.outerStride(), m.innerStride());
|
||||
}
|
||||
|
||||
|
||||
template <typename MatrixType,
|
||||
int _MapOptions = Eigen::Unaligned,
|
||||
typename _StrideType=Eigen::Stride<0,0> >
|
||||
class MapBase: public Eigen::Map<MatrixType, _MapOptions, _StrideType> {
|
||||
public:
|
||||
typedef Eigen::Map<MatrixType, _MapOptions, _StrideType> Base;
|
||||
typedef typename Base::Scalar Scalar;
|
||||
|
||||
MapBase(Scalar* data,
|
||||
long rows,
|
||||
long cols,
|
||||
_StrideType stride=_StrideType())
|
||||
: Base(data,
|
||||
// If both dimensions are dynamic or dimensions match, accept dimensions as they are
|
||||
((Base::RowsAtCompileTime==Eigen::Dynamic && Base::ColsAtCompileTime==Eigen::Dynamic) ||
|
||||
(Base::RowsAtCompileTime==rows && Base::ColsAtCompileTime==cols))
|
||||
? rows
|
||||
// otherwise, test if swapping them makes them fit
|
||||
: ((Base::RowsAtCompileTime==cols || Base::ColsAtCompileTime==rows)
|
||||
? cols
|
||||
: rows),
|
||||
((Base::RowsAtCompileTime==Eigen::Dynamic && Base::ColsAtCompileTime==Eigen::Dynamic) ||
|
||||
(Base::RowsAtCompileTime==rows && Base::ColsAtCompileTime==cols))
|
||||
? cols
|
||||
: ((Base::RowsAtCompileTime==cols || Base::ColsAtCompileTime==rows)
|
||||
? rows
|
||||
: cols),
|
||||
stride
|
||||
) {}
|
||||
};
|
||||
|
||||
|
||||
template <template<class,int,int,int,int,int> class DenseBase,
|
||||
typename Scalar,
|
||||
int _Rows, int _Cols,
|
||||
int _Options = Eigen::AutoAlign |
|
||||
#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
|
||||
// workaround a bug in at least gcc 3.4.6
|
||||
// the innermost ?: ternary operator is misparsed. We write it slightly
|
||||
// differently and this makes gcc 3.4.6 happy, but it's ugly.
|
||||
// The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
|
||||
// (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
|
||||
( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
|
||||
// EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION contains explicit namespace since Eigen 3.1.19
|
||||
#if EIGEN_VERSION_AT_LEAST(3,2,90)
|
||||
: !(_Cols==1 && _Rows!=1) ? EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
|
||||
#else
|
||||
: !(_Cols==1 && _Rows!=1) ? Eigen::EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
|
||||
#endif
|
||||
: ColMajor ),
|
||||
#else
|
||||
( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
|
||||
: (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
|
||||
// EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION contains explicit namespace since Eigen 3.1.19
|
||||
#if EIGEN_VERSION_AT_LEAST(3,2,90)
|
||||
: EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
|
||||
#else
|
||||
: Eigen::EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
|
||||
#endif
|
||||
#endif
|
||||
int _MapOptions = Eigen::Unaligned,
|
||||
int _StrideOuter=0, int _StrideInner=0,
|
||||
int _MaxRows = _Rows,
|
||||
int _MaxCols = _Cols>
|
||||
class FlattenedMap: public MapBase<DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > {
|
||||
public:
|
||||
typedef MapBase<DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, _MapOptions, Eigen::Stride<_StrideOuter, _StrideInner> > Base;
|
||||
|
||||
FlattenedMap()
|
||||
: Base(NULL, 0, 0) {}
|
||||
|
||||
FlattenedMap(Scalar *data, long rows, long cols, long outer_stride=0, long inner_stride=0)
|
||||
: Base(data, rows, cols,
|
||||
Eigen::Stride<_StrideOuter, _StrideInner>(outer_stride, inner_stride)) {
|
||||
}
|
||||
|
||||
FlattenedMap(PyArrayObject *object)
|
||||
: Base((Scalar *)((PyArrayObject*)object)->data,
|
||||
// : Base(_from_numpy<Scalar>((PyArrayObject*)object),
|
||||
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
|
||||
(((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0],
|
||||
Eigen::Stride<_StrideOuter, _StrideInner>(_StrideOuter != Eigen::Dynamic ? _StrideOuter : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[0] : 1,
|
||||
_StrideInner != Eigen::Dynamic ? _StrideInner : (((PyArrayObject*)object)->nd == 2) ? ((PyArrayObject*)object)->dimensions[1] : ((PyArrayObject*)object)->dimensions[0])) {
|
||||
|
||||
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
|
||||
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
|
||||
}
|
||||
FlattenedMap &operator=(const FlattenedMap &other) {
|
||||
// Replace the memory that we point to (not a memory allocation)
|
||||
new (this) FlattenedMap(const_cast<Scalar*>(other.data()),
|
||||
other.rows(),
|
||||
other.cols(),
|
||||
other.outerStride(),
|
||||
other.innerStride());
|
||||
return *this;
|
||||
}
|
||||
|
||||
operator Base() const {
|
||||
return static_cast<Base>(*this);
|
||||
}
|
||||
|
||||
operator Base&() const {
|
||||
return static_cast<Base&>(*this);
|
||||
}
|
||||
|
||||
operator DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>() const {
|
||||
return DenseBase<Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>(static_cast<Base>(*this));
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
template <typename MatrixType>
|
||||
class Map: public MapBase<MatrixType> {
|
||||
public:
|
||||
typedef MapBase<MatrixType> Base;
|
||||
typedef typename MatrixType::Scalar Scalar;
|
||||
|
||||
Map()
|
||||
: Base(NULL, 0, 0) {
|
||||
}
|
||||
|
||||
Map(Scalar *data, long rows, long cols)
|
||||
: Base(data, rows, cols) {}
|
||||
|
||||
Map(PyArrayObject *object)
|
||||
: Base((PyObject*)object == Py_None? NULL: (Scalar *)object->data,
|
||||
// ROW: If array is in row-major order, transpose (see README)
|
||||
(PyObject*)object == Py_None? 0 :
|
||||
(PyArray_IS_C_CONTIGUOUS(object)
|
||||
? ((object->nd == 1)
|
||||
? 1 // ROW: If 1D row-major numpy array, set to 1 (row vector)
|
||||
: object->dimensions[1])
|
||||
: object->dimensions[0]),
|
||||
// COLUMN: If array is in row-major order: transpose (see README)
|
||||
(PyObject*)object == Py_None? 0 :
|
||||
(PyArray_IS_C_CONTIGUOUS(object)
|
||||
? object->dimensions[0]
|
||||
: ((object->nd == 1)
|
||||
? 1 // COLUMN: If 1D col-major numpy array, set to length (column vector)
|
||||
: object->dimensions[1]))) {
|
||||
|
||||
if (((PyObject*)object != Py_None) && !PyArray_ISONESEGMENT(object))
|
||||
throw std::invalid_argument("Numpy array must be a in one contiguous segment to be able to be transferred to a Eigen Map.");
|
||||
}
|
||||
|
||||
Map &operator=(const Map &other) {
|
||||
// Replace the memory that we point to (not a memory allocation)
|
||||
new (this) Map(const_cast<Scalar*>(other.data()),
|
||||
other.rows(),
|
||||
other.cols());
|
||||
return *this;
|
||||
}
|
||||
|
||||
operator Base() const {
|
||||
return static_cast<Base>(*this);
|
||||
}
|
||||
|
||||
operator Base&() const {
|
||||
return static_cast<Base&>(*this);
|
||||
}
|
||||
|
||||
operator MatrixType() const {
|
||||
return MatrixType(static_cast<Base>(*this));
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
Cython>=0.25.2
|
||||
backports_abc>=0.5
|
||||
numpy>=1.12.0
|
||||
431
gtsam.h
431
gtsam.h
|
|
@ -2,9 +2,13 @@
|
|||
|
||||
* GTSAM Wrap Module Definition
|
||||
*
|
||||
* These are the current classes available through the matlab toolbox interface,
|
||||
* These are the current classes available through the matlab and python wrappers,
|
||||
* add more functions/classes as they are available.
|
||||
*
|
||||
* IMPORTANT: the python wrapper supports keyword arguments for functions/methods. Hence, the
|
||||
* argument names matter. An implementation restriction is that in overloaded methods
|
||||
* or functions, arguments of different types *have* to have different names.
|
||||
*
|
||||
* Requirements:
|
||||
* Classes must start with an uppercase letter
|
||||
* - Can wrap a typedef
|
||||
|
|
@ -16,7 +20,7 @@
|
|||
* - Any class with which be copied with boost::make_shared()
|
||||
* - boost::shared_ptr of any object type
|
||||
* Constructors
|
||||
* - Overloads are supported
|
||||
* - Overloads are supported, but arguments of different types *have* to have different names
|
||||
* - A class with no constructors can be returned from other functions but not allocated directly in MATLAB
|
||||
* Methods
|
||||
* - Constness has no effect
|
||||
|
|
@ -26,7 +30,7 @@
|
|||
* Static methods
|
||||
* - Must start with a letter (upper or lowercase) and use the "static" keyword
|
||||
* - The first letter will be made uppercase in the generated MATLAB interface
|
||||
* - Overloads are supported
|
||||
* - Overloads are supported, but arguments of different types *have* to have different names
|
||||
* Arguments to functions any of
|
||||
* - Eigen types: Matrix, Vector
|
||||
* - Eigen types and classes as an optionally const reference
|
||||
|
|
@ -89,6 +93,18 @@
|
|||
* - Add "void serializable()" to a class if you only want the class to be serialized as a
|
||||
* part of a container (such as noisemodel). This version does not require a publicly
|
||||
* accessible default constructor.
|
||||
* Forward declarations and class definitions for Cython:
|
||||
* - Need to specify the base class (both this forward class and base class are declared in an external cython header)
|
||||
* This is so Cython can generate proper inheritance.
|
||||
* Example when wrapping a gtsam-based project:
|
||||
* // forward declarations
|
||||
* virtual class gtsam::NonlinearFactor
|
||||
* virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor
|
||||
* // class definition
|
||||
* #include <MyFactor.h>
|
||||
* virtual class MyFactor : gtsam::NoiseModelFactor {...};
|
||||
* - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class
|
||||
* - This will cause an ambiguity problem in Cython pxd header file
|
||||
*/
|
||||
|
||||
/**
|
||||
|
|
@ -102,51 +118,106 @@
|
|||
* - TODO: Add generalized serialization support via boost.serialization with hooks to matlab save/load
|
||||
*/
|
||||
|
||||
namespace std {
|
||||
#include <vector>
|
||||
template<T>
|
||||
class vector
|
||||
{
|
||||
//Do we need these?
|
||||
//Capacity
|
||||
/*size_t size() const;
|
||||
size_t max_size() const;
|
||||
//void resize(size_t sz);
|
||||
size_t capacity() const;
|
||||
bool empty() const;
|
||||
void reserve(size_t n);
|
||||
|
||||
//Element access
|
||||
T* at(size_t n);
|
||||
T* front();
|
||||
T* back();
|
||||
|
||||
//Modifiers
|
||||
void assign(size_t n, const T& u);
|
||||
void push_back(const T& x);
|
||||
void pop_back();*/
|
||||
};
|
||||
//typedef std::vector
|
||||
|
||||
#include<list>
|
||||
template<T>
|
||||
class list
|
||||
{
|
||||
|
||||
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
namespace gtsam {
|
||||
|
||||
// Actually a FastList<Key>
|
||||
#include <gtsam/inference/Key.h>
|
||||
class KeyList {
|
||||
KeyList();
|
||||
KeyList(const gtsam::KeyList& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key);
|
||||
void push_front(size_t key);
|
||||
void pop_back();
|
||||
void pop_front();
|
||||
void sort();
|
||||
void remove(size_t key);
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastSet<Key>
|
||||
class KeySet {
|
||||
KeySet();
|
||||
KeySet(const gtsam::KeySet& set);
|
||||
KeySet(const gtsam::KeyVector& vector);
|
||||
KeySet(const gtsam::KeyList& list);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::KeySet& other) const;
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
void insert(size_t key);
|
||||
void merge(const gtsam::KeySet& other);
|
||||
bool erase(size_t key); // returns true if value was removed
|
||||
bool count(size_t key) const; // returns true if value exists
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a vector<Key>
|
||||
class KeyVector {
|
||||
KeyVector();
|
||||
KeyVector(const gtsam::KeyVector& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t i) const;
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key) const;
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastMap<Key,int>
|
||||
class KeyGroupMap {
|
||||
KeyGroupMap();
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t key) const;
|
||||
int erase(size_t key);
|
||||
bool insert2(size_t key, int val);
|
||||
};
|
||||
|
||||
//*************************************************************************
|
||||
// base
|
||||
//*************************************************************************
|
||||
|
||||
/** gtsam namespace functions */
|
||||
#include <gtsam/base/Matrix.h>
|
||||
bool linear_independent(Matrix A, Matrix B, double tol);
|
||||
|
||||
#include <gtsam/base/Value.h>
|
||||
virtual class Value {
|
||||
// No constructors because this is an abstract class
|
||||
|
||||
|
|
@ -254,6 +325,7 @@ class LieMatrix {
|
|||
// geometry
|
||||
//*************************************************************************
|
||||
|
||||
#include <gtsam/geometry/Point2.h>
|
||||
class Point2 {
|
||||
// Standard Constructors
|
||||
Point2();
|
||||
|
|
@ -262,7 +334,7 @@ class Point2 {
|
|||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::Point2& pose, double tol) const;
|
||||
bool equals(const gtsam::Point2& point, double tol) const;
|
||||
|
||||
// Group
|
||||
static gtsam::Point2 identity();
|
||||
|
|
@ -279,6 +351,7 @@ class Point2 {
|
|||
};
|
||||
|
||||
// std::vector<gtsam::Point2>
|
||||
#include <gtsam/geometry/Point2.h>
|
||||
class Point2Vector
|
||||
{
|
||||
// Constructors
|
||||
|
|
@ -304,6 +377,7 @@ class Point2Vector
|
|||
void pop_back();
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/StereoPoint2.h>
|
||||
class StereoPoint2 {
|
||||
// Standard Constructors
|
||||
StereoPoint2();
|
||||
|
|
@ -337,6 +411,7 @@ class StereoPoint2 {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Point3.h>
|
||||
class Point3 {
|
||||
// Standard Constructors
|
||||
Point3();
|
||||
|
|
@ -360,6 +435,7 @@ class Point3 {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Rot2.h>
|
||||
class Rot2 {
|
||||
// Standard Constructors and Named Constructors
|
||||
Rot2();
|
||||
|
|
@ -403,10 +479,16 @@ class Rot2 {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Rot3.h>
|
||||
class Rot3 {
|
||||
// Standard Constructors and Named Constructors
|
||||
Rot3();
|
||||
Rot3(Matrix R);
|
||||
Rot3(const gtsam::Point3& col1, const gtsam::Point3& col2, const gtsam::Point3& col3);
|
||||
Rot3(double R11, double R12, double R13,
|
||||
double R21, double R22, double R23,
|
||||
double R31, double R32, double R33);
|
||||
|
||||
static gtsam::Rot3 Rx(double t);
|
||||
static gtsam::Rot3 Ry(double t);
|
||||
static gtsam::Rot3 Rz(double t);
|
||||
|
|
@ -418,6 +500,7 @@ class Rot3 {
|
|||
static gtsam::Rot3 Ypr(double y, double p, double r);
|
||||
static gtsam::Rot3 Quaternion(double w, double x, double y, double z);
|
||||
static gtsam::Rot3 Rodrigues(Vector v);
|
||||
static gtsam::Rot3 Rodrigues(double wx, double wy, double wz);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
|
|
@ -457,10 +540,11 @@ class Rot3 {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Pose2.h>
|
||||
class Pose2 {
|
||||
// Standard Constructor
|
||||
Pose2();
|
||||
Pose2(const gtsam::Pose2& pose);
|
||||
Pose2(const gtsam::Pose2& other);
|
||||
Pose2(double x, double y, double theta);
|
||||
Pose2(double theta, const gtsam::Point2& t);
|
||||
Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
|
||||
|
|
@ -505,13 +589,14 @@ class Pose2 {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Pose3.h>
|
||||
class Pose3 {
|
||||
// Standard Constructors
|
||||
Pose3();
|
||||
Pose3(const gtsam::Pose3& pose);
|
||||
Pose3(const gtsam::Pose3& other);
|
||||
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
|
||||
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
|
||||
Pose3(Matrix t);
|
||||
Pose3(Matrix mat);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
|
|
@ -520,23 +605,23 @@ class Pose3 {
|
|||
// Group
|
||||
static gtsam::Pose3 identity();
|
||||
gtsam::Pose3 inverse() const;
|
||||
gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
|
||||
gtsam::Pose3 between(const gtsam::Pose3& p2) const;
|
||||
gtsam::Pose3 compose(const gtsam::Pose3& pose) const;
|
||||
gtsam::Pose3 between(const gtsam::Pose3& pose) const;
|
||||
|
||||
// Manifold
|
||||
gtsam::Pose3 retract(Vector v) const;
|
||||
Vector localCoordinates(const gtsam::Pose3& T2) const;
|
||||
Vector localCoordinates(const gtsam::Pose3& pose) const;
|
||||
|
||||
// Lie Group
|
||||
static gtsam::Pose3 Expmap(Vector v);
|
||||
static Vector Logmap(const gtsam::Pose3& p);
|
||||
static Vector Logmap(const gtsam::Pose3& pose);
|
||||
Matrix AdjointMap() const;
|
||||
Vector Adjoint(Vector xi) const;
|
||||
static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
|
||||
|
||||
// Group Action on Point3
|
||||
gtsam::Point3 transform_from(const gtsam::Point3& p) const;
|
||||
gtsam::Point3 transform_to(const gtsam::Point3& p) const;
|
||||
gtsam::Point3 transform_from(const gtsam::Point3& point) const;
|
||||
gtsam::Point3 transform_to(const gtsam::Point3& point) const;
|
||||
|
||||
// Standard Interface
|
||||
gtsam::Rot3 rotation() const;
|
||||
|
|
@ -554,13 +639,14 @@ class Pose3 {
|
|||
};
|
||||
|
||||
// std::vector<gtsam::Pose3>
|
||||
#include <gtsam/geometry/Pose3.h>
|
||||
class Pose3Vector
|
||||
{
|
||||
Pose3Vector();
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
gtsam::Pose3 at(size_t n) const;
|
||||
void push_back(const gtsam::Pose3& x);
|
||||
void push_back(const gtsam::Pose3& pose);
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Unit3.h>
|
||||
|
|
@ -606,6 +692,7 @@ class EssentialMatrix {
|
|||
double error(Vector vA, Vector vB);
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
class Cal3_S2 {
|
||||
// Standard Constructors
|
||||
Cal3_S2();
|
||||
|
|
@ -662,7 +749,6 @@ virtual class Cal3DS2_Base {
|
|||
// Action on Point2
|
||||
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
|
||||
gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
|
||||
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -754,7 +840,6 @@ class Cal3Bundler {
|
|||
|
||||
// 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
|
||||
|
|
@ -772,6 +857,7 @@ class Cal3Bundler {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/CalibratedCamera.h>
|
||||
class CalibratedCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
CalibratedCamera();
|
||||
|
|
@ -801,6 +887,7 @@ class CalibratedCamera {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/PinholeCamera.h>
|
||||
template<CALIBRATION>
|
||||
class PinholeCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
|
|
@ -832,12 +919,13 @@ class PinholeCamera {
|
|||
gtsam::Point2 project(const gtsam::Point3& point);
|
||||
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
|
||||
double range(const gtsam::Point3& point);
|
||||
double range(const gtsam::Pose3& point);
|
||||
double range(const gtsam::Pose3& pose);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/SimpleCamera.h>
|
||||
virtual class SimpleCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
SimpleCamera();
|
||||
|
|
@ -868,7 +956,7 @@ virtual class SimpleCamera {
|
|||
gtsam::Point2 project(const gtsam::Point3& point);
|
||||
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
|
||||
double range(const gtsam::Point3& point);
|
||||
double range(const gtsam::Pose3& point);
|
||||
double range(const gtsam::Pose3& pose);
|
||||
|
||||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
|
|
@ -882,6 +970,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
|
|||
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
|
||||
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
|
||||
|
||||
#include <gtsam/geometry/StereoCamera.h>
|
||||
class StereoCamera {
|
||||
// Standard Constructors and Named Constructors
|
||||
StereoCamera();
|
||||
|
|
@ -959,7 +1048,6 @@ virtual class SymbolicFactorGraph {
|
|||
|
||||
// Standard interface
|
||||
gtsam::KeySet keys() const;
|
||||
void push_back(gtsam::SymbolicFactor* factor);
|
||||
void push_back(const gtsam::SymbolicFactorGraph& graph);
|
||||
void push_back(const gtsam::SymbolicBayesNet& bayesNet);
|
||||
void push_back(const gtsam::SymbolicBayesTree& bayesTree);
|
||||
|
|
@ -982,13 +1070,13 @@ virtual class SymbolicFactorGraph {
|
|||
const gtsam::Ordering& ordering);
|
||||
pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*> eliminatePartialMultifrontal(
|
||||
const gtsam::KeyVector& keys);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables,
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering,
|
||||
const gtsam::Ordering& marginalizedVariableOrdering);
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables,
|
||||
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector,
|
||||
const gtsam::Ordering& marginalizedVariableOrdering);
|
||||
gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& variables);
|
||||
gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector);
|
||||
};
|
||||
|
||||
#include <gtsam/symbolic/SymbolicConditional.h>
|
||||
|
|
@ -1034,14 +1122,14 @@ class SymbolicBayesTree {
|
|||
|
||||
//Constructors
|
||||
SymbolicBayesTree();
|
||||
SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
|
||||
SymbolicBayesTree(const gtsam::SymbolicBayesTree& other);
|
||||
|
||||
// Testable
|
||||
void print(string s);
|
||||
bool equals(const gtsam::SymbolicBayesTree& other, double tol) const;
|
||||
|
||||
//Standard Interface
|
||||
//size_t findParentClique(const gtsam::IndexVector& parents) const;
|
||||
//size_t findParentClique(const gtsam::IndexVector& parents) const;
|
||||
size_t size();
|
||||
void saveGraph(string s) const;
|
||||
void clear();
|
||||
|
|
@ -1086,9 +1174,9 @@ class VariableIndex {
|
|||
//template<T = {gtsam::FactorGraph}>
|
||||
//VariableIndex(const T& factorGraph, size_t nVariables);
|
||||
//VariableIndex(const T& factorGraph);
|
||||
VariableIndex(const gtsam::SymbolicFactorGraph& factorGraph);
|
||||
VariableIndex(const gtsam::GaussianFactorGraph& factorGraph);
|
||||
VariableIndex(const gtsam::NonlinearFactorGraph& factorGraph);
|
||||
VariableIndex(const gtsam::SymbolicFactorGraph& sfg);
|
||||
VariableIndex(const gtsam::GaussianFactorGraph& gfg);
|
||||
VariableIndex(const gtsam::NonlinearFactorGraph& fg);
|
||||
VariableIndex(const gtsam::VariableIndex& other);
|
||||
|
||||
// Testable
|
||||
|
|
@ -1377,11 +1465,12 @@ class GaussianFactorGraph {
|
|||
size_t size() const;
|
||||
gtsam::GaussianFactor* at(size_t idx) const;
|
||||
gtsam::KeySet keys() const;
|
||||
gtsam::KeyVector keyVector() const;
|
||||
bool exists(size_t idx) const;
|
||||
|
||||
// Building the graph
|
||||
void push_back(const gtsam::GaussianFactor* factor);
|
||||
void push_back(const gtsam::GaussianConditional* factor);
|
||||
void push_back(const gtsam::GaussianConditional* conditional);
|
||||
void push_back(const gtsam::GaussianFactorGraph& graph);
|
||||
void push_back(const gtsam::GaussianBayesNet& bayesNet);
|
||||
void push_back(const gtsam::GaussianBayesTree& bayesTree);
|
||||
|
|
@ -1420,13 +1509,13 @@ class GaussianFactorGraph {
|
|||
const gtsam::Ordering& ordering);
|
||||
pair<gtsam::GaussianBayesTree*, gtsam::GaussianFactorGraph*> eliminatePartialMultifrontal(
|
||||
const gtsam::KeyVector& keys);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& variables,
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::Ordering& ordering,
|
||||
const gtsam::Ordering& marginalizedVariableOrdering);
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& variables,
|
||||
gtsam::GaussianBayesNet* marginalMultifrontalBayesNet(const gtsam::KeyVector& key_vector,
|
||||
const gtsam::Ordering& marginalizedVariableOrdering);
|
||||
gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& variables);
|
||||
gtsam::GaussianFactorGraph* marginal(const gtsam::KeyVector& key_vector);
|
||||
|
||||
// Conversion to matrices
|
||||
Matrix sparseJacobian_() const;
|
||||
|
|
@ -1496,7 +1585,7 @@ virtual class GaussianBayesNet {
|
|||
size_t size() const;
|
||||
|
||||
// FactorGraph derived interface
|
||||
size_t size() const;
|
||||
// size_t size() const;
|
||||
gtsam::GaussianConditional* at(size_t idx) const;
|
||||
gtsam::KeySet keys() const;
|
||||
bool exists(size_t idx) const;
|
||||
|
|
@ -1543,6 +1632,7 @@ virtual class GaussianBayesTree {
|
|||
gtsam::GaussianBayesNet* jointBayesNet(size_t key1, size_t key2) const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/Errors.h>
|
||||
class Errors {
|
||||
//Constructors
|
||||
Errors();
|
||||
|
|
@ -1553,6 +1643,7 @@ class Errors {
|
|||
bool equals(const gtsam::Errors& expected, double tol) const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/GaussianISAM.h>
|
||||
class GaussianISAM {
|
||||
//Constructor
|
||||
GaussianISAM();
|
||||
|
|
@ -1589,7 +1680,7 @@ virtual class ConjugateGradientParameters : gtsam::IterativeOptimizationParamete
|
|||
void setReset(int value);
|
||||
void setEpsilon_rel(double value);
|
||||
void setEpsilon_abs(double value);
|
||||
void print();
|
||||
void print() const;
|
||||
};
|
||||
|
||||
#include <gtsam/linear/SubgraphSolver.h>
|
||||
|
|
@ -1683,6 +1774,7 @@ class Ordering {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
class NonlinearFactorGraph {
|
||||
NonlinearFactorGraph();
|
||||
NonlinearFactorGraph(const gtsam::NonlinearFactorGraph& graph);
|
||||
|
|
@ -1693,6 +1785,8 @@ class NonlinearFactorGraph {
|
|||
size_t size() const;
|
||||
bool empty() const;
|
||||
void remove(size_t i);
|
||||
void replace(size_t i, gtsam::NonlinearFactor* factors);
|
||||
void resize(size_t size);
|
||||
size_t nrFactors() const;
|
||||
gtsam::NonlinearFactor* at(size_t idx) const;
|
||||
void push_back(const gtsam::NonlinearFactorGraph& factors);
|
||||
|
|
@ -1700,6 +1794,7 @@ class NonlinearFactorGraph {
|
|||
void add(gtsam::NonlinearFactor* factor);
|
||||
bool exists(size_t idx) const;
|
||||
gtsam::KeySet keys() const;
|
||||
gtsam::KeyVector keyVector() const;
|
||||
|
||||
// NonlinearFactorGraph
|
||||
double error(const gtsam::Values& values) const;
|
||||
|
|
@ -1713,6 +1808,7 @@ class NonlinearFactorGraph {
|
|||
void serialize() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NonlinearFactor {
|
||||
// Factor base class
|
||||
size_t size() const;
|
||||
|
|
@ -1720,7 +1816,7 @@ virtual class NonlinearFactor {
|
|||
void print(string s) const;
|
||||
void printKeys(string s) const;
|
||||
// NonlinearFactor
|
||||
void equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
bool equals(const gtsam::NonlinearFactor& other, double tol) const;
|
||||
double error(const gtsam::Values& c) const;
|
||||
size_t dim() const;
|
||||
bool active(const gtsam::Values& c) const;
|
||||
|
|
@ -1729,8 +1825,9 @@ virtual class NonlinearFactor {
|
|||
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
virtual class NoiseModelFactor: gtsam::NonlinearFactor {
|
||||
void equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
bool equals(const gtsam::NoiseModelFactor& other, double tol) const;
|
||||
gtsam::noiseModel::Base* get_noiseModel() const; // deprecated by below
|
||||
gtsam::noiseModel::Base* noiseModel() const;
|
||||
Vector unwhitenedError(const gtsam::Values& x) const;
|
||||
|
|
@ -1772,34 +1869,34 @@ class Values {
|
|||
// 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 insert(size_t j, const gtsam::SimpleCamera& t);
|
||||
void insert(size_t j, const gtsam::imuBias::ConstantBias& t);
|
||||
void insert(size_t j, Vector t);
|
||||
void insert(size_t j, Matrix t);
|
||||
void insert(size_t j, const gtsam::Point2& point2);
|
||||
void insert(size_t j, const gtsam::Point3& point3);
|
||||
void insert(size_t j, const gtsam::Rot2& rot2);
|
||||
void insert(size_t j, const gtsam::Pose2& pose2);
|
||||
void insert(size_t j, const gtsam::Rot3& rot3);
|
||||
void insert(size_t j, const gtsam::Pose3& pose3);
|
||||
void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
|
||||
void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
|
||||
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
|
||||
void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
|
||||
void insert(size_t j, const gtsam::SimpleCamera& simpel_camera);
|
||||
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
|
||||
void insert(size_t j, Vector vector);
|
||||
void insert(size_t j, Matrix matrix);
|
||||
|
||||
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);
|
||||
void update(size_t j, const gtsam::imuBias::ConstantBias& t);
|
||||
void update(size_t j, Vector t);
|
||||
void update(size_t j, Matrix t);
|
||||
void update(size_t j, const gtsam::Point2& point2);
|
||||
void update(size_t j, const gtsam::Point3& point3);
|
||||
void update(size_t j, const gtsam::Rot2& rot2);
|
||||
void update(size_t j, const gtsam::Pose2& pose2);
|
||||
void update(size_t j, const gtsam::Rot3& rot3);
|
||||
void update(size_t j, const gtsam::Pose3& pose3);
|
||||
void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
|
||||
void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
|
||||
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
|
||||
void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
|
||||
void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
|
||||
void update(size_t j, Vector vector);
|
||||
void update(size_t j, Matrix matrix);
|
||||
|
||||
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, Vector, Matrix}>
|
||||
T at(size_t j);
|
||||
|
|
@ -1809,95 +1906,6 @@ class Values {
|
|||
double atDouble(size_t j) const;
|
||||
};
|
||||
|
||||
// Actually a FastList<Key>
|
||||
#include <gtsam/inference/Key.h>
|
||||
class KeyList {
|
||||
KeyList();
|
||||
KeyList(const gtsam::KeyList& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key);
|
||||
void push_front(size_t key);
|
||||
void pop_back();
|
||||
void pop_front();
|
||||
void sort();
|
||||
void remove(size_t key);
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastSet<Key>
|
||||
class KeySet {
|
||||
KeySet();
|
||||
KeySet(const gtsam::KeySet& other);
|
||||
KeySet(const gtsam::KeyVector& other);
|
||||
KeySet(const gtsam::KeyList& other);
|
||||
|
||||
// Testable
|
||||
void print(string s) const;
|
||||
bool equals(const gtsam::KeySet& other) const;
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
void insert(size_t key);
|
||||
void merge(gtsam::KeySet& other);
|
||||
bool erase(size_t key); // returns true if value was removed
|
||||
bool count(size_t key) const; // returns true if value exists
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a vector<Key>
|
||||
class KeyVector {
|
||||
KeyVector();
|
||||
KeyVector(const gtsam::KeyVector& other);
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t i) const;
|
||||
size_t front() const;
|
||||
size_t back() const;
|
||||
void push_back(size_t key) const;
|
||||
|
||||
void serialize() const;
|
||||
};
|
||||
|
||||
// Actually a FastMap<Key,int>
|
||||
class KeyGroupMap {
|
||||
KeyGroupMap();
|
||||
|
||||
// Note: no print function
|
||||
|
||||
// common STL methods
|
||||
size_t size() const;
|
||||
bool empty() const;
|
||||
void clear();
|
||||
|
||||
// structure specific methods
|
||||
size_t at(size_t key) const;
|
||||
int erase(size_t key);
|
||||
bool insert2(size_t key, int val);
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/Marginals.h>
|
||||
class Marginals {
|
||||
Marginals(const gtsam::NonlinearFactorGraph& graph,
|
||||
|
|
@ -1954,8 +1962,6 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
|
|||
//*************************************************************************
|
||||
// Nonlinear optimizers
|
||||
//*************************************************************************
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
|
||||
virtual class NonlinearOptimizerParams {
|
||||
NonlinearOptimizerParams();
|
||||
|
|
@ -2020,6 +2026,7 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
|
|||
void setVerbosityDL(string verbosityDL) const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearOptimizer.h>
|
||||
virtual class NonlinearOptimizer {
|
||||
gtsam::Values optimize();
|
||||
gtsam::Values optimizeSafely();
|
||||
|
|
@ -2029,17 +2036,20 @@ virtual class NonlinearOptimizer {
|
|||
void iterate() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
|
||||
virtual class GaussNewtonOptimizer : gtsam::NonlinearOptimizer {
|
||||
GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
GaussNewtonOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::GaussNewtonParams& params);
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/DoglegOptimizer.h>
|
||||
virtual class DoglegOptimizer : gtsam::NonlinearOptimizer {
|
||||
DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
DoglegOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::DoglegParams& params);
|
||||
double getDelta() const;
|
||||
};
|
||||
|
||||
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
|
||||
virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
|
||||
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues);
|
||||
LevenbergMarquardtOptimizer(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialValues, const gtsam::LevenbergMarquardtParams& params);
|
||||
|
|
@ -2100,10 +2110,10 @@ class ISAM2Params {
|
|||
void print(string str) const;
|
||||
|
||||
/** Getters and Setters for all properties */
|
||||
void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& params);
|
||||
void setOptimizationParams(const gtsam::ISAM2DoglegParams& params);
|
||||
void setRelinearizeThreshold(double relinearizeThreshold);
|
||||
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& relinearizeThreshold);
|
||||
void setOptimizationParams(const gtsam::ISAM2GaussNewtonParams& gauss_newton__params);
|
||||
void setOptimizationParams(const gtsam::ISAM2DoglegParams& dogleg_params);
|
||||
void setRelinearizeThreshold(double threshold);
|
||||
void setRelinearizeThreshold(const gtsam::ISAM2ThresholdMap& threshold_map);
|
||||
int getRelinearizeSkip() const;
|
||||
void setRelinearizeSkip(int relinearizeSkip);
|
||||
bool isEnableRelinearization() const;
|
||||
|
|
@ -2163,7 +2173,11 @@ class ISAM2 {
|
|||
|
||||
gtsam::Values getLinearizationPoint() const;
|
||||
gtsam::Values calculateEstimate() const;
|
||||
gtsam::Value calculateEstimate(size_t key) const;
|
||||
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
|
||||
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
|
||||
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
|
||||
gtsam::SimpleCamera, Vector, Matrix}>
|
||||
VALUE calculateEstimate(size_t key) const;
|
||||
gtsam::Values calculateBestEstimate() const;
|
||||
Matrix marginalCovariance(size_t key) const;
|
||||
gtsam::VectorValues getDelta() const;
|
||||
|
|
@ -2251,6 +2265,17 @@ typedef gtsam::RangeFactor<gtsam::CalibratedCamera, gtsam::CalibratedCamera> Ran
|
|||
typedef gtsam::RangeFactor<gtsam::SimpleCamera, gtsam::SimpleCamera> RangeFactorSimpleCamera;
|
||||
|
||||
|
||||
#include <gtsam/sam/RangeFactor.h>
|
||||
template<POSE, POINT>
|
||||
virtual class RangeFactorWithTransform : gtsam::NoiseModelFactor {
|
||||
RangeFactorWithTransform(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel, const POSE& body_T_sensor);
|
||||
};
|
||||
|
||||
typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Point2> RangeFactorWithTransformPosePoint2;
|
||||
typedef gtsam::RangeFactorWithTransform<gtsam::Pose3, gtsam::Point3> RangeFactorWithTransformPosePoint3;
|
||||
typedef gtsam::RangeFactorWithTransform<gtsam::Pose2, gtsam::Pose2> RangeFactorWithTransformPose2;
|
||||
typedef gtsam::RangeFactorWithTransform<gtsam::Pose3, gtsam::Pose3> RangeFactorWithTransformPose3;
|
||||
|
||||
#include <gtsam/sam/BearingFactor.h>
|
||||
template<POSE, POINT, BEARING>
|
||||
virtual class BearingFactor : gtsam::NoiseModelFactor {
|
||||
|
|
@ -2493,6 +2518,7 @@ virtual class PreintegrationParams : gtsam::PreintegratedRotationParams {
|
|||
Matrix getAccelerometerCovariance() const;
|
||||
Matrix getIntegrationCovariance() const;
|
||||
bool getUse2ndOrderCoriolis() const;
|
||||
void print(string s) const;
|
||||
};
|
||||
|
||||
#include <gtsam/navigation/ImuFactor.h>
|
||||
|
|
@ -2570,7 +2596,6 @@ virtual class CombinedImuFactor: gtsam::NonlinearFactor {
|
|||
class PreintegratedAhrsMeasurements {
|
||||
// Standard Constructor
|
||||
PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
|
||||
PreintegratedAhrsMeasurements(Vector bias, Matrix measuredOmegaCovariance);
|
||||
PreintegratedAhrsMeasurements(const gtsam::PreintegratedAhrsMeasurements& rhs);
|
||||
|
||||
// Testable
|
||||
|
|
@ -2636,7 +2661,7 @@ virtual class Pose3AttitudeFactor : gtsam::NonlinearFactor{
|
|||
|
||||
namespace utilities {
|
||||
|
||||
#include <matlab.h>
|
||||
#include <gtsam/nonlinear/utilities.h>
|
||||
gtsam::KeyList createKeyList(Vector I);
|
||||
gtsam::KeyList createKeyList(string s, Vector I);
|
||||
gtsam::KeyVector createKeyVector(Vector I);
|
||||
|
|
@ -2660,4 +2685,10 @@ namespace utilities {
|
|||
|
||||
} //\namespace utilities
|
||||
|
||||
#include <gtsam/nonlinear/utilities.h>
|
||||
class RedirectCout {
|
||||
RedirectCout();
|
||||
string str();
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -15,7 +15,7 @@ Column 3, with 2 entries:
|
|||
row 1
|
||||
row 3
|
||||
|
||||
ccolamd version 2.9, Apr 1, 2016: OK.
|
||||
ccolamd version 2.9, May 4, 2016: OK.
|
||||
ccolamd: number of dense or empty rows ignored: 0
|
||||
ccolamd: number of dense or empty columns ignored: 0
|
||||
ccolamd: number of garbage collections performed: 0
|
||||
|
|
@ -38,7 +38,7 @@ Column 3, with 1 entries:
|
|||
row 4
|
||||
Column 4, with 0 entries:
|
||||
|
||||
csymamd version 2.9, Apr 1, 2016: OK.
|
||||
csymamd version 2.9, May 4, 2016: OK.
|
||||
csymamd: number of dense or empty rows ignored: 0
|
||||
csymamd: number of dense or empty columns ignored: 0
|
||||
csymamd: number of garbage collections performed: 0
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -15,7 +15,7 @@ Column 3, with 2 entries:
|
|||
row 1
|
||||
row 3
|
||||
|
||||
ccolamd version 2.9, Apr 1, 2016: OK.
|
||||
ccolamd version 2.9, May 4, 2016: OK.
|
||||
ccolamd: number of dense or empty rows ignored: 0
|
||||
ccolamd: number of dense or empty columns ignored: 0
|
||||
ccolamd: number of garbage collections performed: 0
|
||||
|
|
@ -38,7 +38,7 @@ Column 3, with 1 entries:
|
|||
row 4
|
||||
Column 4, with 0 entries:
|
||||
|
||||
csymamd version 2.9, Apr 1, 2016: OK.
|
||||
csymamd version 2.9, May 4, 2016: OK.
|
||||
csymamd: number of dense or empty rows ignored: 0
|
||||
csymamd: number of dense or empty columns ignored: 0
|
||||
csymamd: number of garbage collections performed: 0
|
||||
|
|
|
|||
|
|
@ -1,50 +0,0 @@
|
|||
ccolamd 5-by-4 input matrix:
|
||||
Column 0, with 3 entries:
|
||||
row 0
|
||||
row 1
|
||||
row 4
|
||||
Column 1, with 2 entries:
|
||||
row 2
|
||||
row 4
|
||||
Column 2, with 4 entries:
|
||||
row 0
|
||||
row 1
|
||||
row 2
|
||||
row 3
|
||||
Column 3, with 2 entries:
|
||||
row 1
|
||||
row 3
|
||||
|
||||
ccolamd version 2.7, Jan 25, 2011: OK.
|
||||
ccolamd: number of dense or empty rows ignored: 0
|
||||
ccolamd: number of dense or empty columns ignored: 0
|
||||
ccolamd: number of garbage collections performed: 0
|
||||
ccolamd column ordering:
|
||||
1st column: 1
|
||||
2nd column: 0
|
||||
3rd column: 3
|
||||
4th column: 2
|
||||
|
||||
|
||||
csymamd 5-by-5 input matrix:
|
||||
Entries in strictly lower triangular part:
|
||||
Column 0, with 1 entries:
|
||||
row 1
|
||||
Column 1, with 2 entries:
|
||||
row 2
|
||||
row 3
|
||||
Column 2, with 0 entries:
|
||||
Column 3, with 1 entries:
|
||||
row 4
|
||||
Column 4, with 0 entries:
|
||||
|
||||
csymamd version 2.7, Jan 25, 2011: OK.
|
||||
csymamd: number of dense or empty rows ignored: 0
|
||||
csymamd: number of dense or empty columns ignored: 0
|
||||
csymamd: number of garbage collections performed: 0
|
||||
csymamd column ordering:
|
||||
1st row/column: 0
|
||||
2nd row/column: 2
|
||||
3rd row/column: 1
|
||||
4th row/column: 3
|
||||
5th row/column: 4
|
||||
|
|
@ -1,50 +0,0 @@
|
|||
ccolamd 5-by-4 input matrix:
|
||||
Column 0, with 3 entries:
|
||||
row 0
|
||||
row 1
|
||||
row 4
|
||||
Column 1, with 2 entries:
|
||||
row 2
|
||||
row 4
|
||||
Column 2, with 4 entries:
|
||||
row 0
|
||||
row 1
|
||||
row 2
|
||||
row 3
|
||||
Column 3, with 2 entries:
|
||||
row 1
|
||||
row 3
|
||||
|
||||
ccolamd version 2.7, Jan 25, 2011: OK.
|
||||
ccolamd: number of dense or empty rows ignored: 0
|
||||
ccolamd: number of dense or empty columns ignored: 0
|
||||
ccolamd: number of garbage collections performed: 0
|
||||
ccolamd_l column ordering:
|
||||
1st column: 1
|
||||
2nd column: 0
|
||||
3rd column: 3
|
||||
4th column: 2
|
||||
|
||||
|
||||
csymamd_l 5-by-5 input matrix:
|
||||
Entries in strictly lower triangular part:
|
||||
Column 0, with 1 entries:
|
||||
row 1
|
||||
Column 1, with 2 entries:
|
||||
row 2
|
||||
row 3
|
||||
Column 2, with 0 entries:
|
||||
Column 3, with 1 entries:
|
||||
row 4
|
||||
Column 4, with 0 entries:
|
||||
|
||||
csymamd version 2.7, Jan 25, 2011: OK.
|
||||
csymamd: number of dense or empty rows ignored: 0
|
||||
csymamd: number of dense or empty columns ignored: 0
|
||||
csymamd: number of garbage collections performed: 0
|
||||
csymamd_l column ordering:
|
||||
1st row/column: 0
|
||||
2nd row/column: 2
|
||||
3rd row/column: 1
|
||||
4th row/column: 3
|
||||
5th row/column: 4
|
||||
|
|
@ -1,3 +1,7 @@
|
|||
May 4, 2016: version 2.9.6
|
||||
|
||||
* minor changes to Makefile
|
||||
|
||||
Apr 1, 2016: version 2.9.5
|
||||
|
||||
* licensing simplified (no other change); refer to CCOLAMD/Doc/License.txt
|
||||
|
|
|
|||
|
|
@ -6,16 +6,28 @@ http://www.suitesparse.com
|
|||
|
||||
--------------------------------------------------------------------------------
|
||||
|
||||
CCOLAMD is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
CCOLAMD license: BSD 3-clause:
|
||||
|
||||
CCOLAMD is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the organizations to which the authors are
|
||||
affiliated, nor the names of its contributors may be used to endorse
|
||||
or promote products derived from this software without specific prior
|
||||
written permission.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this Module; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
|
||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
|
||||
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGE.
|
||||
|
|
|
|||
|
|
@ -41,11 +41,11 @@ extern "C" {
|
|||
* #endif
|
||||
*/
|
||||
|
||||
#define CCOLAMD_DATE "Apr 1, 2016"
|
||||
#define CCOLAMD_DATE "May 4, 2016"
|
||||
#define CCOLAMD_VERSION_CODE(main,sub) ((main) * 1000 + (sub))
|
||||
#define CCOLAMD_MAIN_VERSION 2
|
||||
#define CCOLAMD_SUB_VERSION 9
|
||||
#define CCOLAMD_SUBSUB_VERSION 5
|
||||
#define CCOLAMD_SUBSUB_VERSION 6
|
||||
#define CCOLAMD_VERSION \
|
||||
CCOLAMD_VERSION_CODE(CCOLAMD_MAIN_VERSION,CCOLAMD_SUB_VERSION)
|
||||
|
||||
|
|
|
|||
|
|
@ -3,7 +3,7 @@
|
|||
#-------------------------------------------------------------------------------
|
||||
|
||||
LIBRARY = libccolamd
|
||||
VERSION = 2.9.5
|
||||
VERSION = 2.9.6
|
||||
SO_VERSION = 2
|
||||
|
||||
default: library
|
||||
|
|
@ -32,6 +32,8 @@ ccolamd_l.o: $(SRC) $(INC)
|
|||
$(CC) $(CF) $(I) -c ../Source/ccolamd.c -DDLONG -o ccolamd_l.o
|
||||
|
||||
# creates libccolamd.a, a C-callable CCOLAMD library
|
||||
static: $(AR_TARGET)
|
||||
|
||||
$(AR_TARGET): $(OBJ)
|
||||
$(ARCHIVE) $@ $^
|
||||
- $(RANLIB) $@
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -20,6 +20,10 @@ all:
|
|||
library:
|
||||
( cd Lib ; $(MAKE) )
|
||||
|
||||
# compile the static libraries only
|
||||
static:
|
||||
( cd Lib ; $(MAKE) static )
|
||||
|
||||
# remove object files, but keep the compiled programs and library archives
|
||||
clean:
|
||||
( cd Lib ; $(MAKE) clean )
|
||||
|
|
|
|||
|
|
@ -1,28 +0,0 @@
|
|||
/* ========================================================================== */
|
||||
/* === ccolamd_global.c ===================================================== */
|
||||
/* ========================================================================== */
|
||||
|
||||
/* ----------------------------------------------------------------------------
|
||||
* CCOLAMD Copyright (C), Univ. of Florida. Authors: Timothy A. Davis,
|
||||
* Sivasankaran Rajamanickam, and Stefan Larimore
|
||||
* See License.txt for the Version 2.1 of the GNU Lesser General Public License
|
||||
* http://www.cise.ufl.edu/research/sparse
|
||||
* -------------------------------------------------------------------------- */
|
||||
|
||||
/* Global variables for CCOLAMD */
|
||||
|
||||
#ifndef NPRINT
|
||||
#ifdef MATLAB_MEX_FILE
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
typedef uint16_t char16_t;
|
||||
#include "mex.h"
|
||||
int (*ccolamd_printf) (const char *, ...) = mexPrintf ;
|
||||
#else
|
||||
#include <stdio.h>
|
||||
int (*ccolamd_printf) (const char *, ...) = printf ;
|
||||
#endif
|
||||
#else
|
||||
int (*ccolamd_printf) (const char *, ...) = ((void *) 0) ;
|
||||
#endif
|
||||
|
||||
|
|
@ -7,7 +7,7 @@ export SUITESPARSE
|
|||
|
||||
# version of SuiteSparse_config is also version of SuiteSparse meta-package
|
||||
LIBRARY = libsuitesparseconfig
|
||||
VERSION = 4.5.2
|
||||
VERSION = 4.5.6
|
||||
SO_VERSION = 4
|
||||
|
||||
default: library
|
||||
|
|
@ -27,6 +27,8 @@ OBJ = SuiteSparse_config.o
|
|||
SuiteSparse_config.o: SuiteSparse_config.c SuiteSparse_config.h
|
||||
$(CC) $(CF) -c SuiteSparse_config.c
|
||||
|
||||
static: $(AR_TARGET)
|
||||
|
||||
$(AR_TARGET): $(OBJ)
|
||||
$(ARCHIVE) $(AR_TARGET) SuiteSparse_config.o
|
||||
$(RANLIB) $(AR_TARGET)
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
SuiteSparse_config, 2016, Timothy A. Davis, http://www.suitesparse.com
|
||||
SuiteSparse_config, 2017, Timothy A. Davis, http://www.suitesparse.com
|
||||
(formerly the UFconfig package)
|
||||
|
||||
This directory contains a default SuiteSparse_config.mk file. It tries to
|
||||
|
|
|
|||
|
|
@ -184,24 +184,24 @@ int SuiteSparse_divcomplex
|
|||
*
|
||||
* SuiteSparse contains the following packages:
|
||||
*
|
||||
* SuiteSparse_config version 4.5.2 (version always the same as SuiteSparse)
|
||||
* AMD version 2.4.5
|
||||
* BTF version 1.2.5
|
||||
* CAMD version 2.4.5
|
||||
* CCOLAMD version 2.9.5
|
||||
* CHOLMOD version 3.0.10
|
||||
* COLAMD version 2.9.5
|
||||
* CSparse version 3.1.8
|
||||
* CXSparse version 3.1.8
|
||||
* GPUQREngine version 1.0.4
|
||||
* KLU version 1.3.7
|
||||
* LDL version 2.2.5
|
||||
* RBio version 2.2.5
|
||||
* SPQR version 2.0.6
|
||||
* SuiteSparse_GPURuntime version 1.0.4
|
||||
* UMFPACK version 5.7.5
|
||||
* SuiteSparse_config version 4.5.6 (version always the same as SuiteSparse)
|
||||
* AMD version 2.4.6
|
||||
* BTF version 1.2.6
|
||||
* CAMD version 2.4.6
|
||||
* CCOLAMD version 2.9.6
|
||||
* CHOLMOD version 3.0.11
|
||||
* COLAMD version 2.9.6
|
||||
* CSparse version 3.1.9
|
||||
* CXSparse version 3.1.9
|
||||
* GPUQREngine version 1.0.5
|
||||
* KLU version 1.3.8
|
||||
* LDL version 2.2.6
|
||||
* RBio version 2.2.6
|
||||
* SPQR version 2.0.8
|
||||
* SuiteSparse_GPURuntime version 1.0.5
|
||||
* UMFPACK version 5.7.6
|
||||
* MATLAB_Tools various packages & M-files
|
||||
* xerbla version 1.0.2
|
||||
* xerbla version 1.0.3
|
||||
*
|
||||
* Other package dependencies:
|
||||
* BLAS required by CHOLMOD and UMFPACK
|
||||
|
|
@ -211,7 +211,6 @@ int SuiteSparse_divcomplex
|
|||
* they are compiled with GPU acceleration.
|
||||
*/
|
||||
|
||||
|
||||
int SuiteSparse_version /* returns SUITESPARSE_VERSION */
|
||||
(
|
||||
/* output, not defined on input. Not used if NULL. Returns
|
||||
|
|
@ -234,11 +233,11 @@ int SuiteSparse_version /* returns SUITESPARSE_VERSION */
|
|||
*/
|
||||
#define SUITESPARSE_HAS_VERSION_FUNCTION
|
||||
|
||||
#define SUITESPARSE_DATE "Apr 1, 2016"
|
||||
#define SUITESPARSE_DATE "Oct 3, 2017"
|
||||
#define SUITESPARSE_VER_CODE(main,sub) ((main) * 1000 + (sub))
|
||||
#define SUITESPARSE_MAIN_VERSION 4
|
||||
#define SUITESPARSE_SUB_VERSION 5
|
||||
#define SUITESPARSE_SUBSUB_VERSION 2
|
||||
#define SUITESPARSE_SUBSUB_VERSION 6
|
||||
#define SUITESPARSE_VERSION \
|
||||
SUITESPARSE_VER_CODE(SUITESPARSE_MAIN_VERSION,SUITESPARSE_SUB_VERSION)
|
||||
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
# This file contains all configuration settings for all packages in SuiteSparse,
|
||||
# except for CSparse (which is stand-alone) and the packages in MATLAB_Tools.
|
||||
|
||||
SUITESPARSE_VERSION = 4.5.2
|
||||
SUITESPARSE_VERSION = 4.5.6
|
||||
|
||||
#===============================================================================
|
||||
# Options you can change without editing this file:
|
||||
|
|
@ -115,6 +115,7 @@ SUITESPARSE_VERSION = 4.5.2
|
|||
CC = icc -D_GNU_SOURCE
|
||||
CXX = $(CC)
|
||||
CFOPENMP = -qopenmp -I$(MKLROOT)/include
|
||||
LDFLAGS += -openmp
|
||||
endif
|
||||
ifneq ($(shell which ifort 2>/dev/null),)
|
||||
# use the Intel ifort compiler for Fortran codes
|
||||
|
|
@ -123,7 +124,7 @@ SUITESPARSE_VERSION = 4.5.2
|
|||
endif
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# code formatting (for Tcov only)
|
||||
# code formatting (for Tcov on Linux only)
|
||||
#---------------------------------------------------------------------------
|
||||
|
||||
PRETTY ?= grep -v "^\#" | indent -bl -nce -bli0 -i4 -sob -l120
|
||||
|
|
@ -224,7 +225,6 @@ SUITESPARSE_VERSION = 4.5.2
|
|||
CUDA_INC = -I$(CUDA_INC_PATH)
|
||||
NVCC = $(CUDA_PATH)/bin/nvcc
|
||||
NVCCFLAGS = -Xcompiler -fPIC -O3 \
|
||||
-gencode=arch=compute_20,code=sm_20 \
|
||||
-gencode=arch=compute_30,code=sm_30 \
|
||||
-gencode=arch=compute_35,code=sm_35 \
|
||||
-gencode=arch=compute_50,code=sm_50 \
|
||||
|
|
@ -305,8 +305,9 @@ SUITESPARSE_VERSION = 4.5.2
|
|||
|
||||
SPQR_CONFIG ?= $(GPU_CONFIG)
|
||||
|
||||
# to compile with Intel's TBB, use TBB=-ltbb SPQR_CONFIG=-DHAVE_TBB
|
||||
# to compile with Intel's TBB, use TBB=-ltbb -DSPQR_CONFIG=-DHAVE_TBB
|
||||
TBB ?=
|
||||
# TBB = -ltbb -DSPQR_CONFIG=-DHAVE_TBB
|
||||
|
||||
# TODO: this *mk file should auto-detect the presence of Intel's TBB,
|
||||
# and set the compiler flags accordingly.
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
USE_FORTRAN = 0
|
||||
# USE_FORTRAN = 1
|
||||
|
||||
VERSION = 1.0.2
|
||||
VERSION = 1.0.3
|
||||
SO_VERSION = 1
|
||||
|
||||
default: library
|
||||
|
|
@ -35,6 +35,8 @@ ccode: all
|
|||
|
||||
fortran: all
|
||||
|
||||
static: $(AR_TARGET)
|
||||
|
||||
$(AR_TARGET): $(DEPENDS)
|
||||
$(COMPILE)
|
||||
$(ARCHIVE) $(AR_TARGET) xerbla.o
|
||||
|
|
|
|||
|
|
@ -25,7 +25,6 @@ add_subdirectory(3rdparty)
|
|||
set (3rdparty_srcs
|
||||
${eigen_headers} # Set by 3rdparty/CMakeLists.txt
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/SuiteSparse_config/SuiteSparse_config.c)
|
||||
gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure
|
||||
|
||||
|
|
@ -138,7 +137,7 @@ endif()
|
|||
|
||||
# make sure that ccolamd compiles even in face of warnings
|
||||
if(WIN32)
|
||||
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "/w")
|
||||
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-w")
|
||||
else()
|
||||
set_source_files_properties(${3rdparty_srcs} PROPERTIES COMPILE_FLAGS "-Wno-error")
|
||||
endif()
|
||||
|
|
@ -165,3 +164,4 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
# Wrap
|
||||
wrap_and_install_library(../gtsam.h "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
|
||||
endif ()
|
||||
|
||||
|
|
|
|||
|
|
@ -38,13 +38,13 @@ class GTSAM_EXPORT PreintegratedAhrsMeasurements : public PreintegratedRotation
|
|||
Vector3 biasHat_; ///< Angular rate bias values used during preintegration.
|
||||
Matrix3 preintMeasCov_; ///< Covariance matrix of the preintegrated measurements (first-order propagation from *measurementCovariance*)
|
||||
|
||||
/// Default constructor, only for serialization
|
||||
PreintegratedAhrsMeasurements() {}
|
||||
|
||||
friend class AHRSFactor;
|
||||
|
||||
public:
|
||||
|
||||
/// Default constructor, only for serialization and Cython wrapper
|
||||
PreintegratedAhrsMeasurements() {}
|
||||
|
||||
/**
|
||||
* Default constructor, initialize with no measurements
|
||||
* @param bias Current estimate of acceleration and rotation rate biases
|
||||
|
|
|
|||
|
|
@ -115,7 +115,6 @@ public:
|
|||
*/
|
||||
Eigen::Matrix<double, 15, 15> preintMeasCov_;
|
||||
|
||||
PreintegratedCombinedMeasurements() {}
|
||||
|
||||
friend class CombinedImuFactor;
|
||||
|
||||
|
|
@ -123,6 +122,9 @@ public:
|
|||
/// @name Constructors
|
||||
/// @{
|
||||
|
||||
/// Default constructor only for serialization and Cython wrapper
|
||||
PreintegratedCombinedMeasurements() {}
|
||||
|
||||
/**
|
||||
* Default constructor, initializes the class with no measurements
|
||||
* @param bias Current estimate of acceleration and rotation rate biases
|
||||
|
|
|
|||
|
|
@ -78,13 +78,13 @@ protected:
|
|||
Matrix9 preintMeasCov_; ///< COVARIANCE OF: [PreintPOSITION PreintVELOCITY PreintROTATION]
|
||||
///< (first-order propagation from *measurementCovariance*).
|
||||
|
||||
/// Default constructor for serialization
|
||||
public:
|
||||
|
||||
/// Default constructor for serialization and Cython wrapper
|
||||
PreintegratedImuMeasurements() {
|
||||
preintMeasCov_.setZero();
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
/**
|
||||
* Constructor, initializes the class with no measurements
|
||||
* @param bias Current estimate of acceleration and rotation rate biases
|
||||
|
|
|
|||
|
|
@ -134,8 +134,10 @@ T Expression<T>::value(const Values& values,
|
|||
|
||||
if (H) {
|
||||
// Call private version that returns derivatives in H
|
||||
KeysAndDims pair = keysAndDims();
|
||||
return valueAndDerivatives(values, pair.first, pair.second, *H);
|
||||
KeyVector keys;
|
||||
FastVector<int> dims;
|
||||
boost::tie(keys, dims) = keysAndDims();
|
||||
return valueAndDerivatives(values, keys, dims, *H);
|
||||
} else
|
||||
// no derivatives needed, just return value
|
||||
return root_->value(values);
|
||||
|
|
|
|||
|
|
@ -47,7 +47,13 @@ protected:
|
|||
public:
|
||||
typedef boost::shared_ptr<ExpressionFactor<T> > shared_ptr;
|
||||
|
||||
/// Constructor
|
||||
/**
|
||||
* Constructor: creates a factor from a measurement and measurement function
|
||||
* @param noiseModel the noise model associated with a measurement
|
||||
* @param measurement actual value of the measurement, of type T
|
||||
* @param expression predicts the measurement from Values
|
||||
* The keys associated with the factor, returned by keys(), are sorted.
|
||||
*/
|
||||
ExpressionFactor(const SharedNoiseModel& noiseModel, //
|
||||
const T& measurement, const Expression<T>& expression)
|
||||
: NoiseModelFactor(noiseModel), measured_(measurement) {
|
||||
|
|
@ -158,7 +164,18 @@ protected:
|
|||
|
||||
// Get keys and dimensions for Jacobian matrices
|
||||
// An Expression is assumed unmutable, so we do this now
|
||||
boost::tie(keys_, dims_) = expression_.keysAndDims();
|
||||
if (keys_.empty()) {
|
||||
// This is the case when called in ExpressionFactor Constructor.
|
||||
// We then take the keys from the expression in sorted order.
|
||||
boost::tie(keys_, dims_) = expression_.keysAndDims();
|
||||
} else {
|
||||
// This happens with classes derived from BinaryExpressionFactor etc.
|
||||
// In that case, the keys_ are already defined and we just need to grab
|
||||
// the dimensions in the correct order.
|
||||
std::map<Key, int> keyedDims;
|
||||
expression_.dims(keyedDims);
|
||||
for (Key key : keys_) dims_.push_back(keyedDims[key]);
|
||||
}
|
||||
}
|
||||
|
||||
/// Recreate expression from keys_ and measured_, used in load below.
|
||||
|
|
@ -196,9 +213,9 @@ template <typename T>
|
|||
struct traits<ExpressionFactor<T> > : public Testable<ExpressionFactor<T> > {};
|
||||
|
||||
/**
|
||||
* Binary specialization of ExpressionFactor meant as a base class for binary factors
|
||||
* Enforces expression method with two keys, and provides evaluateError
|
||||
* Derived needs to call initialize.
|
||||
* Binary specialization of ExpressionFactor meant as a base class for binary
|
||||
* factors. Enforces an 'expression' method with two keys, and provides 'evaluateError'.
|
||||
* Derived class (a binary factor!) needs to call 'initialize'.
|
||||
*/
|
||||
template <typename T, typename A1, typename A2>
|
||||
class ExpressionFactor2 : public ExpressionFactor<T> {
|
||||
|
|
@ -248,4 +265,3 @@ class ExpressionFactor2 : public ExpressionFactor<T> {
|
|||
// ExpressionFactor2
|
||||
|
||||
}// \ namespace gtsam
|
||||
|
||||
|
|
|
|||
|
|
@ -48,6 +48,9 @@ protected:
|
|||
|
||||
public:
|
||||
|
||||
/// Default constructor only for Cython wrapper
|
||||
Marginals(){}
|
||||
|
||||
/** Construct a marginals class.
|
||||
* @param graph The factor graph defining the full joint density on all variables.
|
||||
* @param solution The linearization point about which to compute Gaussian marginals (usually the MLE as obtained from a NonlinearOptimizer).
|
||||
|
|
@ -91,6 +94,9 @@ protected:
|
|||
FastMap<Key, size_t> indices_;
|
||||
|
||||
public:
|
||||
/// Default constructor only for Cython wrapper
|
||||
JointMarginal() {}
|
||||
|
||||
/** Access a block, corresponding to a pair of variables, of the joint
|
||||
* marginal. Each block is accessed by its "vertical position",
|
||||
* corresponding to the variable with nonlinear Key \c iVariable and
|
||||
|
|
|
|||
|
|
@ -17,7 +17,9 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <gtsam/inference/Symbol.h>
|
||||
#include <gtsam/slam/ProjectionFactor.h>
|
||||
#include <gtsam/linear/Sampler.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
#include <gtsam/nonlinear/Values.h>
|
||||
|
|
@ -43,7 +45,7 @@ FastList<Key> createKeyList(const Vector& I) {
|
|||
}
|
||||
|
||||
// Create a KeyList from indices using symbol
|
||||
FastList<Key> createKeyList(string s, const Vector& I) {
|
||||
FastList<Key> createKeyList(std::string s, const Vector& I) {
|
||||
FastList<Key> set;
|
||||
char c = s[0];
|
||||
for (int i = 0; i < I.size(); i++)
|
||||
|
|
@ -60,7 +62,7 @@ FastVector<Key> createKeyVector(const Vector& I) {
|
|||
}
|
||||
|
||||
// Create a KeyVector from indices using symbol
|
||||
FastVector<Key> createKeyVector(string s, const Vector& I) {
|
||||
FastVector<Key> createKeyVector(std::string s, const Vector& I) {
|
||||
FastVector<Key> set;
|
||||
char c = s[0];
|
||||
for (int i = 0; i < I.size(); i++)
|
||||
|
|
@ -77,7 +79,7 @@ KeySet createKeySet(const Vector& I) {
|
|||
}
|
||||
|
||||
// Create a KeySet from indices using symbol
|
||||
KeySet createKeySet(string s, const Vector& I) {
|
||||
KeySet createKeySet(std::string s, const Vector& I) {
|
||||
KeySet set;
|
||||
char c = s[0];
|
||||
for (int i = 0; i < I.size(); i++)
|
||||
|
|
@ -248,6 +250,32 @@ Values localToWorld(const Values& local, const Pose2& base,
|
|||
return world;
|
||||
}
|
||||
|
||||
}
|
||||
} // namespace utilities
|
||||
|
||||
/**
|
||||
* For Python __str__().
|
||||
* Redirect std cout to a string stream so we can return a string representation
|
||||
* of an object when it prints to cout.
|
||||
* https://stackoverflow.com/questions/5419356/redirect-stdout-stderr-to-a-string
|
||||
*/
|
||||
struct RedirectCout {
|
||||
/// constructor -- redirect stdout buffer to a stringstream buffer
|
||||
RedirectCout() : ssBuffer_(), coutBuffer_(std::cout.rdbuf(ssBuffer_.rdbuf())) {}
|
||||
|
||||
/// return the string
|
||||
std::string str() const {
|
||||
return ssBuffer_.str();
|
||||
}
|
||||
|
||||
/// destructor -- redirect stdout buffer to its original buffer
|
||||
~RedirectCout() {
|
||||
std::cout.rdbuf(coutBuffer_);
|
||||
}
|
||||
|
||||
private:
|
||||
std::stringstream ssBuffer_;
|
||||
std::streambuf* coutBuffer_;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -38,8 +38,9 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
|
|||
typedef RangeFactorWithTransform<Pose2, Point2> RangeFactorWithTransform2D;
|
||||
typedef RangeFactorWithTransform<Pose3, Point3> RangeFactorWithTransform3D;
|
||||
|
||||
Key poseKey(1);
|
||||
Key pointKey(2);
|
||||
// Keys are deliberately *not* in sorted order to test that case.
|
||||
Key poseKey(2);
|
||||
Key pointKey(1);
|
||||
double measurement(10.0);
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -101,8 +102,13 @@ TEST( RangeFactor, ConstructorWithTransform) {
|
|||
|
||||
RangeFactorWithTransform2D factor2D(poseKey, pointKey, measurement, model,
|
||||
body_P_sensor_2D);
|
||||
KeyVector expected;
|
||||
expected.push_back(2);
|
||||
expected.push_back(1);
|
||||
CHECK(factor2D.keys() == expected);
|
||||
RangeFactorWithTransform3D factor3D(poseKey, pointKey, measurement, model,
|
||||
body_P_sensor_3D);
|
||||
CHECK(factor3D.keys() == expected);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -395,4 +401,3 @@ int main() {
|
|||
return TestRegistry::runAllTests(tr);
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
|
|
|
|||
|
|
@ -95,7 +95,7 @@ namespace gtsam {
|
|||
typename traits<T>::ChartJacobian::Jacobian Hlocal;
|
||||
Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
|
||||
if (H1) *H1 = Hlocal * (*H1);
|
||||
if (H1) *H2 = Hlocal * (*H2);
|
||||
if (H2) *H2 = Hlocal * (*H2);
|
||||
return rval;
|
||||
#else
|
||||
return traits<T>::Local(measured_, hx);
|
||||
|
|
|
|||
|
|
@ -20,3 +20,7 @@ list(APPEND GTSAM_INCLUDE_DIR "@GTSAM_EIGEN_INCLUDE_PREFIX@")
|
|||
if("@GTSAM_USE_EIGEN_MKL@")
|
||||
list(APPEND GTSAM_INCLUDE_DIR "@MKL_INCLUDE_DIR@")
|
||||
endif()
|
||||
|
||||
if("@GTSAM_INSTALL_CYTHON_TOOLBOX@")
|
||||
list(APPEND GTSAM_EIGENCY_INSTALL_PATH "@GTSAM_EIGENCY_INSTALL_PATH@")
|
||||
endif()
|
||||
|
|
|
|||
|
|
@ -118,6 +118,7 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
|
|||
wrap_and_install_library(gtsam_unstable.h "gtsam" "" "${mexFlags}")
|
||||
endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
|
||||
|
||||
|
||||
# Build examples
|
||||
add_subdirectory(examples)
|
||||
|
||||
|
|
|
|||
|
|
@ -103,7 +103,7 @@ class PoseRTV {
|
|||
#include <gtsam_unstable/geometry/Pose3Upright.h>
|
||||
class Pose3Upright {
|
||||
Pose3Upright();
|
||||
Pose3Upright(const gtsam::Pose3Upright& x);
|
||||
Pose3Upright(const gtsam::Pose3Upright& other);
|
||||
Pose3Upright(const gtsam::Rot2& bearing, const gtsam::Point3& t);
|
||||
Pose3Upright(double x, double y, double z, double theta);
|
||||
Pose3Upright(const gtsam::Pose2& pose, double z);
|
||||
|
|
@ -141,7 +141,7 @@ class Pose3Upright {
|
|||
#include <gtsam_unstable/geometry/BearingS2.h>
|
||||
class BearingS2 {
|
||||
BearingS2();
|
||||
BearingS2(double azimuth, double elevation);
|
||||
BearingS2(double azimuth_double, double elevation_double);
|
||||
BearingS2(const gtsam::Rot2& azimuth, const gtsam::Rot2& elevation);
|
||||
|
||||
gtsam::Rot2 azimuth() const;
|
||||
|
|
@ -276,7 +276,7 @@ class SimPolygon2D {
|
|||
// Nonlinear factors from gtsam, for our Value types
|
||||
#include <gtsam/slam/PriorFactor.h>
|
||||
template<T = {gtsam::PoseRTV}>
|
||||
virtual class PriorFactor : gtsam::NonlinearFactor {
|
||||
virtual class PriorFactor : gtsam::NoiseModelFactor {
|
||||
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
|
||||
|
||||
void serializable() const; // enabling serialization functionality
|
||||
|
|
@ -285,7 +285,7 @@ virtual class PriorFactor : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam/slam/BetweenFactor.h>
|
||||
template<T = {gtsam::PoseRTV}>
|
||||
virtual class BetweenFactor : gtsam::NonlinearFactor {
|
||||
virtual class BetweenFactor : gtsam::NoiseModelFactor {
|
||||
BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
|
||||
|
||||
void serializable() const; // enabling serialization functionality
|
||||
|
|
@ -363,13 +363,13 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
|
|||
|
||||
void addRange(size_t key, double measuredRange);
|
||||
gtsam::Point2 triangulate(const gtsam::Values& x) const;
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
|
||||
};
|
||||
|
||||
#include <gtsam/sam/RangeFactor.h>
|
||||
template<POSE, POINT>
|
||||
virtual class RangeFactor : gtsam::NonlinearFactor {
|
||||
virtual class RangeFactor : gtsam::NoiseModelFactor {
|
||||
RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
|
||||
void serializable() const; // enabling serialization functionality
|
||||
|
|
@ -380,7 +380,7 @@ typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> RangeFactorRTV;
|
|||
|
||||
#include <gtsam/nonlinear/NonlinearEquality.h>
|
||||
template<T = {gtsam::PoseRTV}>
|
||||
virtual class NonlinearEquality : gtsam::NonlinearFactor {
|
||||
virtual class NonlinearEquality : gtsam::NoiseModelFactor {
|
||||
// Constructor - forces exact evaluation
|
||||
NonlinearEquality(size_t j, const T& feasible);
|
||||
// Constructor - allows inexact evaluation
|
||||
|
|
@ -391,7 +391,7 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam_unstable/dynamics/IMUFactor.h>
|
||||
template<POSE = {gtsam::PoseRTV}>
|
||||
virtual class IMUFactor : gtsam::NonlinearFactor {
|
||||
virtual class IMUFactor : gtsam::NoiseModelFactor {
|
||||
/** Standard constructor */
|
||||
IMUFactor(Vector accel, Vector gyro,
|
||||
double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model);
|
||||
|
|
@ -409,7 +409,7 @@ virtual class IMUFactor : gtsam::NonlinearFactor {
|
|||
|
||||
#include <gtsam_unstable/dynamics/FullIMUFactor.h>
|
||||
template<POSE = {gtsam::PoseRTV}>
|
||||
virtual class FullIMUFactor : gtsam::NonlinearFactor {
|
||||
virtual class FullIMUFactor : gtsam::NoiseModelFactor {
|
||||
/** Standard constructor */
|
||||
FullIMUFactor(Vector accel, Vector gyro,
|
||||
double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model);
|
||||
|
|
@ -425,13 +425,11 @@ virtual class FullIMUFactor : gtsam::NonlinearFactor {
|
|||
size_t key2() const;
|
||||
};
|
||||
|
||||
|
||||
#include <gtsam_unstable/dynamics/DynamicsPriors.h>
|
||||
virtual class DHeightPrior : gtsam::NonlinearFactor {
|
||||
DHeightPrior(size_t key, double height, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
|
||||
virtual class DRollPrior : gtsam::NonlinearFactor {
|
||||
/** allows for explicit roll parameterization - uses canonical coordinate */
|
||||
DRollPrior(size_t key, double wx, const gtsam::noiseModel::Base* model);
|
||||
|
|
@ -439,12 +437,10 @@ virtual class DRollPrior : gtsam::NonlinearFactor {
|
|||
DRollPrior(size_t key, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
|
||||
virtual class VelocityPrior : gtsam::NonlinearFactor {
|
||||
VelocityPrior(size_t key, Vector vel, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
|
||||
virtual class DGroundConstraint : gtsam::NonlinearFactor {
|
||||
// Primary constructor allows for variable height of the "floor"
|
||||
DGroundConstraint(size_t key, double height, const gtsam::noiseModel::Base* model);
|
||||
|
|
@ -470,6 +466,7 @@ virtual class PendulumFactor1 : gtsam::NonlinearFactor {
|
|||
Vector evaluateError(const gtsam::LieScalar& qk1, const gtsam::LieScalar& qk, const gtsam::LieScalar& v) const;
|
||||
};
|
||||
|
||||
#include <gtsam_unstable/dynamics/Pendulum.h>
|
||||
virtual class PendulumFactor2 : gtsam::NonlinearFactor {
|
||||
/** Standard constructor */
|
||||
PendulumFactor2(size_t vk1, size_t vk, size_t qKey, double dt, double L, double g);
|
||||
|
|
@ -492,18 +489,17 @@ virtual class PendulumFactorPk1 : gtsam::NonlinearFactor {
|
|||
};
|
||||
|
||||
#include <gtsam_unstable/dynamics/SimpleHelicopter.h>
|
||||
|
||||
virtual class Reconstruction : gtsam::NonlinearFactor {
|
||||
virtual class Reconstruction : gtsam::NoiseModelFactor {
|
||||
Reconstruction(size_t gKey1, size_t gKey, size_t xiKey, double h);
|
||||
|
||||
Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, const gtsam::Vector6& xiK) const;
|
||||
Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, Vector xiK) const;
|
||||
};
|
||||
|
||||
virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
|
||||
virtual class DiscreteEulerPoincareHelicopter : gtsam::NoiseModelFactor {
|
||||
DiscreteEulerPoincareHelicopter(size_t xiKey, size_t xiKey_1, size_t gKey,
|
||||
double h, Matrix Inertia, Vector Fu, double m);
|
||||
|
||||
Vector evaluateError(const gtsam::Vector6& xiK, const gtsam::Vector6& xiK_1, const gtsam::Pose3& gK) const;
|
||||
Vector evaluateError(Vector xiK, Vector xiK_1, const gtsam::Pose3& gK) const;
|
||||
};
|
||||
|
||||
//*************************************************************************
|
||||
|
|
@ -640,13 +636,13 @@ virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
|
|||
// slam
|
||||
//*************************************************************************
|
||||
#include <gtsam_unstable/slam/RelativeElevationFactor.h>
|
||||
virtual class RelativeElevationFactor: gtsam::NonlinearFactor {
|
||||
virtual class RelativeElevationFactor: gtsam::NoiseModelFactor {
|
||||
RelativeElevationFactor();
|
||||
RelativeElevationFactor(size_t poseKey, size_t pointKey, double measured,
|
||||
const gtsam::noiseModel::Base* model);
|
||||
|
||||
double measured() const;
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
#include <gtsam_unstable/slam/DummyFactor.h>
|
||||
|
|
@ -655,20 +651,20 @@ virtual class DummyFactor : gtsam::NonlinearFactor {
|
|||
};
|
||||
|
||||
#include <gtsam_unstable/slam/InvDepthFactorVariant1.h>
|
||||
virtual class InvDepthFactorVariant1 : gtsam::NonlinearFactor {
|
||||
virtual class InvDepthFactorVariant1 : gtsam::NoiseModelFactor {
|
||||
InvDepthFactorVariant1(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
#include <gtsam_unstable/slam/InvDepthFactorVariant2.h>
|
||||
virtual class InvDepthFactorVariant2 : gtsam::NonlinearFactor {
|
||||
virtual class InvDepthFactorVariant2 : gtsam::NoiseModelFactor {
|
||||
InvDepthFactorVariant2(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::Point3& referencePoint, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
#include <gtsam_unstable/slam/InvDepthFactorVariant3.h>
|
||||
virtual class InvDepthFactorVariant3a : gtsam::NonlinearFactor {
|
||||
virtual class InvDepthFactorVariant3a : gtsam::NoiseModelFactor {
|
||||
InvDepthFactorVariant3a(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
virtual class InvDepthFactorVariant3b : gtsam::NonlinearFactor {
|
||||
virtual class InvDepthFactorVariant3b : gtsam::NoiseModelFactor {
|
||||
InvDepthFactorVariant3b(size_t poseKey1, size_t poseKey2, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
|
||||
};
|
||||
|
||||
|
|
@ -685,7 +681,7 @@ class Mechanization_bRn2 {
|
|||
static gtsam::Mechanization_bRn2 initialize(Matrix U, Matrix F, double g_e);
|
||||
gtsam::Mechanization_bRn2 correct(Vector dx) const;
|
||||
gtsam::Mechanization_bRn2 integrate(Vector u, double dt) const;
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
#include <gtsam_unstable/slam/AHRS.h>
|
||||
|
|
@ -695,19 +691,17 @@ class AHRS {
|
|||
pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> integrate(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector u, double dt);
|
||||
pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> aid(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector f, bool Farrel);
|
||||
pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> aidGeneral(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector f, Vector f_expected, const gtsam::Rot3& increment);
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
// Tectonic SAM Factors
|
||||
|
||||
#include <gtsam_unstable/slam/TSAMFactors.h>
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
|
||||
//typedef gtsam::NoiseModelFactor2<gtsam::Pose2, gtsam::Point2> NLPosePose;
|
||||
virtual class DeltaFactor : gtsam::NoiseModelFactor {
|
||||
DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured,
|
||||
const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
|
||||
|
|
@ -715,7 +709,7 @@ virtual class DeltaFactor : gtsam::NoiseModelFactor {
|
|||
virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
|
||||
DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j,
|
||||
const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
//typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
|
||||
|
|
@ -723,7 +717,7 @@ virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
|
|||
virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
|
||||
OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j,
|
||||
const gtsam::Pose2& measured, const gtsam::noiseModel::Base* noiseModel);
|
||||
void print(string s) const;
|
||||
//void print(string s) const;
|
||||
};
|
||||
|
||||
#include <gtsam/geometry/Cal3DS2.h>
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>gtsam</name>
|
||||
<version>3.1.0</version>
|
||||
<version>3.2.1</version>
|
||||
<description>gtsam</description>
|
||||
|
||||
<maintainer email="gtsam@lists.gatech.edu">Frank Dellaert</maintainer>
|
||||
|
|
|
|||
|
|
@ -18,7 +18,7 @@ fi
|
|||
|
||||
echo "Platform is ${platform}"
|
||||
|
||||
# Check for empty directory
|
||||
# Check for empty diectory
|
||||
if [ ! -z "`ls`" ]; then
|
||||
echo "Please run this script from an empty build directory"
|
||||
exit 1
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
**/
|
||||
|
||||
#include "Argument.h"
|
||||
#include "Class.h"
|
||||
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
||||
|
|
@ -62,20 +63,13 @@ string Argument::matlabClass(const string& delim) const {
|
|||
return result + type.name();
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
bool Argument::isScalar() const {
|
||||
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 = type.qualifiedName("::");
|
||||
string matlabUniqueType = type.qualifiedName();
|
||||
bool isNotScalar = !Argument::isScalar();
|
||||
bool isNotScalar = !type.isScalar();
|
||||
|
||||
// We cannot handle scalar non const references
|
||||
if (!isNotScalar && is_ref && !is_const) {
|
||||
|
|
@ -110,6 +104,54 @@ void Argument::proxy_check(FileWriter& proxyFile, const string& s) const {
|
|||
proxyFile.oss << " && size(" << s << ",2)==1";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Argument::emit_cython_pxd(
|
||||
FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const {
|
||||
string cythonType = type.pxdClassName();
|
||||
if (cythonType == "This") cythonType = className;
|
||||
else if (type.isEigen())
|
||||
cythonType = "const " + cythonType + "&";
|
||||
else if (type.match(templateArgs))
|
||||
cythonType = type.name();
|
||||
|
||||
// add modifier
|
||||
if (!type.isEigen()) {
|
||||
if (is_ptr) cythonType = "shared_ptr[" + cythonType + "]&";
|
||||
if (is_ref) cythonType = cythonType + "&";
|
||||
if (is_const) cythonType = "const " + cythonType;
|
||||
}
|
||||
|
||||
file.oss << cythonType << " " << name;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Argument::emit_cython_pyx(FileWriter& file) const {
|
||||
file.oss << type.pyxArgumentType() << " " << name;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string Argument::pyx_convertEigenTypeAndStorageOrder() const {
|
||||
if (!type.isEigen())
|
||||
return "";
|
||||
return name + " = " + name + ".astype(float, order=\'F\', copy=False)";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string Argument::pyx_asParam() const {
|
||||
string cythonType = type.pxdClassName();
|
||||
string cythonVar;
|
||||
if (type.isNonBasicType()) {
|
||||
cythonVar = name + "." + type.shared_pxd_obj_in_pyx();
|
||||
if (!is_ptr) cythonVar = "deref(" + cythonVar + ")";
|
||||
} else if (type.isEigen()) {
|
||||
cythonVar = "<" + cythonType + ">" + "(Map[" + cythonType + "](" + name + "))";
|
||||
} else {
|
||||
cythonVar = name;
|
||||
}
|
||||
return cythonVar;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
string ArgumentList::types() const {
|
||||
string str;
|
||||
|
|
@ -160,7 +202,7 @@ string ArgumentList::names() const {
|
|||
/* ************************************************************************* */
|
||||
bool ArgumentList::allScalar() const {
|
||||
for(Argument arg: *this)
|
||||
if (!arg.isScalar())
|
||||
if (!arg.type.isScalar())
|
||||
return false;
|
||||
return true;
|
||||
}
|
||||
|
|
@ -189,6 +231,69 @@ void ArgumentList::emit_prototype(FileWriter& file, const string& name) const {
|
|||
file.oss << ")";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ArgumentList::emit_cython_pxd(
|
||||
FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const {
|
||||
for (size_t j = 0; j<size(); ++j) {
|
||||
at(j).emit_cython_pxd(file, className, templateArgs);
|
||||
if (j<size()-1) file.oss << ", ";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ArgumentList::emit_cython_pyx(FileWriter& file) const {
|
||||
for (size_t j = 0; j < size(); ++j) {
|
||||
at(j).emit_cython_pyx(file);
|
||||
if (j < size() - 1) file.oss << ", ";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ArgumentList::pyx_convertEigenTypeAndStorageOrder(const std::string& indent) const {
|
||||
string ret, conversion;
|
||||
for (size_t j = 0; j < size(); ++j) {
|
||||
conversion = at(j).pyx_convertEigenTypeAndStorageOrder();
|
||||
if (!conversion.empty())
|
||||
ret += indent + conversion + "\n";
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ArgumentList::pyx_asParams() const {
|
||||
string ret;
|
||||
for (size_t j = 0; j < size(); ++j) {
|
||||
ret += at(j).pyx_asParam();
|
||||
if (j < size() - 1) ret += ", ";
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ArgumentList::pyx_paramsList() const {
|
||||
string s;
|
||||
for (size_t j = 0; j < size(); ++j) {
|
||||
s += "'" + at(j).name + "'";
|
||||
if (j < size() - 1) s += ", ";
|
||||
}
|
||||
return s;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ArgumentList::pyx_castParamsToPythonType(
|
||||
const std::string& indent) const {
|
||||
if (size() == 0)
|
||||
return "";
|
||||
|
||||
// cast params to their correct python argument type to pass in the function call later
|
||||
string s;
|
||||
for (size_t j = 0; j < size(); ++j)
|
||||
s += indent + at(j).name + " = <" + at(j).type.pyxArgumentType()
|
||||
+ ">(__params[" + std::to_string(j) + "])\n";
|
||||
return s;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ArgumentList::proxy_check(FileWriter& proxyFile) const {
|
||||
// Check nr of arguments
|
||||
|
|
|
|||
|
|
@ -39,6 +39,12 @@ struct Argument {
|
|||
type(t), name(n), is_const(false), is_ref(false), is_ptr(false) {
|
||||
}
|
||||
|
||||
bool isSameSignature(const Argument& other) const {
|
||||
return type == other.type
|
||||
&& is_const == other.is_const && is_ref == other.is_ref
|
||||
&& is_ptr == other.is_ptr;
|
||||
}
|
||||
|
||||
bool operator==(const Argument& other) const {
|
||||
return type == other.type && name == other.name
|
||||
&& is_const == other.is_const && is_ref == other.is_ref
|
||||
|
|
@ -50,9 +56,6 @@ struct Argument {
|
|||
/// 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;
|
||||
|
||||
/// MATLAB code generation, MATLAB to C++
|
||||
void matlab_unwrap(FileWriter& file, const std::string& matlabName) const;
|
||||
|
||||
|
|
@ -62,6 +65,16 @@ struct Argument {
|
|||
*/
|
||||
void proxy_check(FileWriter& proxyFile, const std::string& s) const;
|
||||
|
||||
/**
|
||||
* emit arguments for cython pxd
|
||||
* @param file output stream
|
||||
*/
|
||||
void emit_cython_pxd(FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const;
|
||||
void emit_cython_pyx(FileWriter& file) const;
|
||||
std::string pyx_asParam() const;
|
||||
std::string pyx_convertEigenTypeAndStorageOrder() const;
|
||||
|
||||
friend std::ostream& operator<<(std::ostream& os, const Argument& arg) {
|
||||
os << (arg.is_const ? "const " : "") << arg.type << (arg.is_ptr ? "*" : "")
|
||||
<< (arg.is_ref ? "&" : "");
|
||||
|
|
@ -87,6 +100,12 @@ struct ArgumentList: public std::vector<Argument> {
|
|||
|
||||
ArgumentList expandTemplate(const TemplateSubstitution& ts) const;
|
||||
|
||||
bool isSameSignature(const ArgumentList& other) const {
|
||||
for(size_t i = 0; i<size(); ++i)
|
||||
if (!at(i).isSameSignature(other[i])) return false;
|
||||
return true;
|
||||
}
|
||||
|
||||
// MATLAB code generation:
|
||||
|
||||
/**
|
||||
|
|
@ -103,6 +122,18 @@ struct ArgumentList: public std::vector<Argument> {
|
|||
*/
|
||||
void emit_prototype(FileWriter& file, const std::string& name) const;
|
||||
|
||||
/**
|
||||
* emit arguments for cython pxd
|
||||
* @param file output stream
|
||||
*/
|
||||
void emit_cython_pxd(FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const;
|
||||
void emit_cython_pyx(FileWriter& file) const;
|
||||
std::string pyx_asParams() const;
|
||||
std::string pyx_paramsList() const;
|
||||
std::string pyx_castParamsToPythonType(const std::string& indent) const;
|
||||
std::string pyx_convertEigenTypeAndStorageOrder(const std::string& indent) const;
|
||||
|
||||
/**
|
||||
* emit checking arguments to MATLAB proxy
|
||||
* @param proxyFile output stream
|
||||
|
|
|
|||
251
wrap/Class.cpp
251
wrap/Class.cpp
|
|
@ -19,10 +19,15 @@
|
|||
#include "Class.h"
|
||||
#include "utilities.h"
|
||||
#include "Argument.h"
|
||||
#include <unordered_set>
|
||||
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <boost/range/adaptor/map.hpp>
|
||||
#include <boost/range/algorithm/copy.hpp>
|
||||
#include <boost/tuple/tuple.hpp>
|
||||
#include <boost/iterator/zip_iterator.hpp>
|
||||
#include <boost/range/combine.hpp>
|
||||
#include <boost/range/algorithm/remove_if.hpp>
|
||||
|
||||
#include <vector>
|
||||
#include <iostream>
|
||||
|
|
@ -58,14 +63,14 @@ static void handleException(const out_of_range& oor,
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Method& Class::mutableMethod(Str key) {
|
||||
try {
|
||||
return methods_.at(key);
|
||||
} catch (const out_of_range& oor) {
|
||||
handleException(oor, methods_);
|
||||
throw runtime_error("Internal error in wrap");
|
||||
}
|
||||
}
|
||||
// Method& Class::mutableMethod(Str key) {
|
||||
// try {
|
||||
// return methods_.at(key);
|
||||
// } catch (const out_of_range& oor) {
|
||||
// handleException(oor, methods_);
|
||||
// throw runtime_error("Internal error in wrap");
|
||||
// }
|
||||
// }
|
||||
|
||||
/* ************************************************************************* */
|
||||
const Method& Class::method(Str key) const {
|
||||
|
|
@ -309,6 +314,8 @@ vector<Class> Class::expandTemplate(Str templateArg,
|
|||
inst.templateArgs.clear();
|
||||
inst.typedefName = qualifiedName("::") + "<" + instName.qualifiedName("::")
|
||||
+ ">";
|
||||
inst.templateInstTypeList.push_back(instName);
|
||||
inst.templateClass = *this;
|
||||
result.push_back(inst);
|
||||
}
|
||||
return result;
|
||||
|
|
@ -339,9 +346,13 @@ void Class::addMethod(bool verbose, bool is_const, Str methodName,
|
|||
const Template& tmplate) {
|
||||
// Check if templated
|
||||
if (tmplate.valid()) {
|
||||
templateMethods_[methodName].addOverload(methodName, argumentList,
|
||||
returnValue, is_const,
|
||||
tmplate.argName(), verbose);
|
||||
// Create method to expand
|
||||
// For all values of the template argument, create a new method
|
||||
for(const Qualified& instName: tmplate.argValues()) {
|
||||
|
||||
const TemplateSubstitution ts(tmplate.argName(), instName, *this);
|
||||
// substitute template in arguments
|
||||
ArgumentList expandedArgs = argumentList.expandTemplate(ts);
|
||||
|
|
@ -353,36 +364,44 @@ void Class::addMethod(bool verbose, bool is_const, Str methodName,
|
|||
methods_[expandedMethodName].addOverload(methodName, expandedArgs,
|
||||
expandedRetVal, is_const, instName, verbose);
|
||||
}
|
||||
} else
|
||||
} else {
|
||||
// just add overload
|
||||
methods_[methodName].addOverload(methodName, argumentList, returnValue,
|
||||
is_const, boost::none, verbose);
|
||||
nontemplateMethods_[methodName].addOverload(methodName, argumentList, returnValue,
|
||||
is_const, boost::none, verbose);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::erase_serialization() {
|
||||
Methods::iterator it = methods_.find("serializable");
|
||||
if (it != methods_.end()) {
|
||||
void Class::erase_serialization(Methods& methods) {
|
||||
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);
|
||||
methods.erase(it);
|
||||
}
|
||||
|
||||
it = methods_.find("serialize");
|
||||
if (it != methods_.end()) {
|
||||
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);
|
||||
methods.erase(it);
|
||||
}
|
||||
}
|
||||
|
||||
void Class::erase_serialization() {
|
||||
erase_serialization(methods_);
|
||||
erase_serialization(nontemplateMethods_);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::verifyAll(vector<string>& validTypes, bool& hasSerialiable) const {
|
||||
|
||||
|
|
@ -422,6 +441,56 @@ void Class::appendInheritedMethods(const Class& cls,
|
|||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::removeInheritedNontemplateMethods(vector<Class>& classes) {
|
||||
if (!parentClass) return;
|
||||
// Find parent
|
||||
auto parentIt = std::find_if(classes.begin(), classes.end(),
|
||||
[&](const Class& cls) { return cls.name() == parentClass->name(); });
|
||||
if (parentIt == classes.end()) return; // ignore if parent not found
|
||||
Class& parent = *parentIt;
|
||||
|
||||
// Only check nontemplateMethods_
|
||||
for(const string& methodName: nontemplateMethods_ | boost::adaptors::map_keys) {
|
||||
// check if the method exists in its parent
|
||||
// Check against parent's methods_ because all the methods of grand
|
||||
// parent and grand-grand-parent, etc. are already included there
|
||||
// This is to avoid looking into higher level grand parents...
|
||||
auto it = parent.methods_.find(methodName);
|
||||
if (it == parent.methods_.end()) continue; // if not: ignore!
|
||||
|
||||
Method& parentMethod = it->second;
|
||||
Method& method = nontemplateMethods_[methodName];
|
||||
// check if they have the same modifiers (const/static/templateArgs)
|
||||
if (!method.isSameModifiers(parentMethod)) continue; // if not: ignore
|
||||
|
||||
// check and remove duplicate overloads
|
||||
auto methodOverloads = boost::combine(method.returnVals_, method.argLists_);
|
||||
auto parentMethodOverloads = boost::combine(parentMethod.returnVals_, parentMethod.argLists_);
|
||||
auto result = boost::remove_if(
|
||||
methodOverloads,
|
||||
[&](boost::tuple<ReturnValue, ArgumentList> const& overload) {
|
||||
bool found = std::find_if(
|
||||
parentMethodOverloads.begin(),
|
||||
parentMethodOverloads.end(),
|
||||
[&](boost::tuple<ReturnValue, ArgumentList> const&
|
||||
parentOverload) {
|
||||
return overload.get<0>() == parentOverload.get<0>() &&
|
||||
overload.get<1>().isSameSignature(parentOverload.get<1>());
|
||||
}) != parentMethodOverloads.end();
|
||||
return found;
|
||||
});
|
||||
// remove all duplicate overloads
|
||||
method.returnVals_.erase(boost::get<0>(result.get_iterator_tuple()),
|
||||
method.returnVals_.end());
|
||||
method.argLists_.erase(boost::get<1>(result.get_iterator_tuple()),
|
||||
method.argLists_.end());
|
||||
}
|
||||
// [Optional] remove the entire method if it has no overload
|
||||
for (auto it = nontemplateMethods_.begin(), ite = nontemplateMethods_.end(); it != ite;)
|
||||
if (it->second.nrOverloads() == 0) it = nontemplateMethods_.erase(it); else ++it;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
string Class::getTypedef() const {
|
||||
string result;
|
||||
|
|
@ -660,3 +729,153 @@ void Class::python_wrapper(FileWriter& wrapperFile) const {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::emit_cython_pxd(FileWriter& pxdFile) const {
|
||||
pxdFile.oss << "cdef extern from \"" << includeFile << "\"";
|
||||
string ns = qualifiedNamespaces("::");
|
||||
if (!ns.empty())
|
||||
pxdFile.oss << " namespace \"" << ns << "\"";
|
||||
pxdFile.oss << ":" << endl;
|
||||
pxdFile.oss << " cdef cppclass " << pxdClassName() << " \"" << qualifiedName("::") << "\"";
|
||||
if (templateArgs.size()>0) {
|
||||
pxdFile.oss << "[";
|
||||
for(size_t i = 0; i<templateArgs.size(); ++i) {
|
||||
pxdFile.oss << templateArgs[i];
|
||||
if (i<templateArgs.size()-1) pxdFile.oss << ",";
|
||||
}
|
||||
pxdFile.oss << "]";
|
||||
}
|
||||
if (parentClass) pxdFile.oss << "(" << parentClass->pxdClassName() << ")";
|
||||
pxdFile.oss << ":\n";
|
||||
|
||||
constructor.emit_cython_pxd(pxdFile, *this);
|
||||
if (constructor.nrOverloads()>0) pxdFile.oss << "\n";
|
||||
|
||||
for(const StaticMethod& m: static_methods | boost::adaptors::map_values)
|
||||
m.emit_cython_pxd(pxdFile, *this);
|
||||
if (static_methods.size()>0) pxdFile.oss << "\n";
|
||||
|
||||
for(const Method& m: nontemplateMethods_ | boost::adaptors::map_values)
|
||||
m.emit_cython_pxd(pxdFile, *this);
|
||||
|
||||
for(const TemplateMethod& m: templateMethods_ | boost::adaptors::map_values)
|
||||
m.emit_cython_pxd(pxdFile, *this);
|
||||
size_t numMethods = constructor.nrOverloads() + static_methods.size() +
|
||||
methods_.size() + templateMethods_.size();
|
||||
if (numMethods == 0)
|
||||
pxdFile.oss << " pass\n";
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
void Class::emit_cython_wrapper_pxd(FileWriter& pxdFile) const {
|
||||
pxdFile.oss << "\ncdef class " << pyxClassName();
|
||||
if (getParent())
|
||||
pxdFile.oss << "(" << getParent()->pyxClassName() << ")";
|
||||
pxdFile.oss << ":\n";
|
||||
pxdFile.oss << " cdef " << shared_pxd_class_in_pyx() << " "
|
||||
<< shared_pxd_obj_in_pyx() << "\n";
|
||||
// cyCreateFromShared
|
||||
pxdFile.oss << " @staticmethod\n";
|
||||
pxdFile.oss << " cdef " << pyxClassName() << " cyCreateFromShared(const "
|
||||
<< shared_pxd_class_in_pyx() << "& other)\n";
|
||||
for(const StaticMethod& m: static_methods | boost::adaptors::map_values)
|
||||
m.emit_cython_wrapper_pxd(pxdFile, *this);
|
||||
if (static_methods.size()>0) pxdFile.oss << "\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj,
|
||||
const std::string& cySharedObj,
|
||||
const std::vector<Class>& allClasses) const {
|
||||
if (parentClass) {
|
||||
pyxFile.oss << pyObj << "." << parentClass->shared_pxd_obj_in_pyx() << " = "
|
||||
<< "<" << parentClass->shared_pxd_class_in_pyx() << ">("
|
||||
<< cySharedObj << ")\n";
|
||||
// Find the parent class with name "parentClass" and point its cython obj
|
||||
// to the same pointer
|
||||
auto parent_it = find_if(allClasses.begin(), allClasses.end(),
|
||||
[this](const Class& cls) {
|
||||
return cls.pxdClassName() ==
|
||||
this->parentClass->pxdClassName();
|
||||
});
|
||||
if (parent_it == allClasses.end()) {
|
||||
cerr << "Can't find parent class: " << parentClass->pxdClassName();
|
||||
throw std::runtime_error("Parent class not found!");
|
||||
}
|
||||
parent_it->pyxInitParentObj(pyxFile, pyObj, cySharedObj, allClasses);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::pyxDynamicCast(FileWriter& pyxFile, const Class& curLevel,
|
||||
const std::vector<Class>& allClasses) const {
|
||||
std::string me = this->pyxClassName(), sharedMe = this->shared_pxd_class_in_pyx();
|
||||
if (curLevel.parentClass) {
|
||||
std::string parent = curLevel.parentClass->pyxClassName(),
|
||||
parentObj = curLevel.parentClass->shared_pxd_obj_in_pyx(),
|
||||
parentCythonClass = curLevel.parentClass->pxd_class_in_pyx();
|
||||
pyxFile.oss << "def dynamic_cast_" << me << "_" << parent << "(" << parent
|
||||
<< " parent):\n";
|
||||
pyxFile.oss << " try:\n";
|
||||
pyxFile.oss << " return " << me << ".cyCreateFromShared(<" << sharedMe
|
||||
<< ">dynamic_pointer_cast[" << pxd_class_in_pyx() << ","
|
||||
<< parentCythonClass << "](parent." << parentObj
|
||||
<< "))\n";
|
||||
pyxFile.oss << " except:\n";
|
||||
pyxFile.oss << " raise TypeError('dynamic cast failed!')\n";
|
||||
// Move up higher to one level: Find the parent class with name "parentClass"
|
||||
auto parent_it = find_if(allClasses.begin(), allClasses.end(),
|
||||
[&curLevel](const Class& cls) {
|
||||
return cls.pxdClassName() ==
|
||||
curLevel.parentClass->pxdClassName();
|
||||
});
|
||||
if (parent_it == allClasses.end()) {
|
||||
cerr << "Can't find parent class: " << parentClass->pxdClassName();
|
||||
throw std::runtime_error("Parent class not found!");
|
||||
}
|
||||
pyxDynamicCast(pyxFile, *parent_it, allClasses);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Class::emit_cython_pyx(FileWriter& pyxFile, const std::vector<Class>& allClasses) const {
|
||||
pyxFile.oss << "cdef class " << pyxClassName();
|
||||
if (parentClass) pyxFile.oss << "(" << parentClass->pyxClassName() << ")";
|
||||
pyxFile.oss << ":\n";
|
||||
|
||||
// __init___
|
||||
pyxFile.oss << " def __init__(self, *args, **kwargs):\n";
|
||||
pyxFile.oss << " cdef list __params\n";
|
||||
pyxFile.oss << " self." << shared_pxd_obj_in_pyx() << " = " << shared_pxd_class_in_pyx() << "()\n";
|
||||
pyxFile.oss << " if len(args)==0 and len(kwargs)==1 and kwargs.has_key('cyCreateFromShared'):\n return\n";
|
||||
|
||||
// Constructors
|
||||
constructor.emit_cython_pyx(pyxFile, *this);
|
||||
pyxFile.oss << " if (self." << shared_pxd_obj_in_pyx() << ".use_count()==0):\n";
|
||||
pyxFile.oss << " raise TypeError('" << pyxClassName()
|
||||
<< " construction failed!')\n";
|
||||
pyxInitParentObj(pyxFile, " self", "self." + shared_pxd_obj_in_pyx(), allClasses);
|
||||
pyxFile.oss << "\n";
|
||||
|
||||
// cyCreateFromShared
|
||||
pyxFile.oss << " @staticmethod\n";
|
||||
pyxFile.oss << " cdef " << pyxClassName() << " cyCreateFromShared(const "
|
||||
<< shared_pxd_class_in_pyx() << "& other):\n"
|
||||
<< " if other.get() == NULL:\n"
|
||||
<< " raise RuntimeError('Cannot create object from a nullptr!')\n"
|
||||
<< " cdef " << pyxClassName() << " return_value = " << pyxClassName() << "(cyCreateFromShared=True)\n"
|
||||
<< " return_value." << shared_pxd_obj_in_pyx() << " = other\n";
|
||||
pyxInitParentObj(pyxFile, " return_value", "other", allClasses);
|
||||
pyxFile.oss << " return return_value" << "\n\n";
|
||||
|
||||
for(const StaticMethod& m: static_methods | boost::adaptors::map_values)
|
||||
m.emit_cython_pyx(pyxFile, *this);
|
||||
if (static_methods.size()>0) pyxFile.oss << "\n";
|
||||
|
||||
for(const Method& m: methods_ | boost::adaptors::map_values)
|
||||
m.emit_cython_pyx(pyxFile, *this);
|
||||
|
||||
pyxDynamicCast(pyxFile, *this, allClasses);
|
||||
|
||||
pyxFile.oss << "\n\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
39
wrap/Class.h
39
wrap/Class.h
|
|
@ -25,6 +25,7 @@
|
|||
#include "Deconstructor.h"
|
||||
#include "Method.h"
|
||||
#include "StaticMethod.h"
|
||||
#include "TemplateMethod.h"
|
||||
#include "TypeAttributesTable.h"
|
||||
|
||||
#ifdef __GNUC__
|
||||
|
|
@ -54,12 +55,15 @@ public:
|
|||
typedef const std::string& Str;
|
||||
typedef std::map<std::string, Method> Methods;
|
||||
typedef std::map<std::string, StaticMethod> StaticMethods;
|
||||
typedef std::map<std::string, TemplateMethod> TemplateMethods;
|
||||
|
||||
private:
|
||||
|
||||
boost::optional<Qualified> parentClass; ///< The *single* parent
|
||||
Methods methods_; ///< Class methods
|
||||
Method& mutableMethod(Str key);
|
||||
Methods methods_; ///< Class methods, including all expanded/instantiated template methods -- to be serialized to matlab and Python classes in Cython pyx
|
||||
Methods nontemplateMethods_; ///< only nontemplate methods -- to be serialized into Cython pxd
|
||||
TemplateMethods templateMethods_; ///< only template methods -- to be serialized into Cython pxd
|
||||
// Method& mutableMethod(Str key);
|
||||
|
||||
public:
|
||||
|
||||
|
|
@ -68,12 +72,17 @@ public:
|
|||
// Then the instance variables are set directly by the Module constructor
|
||||
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]
|
||||
std::vector<Qualified> templateInstTypeList; ///< the original typelist used to instantiate this class from a template.
|
||||
///< Empty if it's not an instantiation. Needed for template classes in Cython pxd.
|
||||
boost::optional<Qualified> templateClass = boost::none; ///< qualified name of the original template class from which this class was instantiated.
|
||||
///< boost::none if not an instantiation. Needed for template classes in Cython pxd.
|
||||
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
|
||||
Constructor constructor; ///< Class constructors
|
||||
Deconstructor deconstructor; ///< Deconstructor to deallocate C++ object
|
||||
bool verbose_; ///< verbose flag
|
||||
std::string includeFile;
|
||||
|
||||
/// Constructor creates an empty class
|
||||
Class(bool verbose = true) :
|
||||
|
|
@ -81,9 +90,19 @@ public:
|
|||
false), deconstructor(verbose), verbose_(verbose) {
|
||||
}
|
||||
|
||||
Class(const std::string& name, bool verbose = true)
|
||||
: Qualified(name, Qualified::Category::CLASS),
|
||||
parentClass(boost::none),
|
||||
isVirtual(false),
|
||||
isSerializable(false),
|
||||
hasSerialization(false),
|
||||
deconstructor(verbose),
|
||||
verbose_(verbose) {}
|
||||
|
||||
void assignParent(const Qualified& parent);
|
||||
|
||||
boost::optional<std::string> qualifiedParent() const;
|
||||
boost::optional<Qualified> getParent() const { return parentClass; }
|
||||
|
||||
size_t nrMethods() const {
|
||||
return methods_.size();
|
||||
|
|
@ -92,7 +111,7 @@ public:
|
|||
const Method& method(Str key) const;
|
||||
|
||||
bool exists(Str name) const {
|
||||
return methods_.find(name) != methods_.end();
|
||||
return methods_.find(name) != methods_.end();
|
||||
}
|
||||
|
||||
// And finally MATLAB code is emitted, methods below called by Module::matlab_code
|
||||
|
|
@ -116,6 +135,7 @@ public:
|
|||
|
||||
/// Post-process classes for serialization markers
|
||||
void erase_serialization(); // non-const !
|
||||
void erase_serialization(Methods& methods); // non-const !
|
||||
|
||||
/// verify all of the function arguments
|
||||
void verifyAll(std::vector<std::string>& functionNames,
|
||||
|
|
@ -124,6 +144,8 @@ public:
|
|||
void appendInheritedMethods(const Class& cls,
|
||||
const std::vector<Class>& classes);
|
||||
|
||||
void removeInheritedNontemplateMethods(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;
|
||||
|
||||
|
|
@ -141,6 +163,17 @@ public:
|
|||
// emit python wrapper
|
||||
void python_wrapper(FileWriter& wrapperFile) const;
|
||||
|
||||
// emit cython wrapper
|
||||
void emit_cython_pxd(FileWriter& pxdFile) const;
|
||||
void emit_cython_wrapper_pxd(FileWriter& pxdFile) const;
|
||||
void emit_cython_pyx(FileWriter& pyxFile,
|
||||
const std::vector<Class>& allClasses) const;
|
||||
void pyxInitParentObj(FileWriter& pyxFile, const std::string& pyObj,
|
||||
const std::string& cySharedObj,
|
||||
const std::vector<Class>& allClasses) const;
|
||||
void pyxDynamicCast(FileWriter& pyxFile, const Class& curLevel,
|
||||
const std::vector<Class>& allClasses) const;
|
||||
|
||||
friend std::ostream& operator<<(std::ostream& os, const Class& cls) {
|
||||
os << "class " << cls.name() << "{\n";
|
||||
os << cls.constructor << ";\n";
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -24,6 +24,7 @@
|
|||
|
||||
#include "utilities.h"
|
||||
#include "Constructor.h"
|
||||
#include "Class.h"
|
||||
|
||||
using namespace std;
|
||||
using namespace wrap;
|
||||
|
|
@ -36,20 +37,18 @@ string Constructor::matlab_wrapper_name(Str className) const {
|
|||
|
||||
/* ************************************************************************* */
|
||||
void Constructor::proxy_fragment(FileWriter& file,
|
||||
const std::string& wrapperName, bool hasParent, const int id,
|
||||
const ArgumentList args) const {
|
||||
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 << " && ";
|
||||
if (!first) file.oss << " && ";
|
||||
file.oss << "isa(varargin{" << i + 1 << "},'" << args[i].matlabClass(".")
|
||||
<< "')";
|
||||
<< "')";
|
||||
first = false;
|
||||
}
|
||||
// emit code for calling constructor
|
||||
|
|
@ -68,26 +67,25 @@ void Constructor::proxy_fragment(FileWriter& file,
|
|||
|
||||
/* ************************************************************************* */
|
||||
string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
|
||||
Str matlabUniqueName, boost::optional<string> cppBaseClassName, int id,
|
||||
const ArgumentList& al) const {
|
||||
|
||||
const string wrapFunctionName = matlabUniqueName + "_constructor_"
|
||||
+ boost::lexical_cast<string>(id);
|
||||
Str matlabUniqueName,
|
||||
boost::optional<string> cppBaseClassName,
|
||||
int id, const ArgumentList& al) const {
|
||||
const string wrapFunctionName =
|
||||
matlabUniqueName + "_constructor_" + boost::lexical_cast<string>(id);
|
||||
|
||||
file.oss << "void " << wrapFunctionName
|
||||
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])"
|
||||
<< endl;
|
||||
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])"
|
||||
<< endl;
|
||||
file.oss << "{\n";
|
||||
file.oss << " mexAtExit(&_deleteAllObjects);\n";
|
||||
//Typedef boost::shared_ptr
|
||||
// Typedef boost::shared_ptr
|
||||
file.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;\n";
|
||||
file.oss << "\n";
|
||||
|
||||
//Check to see if there will be any arguments and remove {} for consiseness
|
||||
if (al.size() > 0)
|
||||
al.matlab_unwrap(file); // unwrap arguments
|
||||
// Check to see if there will be any arguments and remove {} for consiseness
|
||||
if (al.size() > 0) al.matlab_unwrap(file); // unwrap arguments
|
||||
file.oss << " Shared *self = new Shared(new " << cppClassName << "("
|
||||
<< al.names() << "));" << endl;
|
||||
<< al.names() << "));" << endl;
|
||||
file.oss << " collector_" << matlabUniqueName << ".insert(self);\n";
|
||||
|
||||
if (verbose_)
|
||||
|
|
@ -96,17 +94,19 @@ string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
|
|||
<< " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);"
|
||||
<< endl;
|
||||
file.oss << " *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;"
|
||||
<< endl;
|
||||
<< 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 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) {
|
||||
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";
|
||||
<< "> 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;
|
||||
|
|
@ -116,8 +116,45 @@ string Constructor::wrapper_fragment(FileWriter& file, Str cppClassName,
|
|||
|
||||
/* ************************************************************************* */
|
||||
void Constructor::python_wrapper(FileWriter& wrapperFile, Str className) const {
|
||||
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className << "::" << name_
|
||||
<< ");\n";
|
||||
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className
|
||||
<< "::" << name_ << ");\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
bool Constructor::hasDefaultConstructor() const {
|
||||
for (size_t i = 0; i < nrOverloads(); i++) {
|
||||
if (argumentList(i).size() == 0) return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Constructor::emit_cython_pxd(FileWriter& pxdFile, const Class& cls) const {
|
||||
for (size_t i = 0; i < nrOverloads(); i++) {
|
||||
ArgumentList args = argumentList(i);
|
||||
|
||||
// generate the constructor
|
||||
pxdFile.oss << " " << cls.pxdClassName() << "(";
|
||||
args.emit_cython_pxd(pxdFile, cls.pxdClassName(), cls.templateArgs);
|
||||
pxdFile.oss << ") " << "except +\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Constructor::emit_cython_pyx(FileWriter& pyxFile, const Class& cls) const {
|
||||
for (size_t i = 0; i < nrOverloads(); i++) {
|
||||
ArgumentList args = argumentList(i);
|
||||
pyxFile.oss << " try:\n";
|
||||
pyxFile.oss << pyx_resolveOverloadParams(args, true, 3);
|
||||
pyxFile.oss
|
||||
<< argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
|
||||
|
||||
pyxFile.oss << " self." << cls.shared_pxd_obj_in_pyx() << " = "
|
||||
<< cls.shared_pxd_class_in_pyx() << "(new " << cls.pxd_class_in_pyx()
|
||||
<< "(" << args.pyx_asParams() << "))\n";
|
||||
pyxFile.oss << " except (AssertionError, ValueError):\n";
|
||||
pyxFile.oss << " pass\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -25,6 +25,9 @@
|
|||
|
||||
namespace wrap {
|
||||
|
||||
// Forward declaration
|
||||
class Class;
|
||||
|
||||
// Constructor class
|
||||
struct Constructor: public OverloadedFunction {
|
||||
|
||||
|
|
@ -42,6 +45,9 @@ struct Constructor: public OverloadedFunction {
|
|||
return inst;
|
||||
}
|
||||
|
||||
/// return true if the default constructor exists
|
||||
bool hasDefaultConstructor() const;
|
||||
|
||||
// MATLAB code generation
|
||||
// toolboxPath is main toolbox directory, e.g., ../matlab
|
||||
// classFile is class proxy file, e.g., ../matlab/@Point2/Point2.m
|
||||
|
|
@ -78,6 +84,10 @@ struct Constructor: public OverloadedFunction {
|
|||
// emit python wrapper
|
||||
void python_wrapper(FileWriter& wrapperFile, Str className) const;
|
||||
|
||||
// emit cython wrapper
|
||||
void emit_cython_pxd(FileWriter& pxdFile, const Class& cls) const;
|
||||
void emit_cython_pyx(FileWriter& pyxFile, const Class& cls) 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];
|
||||
|
|
|
|||
|
|
@ -23,11 +23,14 @@
|
|||
|
||||
namespace wrap {
|
||||
|
||||
class Class;
|
||||
|
||||
struct ForwardDeclaration {
|
||||
std::string name;
|
||||
Class cls;
|
||||
bool isVirtual;
|
||||
ForwardDeclaration() : isVirtual(false) {}
|
||||
ForwardDeclaration(const std::string& s) : name(s), isVirtual(false) {}
|
||||
explicit ForwardDeclaration(const std::string& s) : cls(s), isVirtual(false) {}
|
||||
std::string name() const { return cls.qualifiedName("::"); }
|
||||
};
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,34 @@
|
|||
#include "FullyOverloadedFunction.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
namespace wrap {
|
||||
const std::array<std::string, 2> FullyOverloadedFunction::pythonKeywords{
|
||||
{"print", "lambda"}};
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string FullyOverloadedFunction::pyx_functionCall(
|
||||
const std::string& caller,
|
||||
const std::string& funcName, size_t iOverload) const {
|
||||
|
||||
string ret;
|
||||
if (!returnVals_[iOverload].isPair && !returnVals_[iOverload].type1.isPtr &&
|
||||
returnVals_[iOverload].type1.isNonBasicType()) {
|
||||
ret = returnVals_[iOverload].type1.make_shared_pxd_class_in_pyx() + "(";
|
||||
}
|
||||
|
||||
// actual function call ...
|
||||
if (!caller.empty()) ret += caller + ".";
|
||||
ret += funcName;
|
||||
if (templateArgValue_) ret += "[" + templateArgValue_->pxd_class_in_pyx() + "]";
|
||||
//... with argument list
|
||||
ret += "(" + argumentList(iOverload).pyx_asParams() + ")";
|
||||
|
||||
if (!returnVals_[iOverload].isPair && !returnVals_[iOverload].type1.isPtr &&
|
||||
returnVals_[iOverload].type1.isNonBasicType())
|
||||
ret += ")";
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -19,6 +19,7 @@
|
|||
#pragma once
|
||||
|
||||
#include "OverloadedFunction.h"
|
||||
#include <array>
|
||||
|
||||
namespace wrap {
|
||||
|
||||
|
|
@ -27,7 +28,7 @@ namespace wrap {
|
|||
*/
|
||||
class SignatureOverloads: public ArgumentOverloads {
|
||||
|
||||
protected:
|
||||
public:
|
||||
|
||||
std::vector<ReturnValue> returnVals_;
|
||||
|
||||
|
|
@ -116,6 +117,19 @@ public:
|
|||
return first;
|
||||
}
|
||||
|
||||
// emit cython pyx function call
|
||||
std::string pyx_functionCall(const std::string& caller, const std::string& funcName,
|
||||
size_t iOverload) const;
|
||||
|
||||
/// Cython: Rename functions which names are python keywords
|
||||
static const std::array<std::string, 2> pythonKeywords;
|
||||
static std::string pyRename(const std::string& name) {
|
||||
if (std::find(pythonKeywords.begin(), pythonKeywords.end(), name) ==
|
||||
pythonKeywords.end())
|
||||
return name;
|
||||
else
|
||||
return name + "_";
|
||||
}
|
||||
};
|
||||
|
||||
// Templated checking functions
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@
|
|||
*/
|
||||
|
||||
#include "GlobalFunction.h"
|
||||
#include "Class.h"
|
||||
#include "utilities.h"
|
||||
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
|
@ -16,11 +17,12 @@ using namespace std;
|
|||
|
||||
/* ************************************************************************* */
|
||||
void GlobalFunction::addOverload(const Qualified& overload,
|
||||
const ArgumentList& args, const ReturnValue& retVal,
|
||||
const ArgumentList& args, const ReturnValue& retVal, const std::string& _includeFile,
|
||||
boost::optional<const Qualified> instName, bool verbose) {
|
||||
FullyOverloadedFunction::addOverload(overload.name(), args, retVal, instName,
|
||||
verbose);
|
||||
overloads.push_back(overload);
|
||||
includeFile = _includeFile;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -131,6 +133,93 @@ void GlobalFunction::python_wrapper(FileWriter& wrapperFile) const {
|
|||
wrapperFile.oss << "def(\"" << name_ << "\", " << name_ << ");\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void GlobalFunction::emit_cython_pxd(FileWriter& file) const {
|
||||
file.oss << "cdef extern from \"" << includeFile << "\" namespace \""
|
||||
<< overloads[0].qualifiedNamespaces("::")
|
||||
<< "\":" << endl;
|
||||
for (size_t i = 0; i < nrOverloads(); ++i) {
|
||||
file.oss << " ";
|
||||
returnVals_[i].emit_cython_pxd(file, "", vector<string>());
|
||||
file.oss << pxdName() + " \"" + overloads[0].qualifiedName("::") +
|
||||
"\"(";
|
||||
argumentList(i).emit_cython_pxd(file, "", vector<string>());
|
||||
file.oss << ")";
|
||||
file.oss << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void GlobalFunction::emit_cython_pyx_no_overload(FileWriter& file) const {
|
||||
string funcName = pyxName();
|
||||
|
||||
// Function definition
|
||||
file.oss << "def " << funcName;
|
||||
|
||||
// modify name of function instantiation as python doesn't allow overloads
|
||||
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
|
||||
if (templateArgValue_) file.oss << templateArgValue_->pyxClassName();
|
||||
|
||||
// funtion arguments
|
||||
file.oss << "(";
|
||||
argumentList(0).emit_cython_pyx(file);
|
||||
file.oss << "):\n";
|
||||
|
||||
/// Call cython corresponding function and return
|
||||
file.oss << argumentList(0).pyx_convertEigenTypeAndStorageOrder(" ");
|
||||
string ret = pyx_functionCall("", pxdName(), 0);
|
||||
if (!returnVals_[0].isVoid()) {
|
||||
file.oss << " cdef " << returnVals_[0].pyx_returnType()
|
||||
<< " ret = " << ret << "\n";
|
||||
file.oss << " return " << returnVals_[0].pyx_casting("ret") << "\n";
|
||||
} else {
|
||||
file.oss << " " << ret << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void GlobalFunction::emit_cython_pyx(FileWriter& file) const {
|
||||
string funcName = pyxName();
|
||||
|
||||
size_t N = nrOverloads();
|
||||
if (N == 1) {
|
||||
emit_cython_pyx_no_overload(file);
|
||||
return;
|
||||
}
|
||||
|
||||
// Dealing with overloads..
|
||||
file.oss << "def " << funcName << "(*args, **kwargs):\n";
|
||||
for (size_t i = 0; i < N; ++i) {
|
||||
file.oss << " success, results = " << funcName << "_" << i
|
||||
<< "(args, kwargs)\n";
|
||||
file.oss << " if success:\n return results\n";
|
||||
}
|
||||
file.oss << " raise TypeError('Could not find the correct overload')\n";
|
||||
|
||||
for (size_t i = 0; i < N; ++i) {
|
||||
ArgumentList args = argumentList(i);
|
||||
file.oss << "def " + funcName + "_" + to_string(i) + "(args, kwargs):\n";
|
||||
file.oss << " cdef list __params\n";
|
||||
if (!returnVals_[i].isVoid()) {
|
||||
file.oss << " cdef " << returnVals_[i].pyx_returnType() << " return_value\n";
|
||||
}
|
||||
file.oss << " try:\n";
|
||||
file.oss << pyx_resolveOverloadParams(args, false, 2); // lazy: always return None even if it's a void function
|
||||
|
||||
/// Call corresponding cython function
|
||||
file.oss << argumentList(i).pyx_convertEigenTypeAndStorageOrder(" ");
|
||||
string call = pyx_functionCall("", pxdName(), i);
|
||||
if (!returnVals_[i].isVoid()) {
|
||||
file.oss << " return_value = " << call << "\n";
|
||||
file.oss << " return True, " << returnVals_[i].pyx_casting("return_value") << "\n";
|
||||
} else {
|
||||
file.oss << " " << call << "\n";
|
||||
file.oss << " return True, None\n";
|
||||
}
|
||||
file.oss << " except:\n";
|
||||
file.oss << " return False, None\n\n";
|
||||
}
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
||||
} // \namespace wrap
|
||||
|
|
|
|||
|
|
@ -28,10 +28,11 @@ namespace wrap {
|
|||
struct GlobalFunction: public FullyOverloadedFunction {
|
||||
|
||||
std::vector<Qualified> overloads; ///< Stack of qualified names
|
||||
std::string includeFile;
|
||||
|
||||
// adds an overloaded version of this function,
|
||||
void addOverload(const Qualified& overload, const ArgumentList& args,
|
||||
const ReturnValue& retVal, boost::optional<const Qualified> instName =
|
||||
const ReturnValue& retVal, const std::string& _includeFile = "", boost::optional<const Qualified> instName =
|
||||
boost::none, bool verbose = false);
|
||||
|
||||
void verifyArguments(const std::vector<std::string>& validArgs) const {
|
||||
|
|
@ -50,6 +51,16 @@ struct GlobalFunction: public FullyOverloadedFunction {
|
|||
// emit python wrapper
|
||||
void python_wrapper(FileWriter& wrapperFile) const;
|
||||
|
||||
// function name in Cython pxd
|
||||
std::string pxdName() const { return "pxd_" + pyRename(name_); }
|
||||
// function name in Python pyx
|
||||
std::string pyxName() const { return pyRename(name_); }
|
||||
|
||||
// emit cython wrapper
|
||||
void emit_cython_pxd(FileWriter& pxdFile) const;
|
||||
void emit_cython_pyx(FileWriter& pyxFile) const;
|
||||
void emit_cython_pyx_no_overload(FileWriter& pyxFile) const;
|
||||
|
||||
private:
|
||||
|
||||
// Creates a single global function - all in same namespace
|
||||
|
|
@ -67,12 +78,15 @@ struct GlobalFunctionGrammar: public classic::grammar<GlobalFunctionGrammar> {
|
|||
|
||||
GlobalFunctions& global_functions_; ///< successful parse will be placed in here
|
||||
std::vector<std::string>& namespaces_;
|
||||
std::string& includeFile;
|
||||
|
||||
/// Construct type grammar and specify where result is placed
|
||||
GlobalFunctionGrammar(GlobalFunctions& global_functions,
|
||||
std::vector<std::string>& namespaces) :
|
||||
global_functions_(global_functions), namespaces_(namespaces) {
|
||||
}
|
||||
std::vector<std::string>& namespaces,
|
||||
std::string& includeFile)
|
||||
: global_functions_(global_functions),
|
||||
namespaces_(namespaces),
|
||||
includeFile(includeFile) {}
|
||||
|
||||
/// Definition of type grammar
|
||||
template<typename ScannerT>
|
||||
|
|
@ -101,16 +115,16 @@ struct GlobalFunctionGrammar: public classic::grammar<GlobalFunctionGrammar> {
|
|||
globalFunctionName_p = lexeme_d[(upper_p | lower_p) >> *(alnum_p | '_')];
|
||||
|
||||
// parse a global function
|
||||
global_function_p = (returnValue_g
|
||||
>> globalFunctionName_p[assign_a(globalFunction.name_)]
|
||||
>> argumentList_g >> ';' >> *comments_p) //
|
||||
[assign_a(globalFunction.namespaces_, self.namespaces_)][bl::bind(
|
||||
global_function_p = (returnValue_g >> globalFunctionName_p[assign_a(
|
||||
globalFunction.name_)] >>
|
||||
argumentList_g >> ';' >> *comments_p) //
|
||||
[assign_a(globalFunction.namespaces_, self.namespaces_)] //
|
||||
[bl::bind(
|
||||
&GlobalFunction::addOverload,
|
||||
bl::var(self.global_functions_)[bl::var(globalFunction.name_)],
|
||||
bl::var(globalFunction), bl::var(args), bl::var(retVal),
|
||||
boost::none, verbose)] //
|
||||
bl::var(globalFunction), bl::var(args), bl::var(retVal), bl::var(self.includeFile),
|
||||
boost::none, verbose)] //
|
||||
[assign_a(retVal, retVal0)][clear_a(globalFunction)][clear_a(args)];
|
||||
|
||||
}
|
||||
|
||||
classic::rule<ScannerT> const& start() const {
|
||||
|
|
|
|||
145
wrap/Method.cpp
145
wrap/Method.cpp
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -16,6 +16,7 @@
|
|||
**/
|
||||
|
||||
#include "Method.h"
|
||||
#include "Class.h"
|
||||
#include "utilities.h"
|
||||
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
|
@ -29,39 +30,43 @@ using namespace wrap;
|
|||
|
||||
/* ************************************************************************* */
|
||||
bool Method::addOverload(Str name, const ArgumentList& args,
|
||||
const ReturnValue& retVal, bool is_const,
|
||||
boost::optional<const Qualified> instName, bool verbose) {
|
||||
const ReturnValue& retVal, bool is_const,
|
||||
boost::optional<const Qualified> instName,
|
||||
bool verbose) {
|
||||
bool first = MethodBase::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");
|
||||
"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");
|
||||
"Method::addOverload now designated as non-const whereas before it "
|
||||
"was");
|
||||
return first;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Method::proxy_header(FileWriter& proxyFile) const {
|
||||
proxyFile.oss << " function varargout = " << matlabName()
|
||||
<< "(this, varargin)\n";
|
||||
<< "(this, varargin)\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
string Method::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
|
||||
Str matlabUniqueName, const ArgumentList& args) const {
|
||||
Str matlabUniqueName,
|
||||
const ArgumentList& args) const {
|
||||
// check arguments
|
||||
// extra argument obj -> nargin-1 is passed !
|
||||
// example: checkArguments("equals",nargout,nargin-1,2);
|
||||
wrapperFile.oss << " checkArguments(\"" << matlabName()
|
||||
<< "\",nargout,nargin-1," << args.size() << ");\n";
|
||||
<< "\",nargout,nargin-1," << args.size() << ");\n";
|
||||
|
||||
// get class pointer
|
||||
// example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
|
||||
wrapperFile.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName
|
||||
<< ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
|
||||
<< ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
|
||||
|
||||
// unwrap arguments, see Argument.cpp, we start at 1 as first is obj
|
||||
args.matlab_unwrap(wrapperFile, 1);
|
||||
|
|
@ -76,3 +81,125 @@ string Method::wrapper_call(FileWriter& wrapperFile, Str cppClassName,
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Method::emit_cython_pxd(FileWriter& file, const Class& cls) const {
|
||||
for (size_t i = 0; i < nrOverloads(); ++i) {
|
||||
file.oss << " ";
|
||||
returnVals_[i].emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs);
|
||||
const string renamed = pyRename(name_);
|
||||
if (renamed != name_) {
|
||||
file.oss << pyRename(name_) + " \"" + name_ + "\"" << "(";
|
||||
} else {
|
||||
file.oss << name_ << "(";
|
||||
}
|
||||
argumentList(i).emit_cython_pxd(file, cls.pxdClassName(), cls.templateArgs);
|
||||
file.oss << ")";
|
||||
// if (is_const_) file.oss << " const";
|
||||
file.oss << " except +";
|
||||
file.oss << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Method::emit_cython_pyx_no_overload(FileWriter& file,
|
||||
const Class& cls) const {
|
||||
string funcName = pyRename(name_);
|
||||
|
||||
// leverage python's special treatment for print
|
||||
if (funcName == "print_") {
|
||||
file.oss << " def __str__(self):\n";
|
||||
file.oss << " strBuf = RedirectCout()\n";
|
||||
file.oss << " self.print_('')\n";
|
||||
file.oss << " return strBuf.str()\n";
|
||||
}
|
||||
|
||||
// Function definition
|
||||
file.oss << " def " << funcName;
|
||||
|
||||
// modify name of function instantiation as python doesn't allow overloads
|
||||
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
|
||||
if (templateArgValue_) file.oss << templateArgValue_->pyxClassName();
|
||||
|
||||
// function arguments
|
||||
file.oss << "(self";
|
||||
if (argumentList(0).size() > 0) file.oss << ", ";
|
||||
argumentList(0).emit_cython_pyx(file);
|
||||
file.oss << "):\n";
|
||||
|
||||
/// Call cython corresponding function and return
|
||||
file.oss << argumentList(0).pyx_convertEigenTypeAndStorageOrder(" ");
|
||||
string caller = "self." + cls.shared_pxd_obj_in_pyx() + ".get()";
|
||||
string ret = pyx_functionCall(caller, funcName, 0);
|
||||
if (!returnVals_[0].isVoid()) {
|
||||
file.oss << " cdef " << returnVals_[0].pyx_returnType()
|
||||
<< " ret = " << ret << "\n";
|
||||
file.oss << " return " << returnVals_[0].pyx_casting("ret") << "\n";
|
||||
} else {
|
||||
file.oss << " " << ret << "\n";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Method::emit_cython_pyx(FileWriter& file, const Class& cls) const {
|
||||
string funcName = pyRename(name_);
|
||||
// For template function: modify name of function instantiation as python
|
||||
// doesn't allow overloads
|
||||
// e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
|
||||
string instantiatedName =
|
||||
(templateArgValue_) ? funcName + templateArgValue_->pyxClassName() :
|
||||
funcName;
|
||||
|
||||
size_t N = nrOverloads();
|
||||
// It's easy if there's no overload
|
||||
if (N == 1) {
|
||||
emit_cython_pyx_no_overload(file, cls);
|
||||
return;
|
||||
}
|
||||
|
||||
// Dealing with overloads..
|
||||
file.oss << " def " << instantiatedName << "(self, *args, **kwargs):\n";
|
||||
file.oss << " cdef list __params\n";
|
||||
|
||||
// Define return values for all possible overloads
|
||||
vector<string> return_type; // every overload has a return type, possibly void
|
||||
map<string, string> return_value; // we only define one return value for every distinct type
|
||||
size_t j = 1;
|
||||
for (size_t i = 0; i < nrOverloads(); ++i) {
|
||||
if (returnVals_[i].isVoid()) {
|
||||
return_type.push_back("void");
|
||||
} else {
|
||||
const string type = returnVals_[i].pyx_returnType();
|
||||
return_type.push_back(type);
|
||||
if (return_value.count(type) == 0) {
|
||||
const string value = "return_value_" + to_string(j++);
|
||||
return_value[type] = value;
|
||||
file.oss << " cdef " << type << " " << value << "\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (size_t i = 0; i < nrOverloads(); ++i) {
|
||||
ArgumentList args = argumentList(i);
|
||||
file.oss << " try:\n";
|
||||
file.oss << pyx_resolveOverloadParams(args, false, 3); // lazy: always return None even if it's a void function
|
||||
|
||||
/// Call corresponding cython function
|
||||
file.oss << args.pyx_convertEigenTypeAndStorageOrder(" ");
|
||||
string caller = "self." + cls.shared_pxd_obj_in_pyx() + ".get()";
|
||||
string call = pyx_functionCall(caller, funcName, i);
|
||||
if (!returnVals_[i].isVoid()) {
|
||||
const string type = return_type[i];
|
||||
const string value = return_value[type];
|
||||
file.oss << " " << value << " = " << call << "\n";
|
||||
file.oss << " return " << returnVals_[i].pyx_casting(value)
|
||||
<< "\n";
|
||||
} else {
|
||||
file.oss << " " << call << "\n";
|
||||
file.oss << " return\n";
|
||||
}
|
||||
file.oss << " except (AssertionError, ValueError):\n";
|
||||
file.oss << " pass\n";
|
||||
}
|
||||
file.oss
|
||||
<< " raise TypeError('Incorrect arguments for method call.')\n\n";
|
||||
}
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -25,6 +25,7 @@ namespace wrap {
|
|||
/// Method class
|
||||
class Method: public MethodBase {
|
||||
|
||||
protected:
|
||||
bool is_const_;
|
||||
|
||||
public:
|
||||
|
|
@ -44,12 +45,22 @@ public:
|
|||
return is_const_;
|
||||
}
|
||||
|
||||
bool isSameModifiers(const Method& other) const {
|
||||
return is_const_ == other.is_const_ &&
|
||||
((templateArgValue_ && other.templateArgValue_) ||
|
||||
(!templateArgValue_ && !other.templateArgValue_));
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
void emit_cython_pxd(FileWriter& file, const Class& cls) const;
|
||||
void emit_cython_pyx(FileWriter& file, const Class& cls) const;
|
||||
void emit_cython_pyx_no_overload(FileWriter& file, const Class& cls) const;
|
||||
|
||||
private:
|
||||
|
||||
// Emit method header
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -17,6 +17,7 @@
|
|||
**/
|
||||
|
||||
#include "Method.h"
|
||||
#include "Class.h"
|
||||
#include "utilities.h"
|
||||
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
|
@ -29,12 +30,11 @@ using namespace std;
|
|||
using namespace wrap;
|
||||
|
||||
/* ************************************************************************* */
|
||||
void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
|
||||
FileWriter& wrapperFile, Str cppClassName, Str matlabQualName,
|
||||
Str matlabUniqueName, Str wrapperName,
|
||||
void MethodBase::proxy_wrapper_fragments(
|
||||
FileWriter& proxyFile, FileWriter& wrapperFile, Str cppClassName,
|
||||
Str matlabQualName, Str matlabUniqueName, Str wrapperName,
|
||||
const TypeAttributesTable& typeAttributes,
|
||||
vector<string>& functionNames) const {
|
||||
|
||||
// emit header, e.g., function varargout = templatedMethod(this, varargin)
|
||||
proxy_header(proxyFile);
|
||||
|
||||
|
|
@ -45,36 +45,36 @@ void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
|
|||
|
||||
// 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;
|
||||
<< "Doxygen can be found at "
|
||||
"http://research.cc.gatech.edu/borg/sites/edu.borg/html/"
|
||||
"index.html" << endl;
|
||||
|
||||
// Handle special case of single overload with all numeric arguments
|
||||
if (nrOverloads() == 1 && argumentList(0).allScalar()) {
|
||||
// Output proxy matlab code
|
||||
// TODO: document why is it OK to not check arguments in this case
|
||||
proxyFile.oss << " ";
|
||||
const int id = (int) functionNames.size();
|
||||
const int id = (int)functionNames.size();
|
||||
emit_call(proxyFile, returnValue(0), wrapperName, id);
|
||||
|
||||
// Output C++ wrapper code
|
||||
const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
|
||||
matlabUniqueName, 0, id, typeAttributes);
|
||||
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 i = 0; i < nrOverloads(); ++i) {
|
||||
|
||||
// Output proxy matlab code
|
||||
proxyFile.oss << " " << (i == 0 ? "" : "else");
|
||||
const int id = (int) functionNames.size();
|
||||
const int id = (int)functionNames.size();
|
||||
emit_conditional_call(proxyFile, returnValue(i), argumentList(i),
|
||||
wrapperName, id);
|
||||
wrapperName, id);
|
||||
|
||||
// Output C++ wrapper code
|
||||
const string wrapFunctionName = wrapper_fragment(wrapperFile,
|
||||
cppClassName, matlabUniqueName, i, id, typeAttributes);
|
||||
const string wrapFunctionName = wrapper_fragment(
|
||||
wrapperFile, cppClassName, matlabUniqueName, i, id, typeAttributes);
|
||||
|
||||
// Add to function list
|
||||
functionNames.push_back(wrapFunctionName);
|
||||
|
|
@ -90,20 +90,20 @@ void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
|
||||
Str matlabUniqueName, int overload, int id,
|
||||
const TypeAttributesTable& typeAttributes) const {
|
||||
|
||||
string MethodBase::wrapper_fragment(
|
||||
FileWriter& wrapperFile, Str cppClassName, Str matlabUniqueName,
|
||||
int overload, int id, const TypeAttributesTable& typeAttributes) const {
|
||||
// generate code
|
||||
|
||||
const string wrapFunctionName = matlabUniqueName + "_" + name_ + "_"
|
||||
+ boost::lexical_cast<string>(id);
|
||||
const string wrapFunctionName =
|
||||
matlabUniqueName + "_" + name_ + "_" + boost::lexical_cast<string>(id);
|
||||
|
||||
const ArgumentList& args = argumentList(overload);
|
||||
const ReturnValue& returnVal = returnValue(overload);
|
||||
|
||||
// call
|
||||
wrapperFile.oss << "void " << wrapFunctionName
|
||||
wrapperFile.oss
|
||||
<< "void " << wrapFunctionName
|
||||
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
||||
// start
|
||||
wrapperFile.oss << "{\n";
|
||||
|
|
@ -111,13 +111,13 @@ string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
|
|||
returnVal.wrapTypeUnwrap(wrapperFile);
|
||||
|
||||
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName
|
||||
<< "> Shared;" << endl;
|
||||
<< "> Shared;" << endl;
|
||||
|
||||
// get call
|
||||
// for static methods: cppClassName::staticMethod<TemplateVal>
|
||||
// for instance methods: obj->instanceMethod<TemplateVal>
|
||||
string expanded = wrapper_call(wrapperFile, cppClassName, matlabUniqueName,
|
||||
args);
|
||||
string expanded =
|
||||
wrapper_call(wrapperFile, cppClassName, matlabUniqueName, args);
|
||||
|
||||
expanded += ("(" + args.names() + ")");
|
||||
if (returnVal.type1.name() != "void")
|
||||
|
|
@ -133,8 +133,8 @@ string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
|
|||
|
||||
/* ************************************************************************* */
|
||||
void MethodBase::python_wrapper(FileWriter& wrapperFile, Str className) const {
|
||||
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className << "::"
|
||||
<< name_ << ");\n";
|
||||
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className
|
||||
<< "::" << name_ << ");\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -23,9 +23,11 @@
|
|||
|
||||
namespace wrap {
|
||||
|
||||
/// MethodBase class
|
||||
struct MethodBase: public FullyOverloadedFunction {
|
||||
// Forward declaration
|
||||
class Class;
|
||||
|
||||
/// MethodBase class
|
||||
struct MethodBase : public FullyOverloadedFunction {
|
||||
typedef const std::string& Str;
|
||||
|
||||
// emit a list of comments, one for each overload
|
||||
|
|
@ -44,24 +46,25 @@ struct MethodBase: public FullyOverloadedFunction {
|
|||
// MATLAB code generation
|
||||
// classPath is class directory, e.g., ../matlab/@Point2
|
||||
void proxy_wrapper_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
|
||||
Str cppClassName, Str matlabQualName, Str matlabUniqueName,
|
||||
Str wrapperName, const TypeAttributesTable& typeAttributes,
|
||||
std::vector<std::string>& functionNames) const;
|
||||
Str cppClassName, Str matlabQualName,
|
||||
Str matlabUniqueName, Str wrapperName,
|
||||
const TypeAttributesTable& typeAttributes,
|
||||
std::vector<std::string>& functionNames) const;
|
||||
|
||||
// emit python wrapper
|
||||
void python_wrapper(FileWriter& wrapperFile, Str className) const;
|
||||
|
||||
protected:
|
||||
|
||||
virtual void proxy_header(FileWriter& proxyFile) const = 0;
|
||||
|
||||
std::string wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
|
||||
Str matlabUniqueName, int overload, int id,
|
||||
const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper
|
||||
std::string wrapper_fragment(
|
||||
FileWriter& wrapperFile, Str cppClassName, Str matlabUniqueName,
|
||||
int overload, int id,
|
||||
const TypeAttributesTable& typeAttributes) const; ///< cpp wrapper
|
||||
|
||||
virtual std::string wrapper_call(FileWriter& wrapperFile, Str cppClassName,
|
||||
Str matlabUniqueName, const ArgumentList& args) const = 0;
|
||||
Str matlabUniqueName,
|
||||
const ArgumentList& args) const = 0;
|
||||
};
|
||||
|
||||
} // \namespace wrap
|
||||
|
||||
} // \namespace wrap
|
||||
|
|
|
|||
638
wrap/Module.cpp
638
wrap/Module.cpp
|
|
@ -1,52 +1,54 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* 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 Module.ccp
|
||||
* @author Frank Dellaert
|
||||
* @author Alex Cunningham
|
||||
* @author Andrew Melim
|
||||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* 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 Module.ccp
|
||||
* @author Frank Dellaert
|
||||
* @author Alex Cunningham
|
||||
* @author Andrew Melim
|
||||
* @author Richard Roberts
|
||||
**/
|
||||
|
||||
#include "Module.h"
|
||||
#include "FileWriter.h"
|
||||
#include "TypeAttributesTable.h"
|
||||
**/
|
||||
|
||||
#include "Module.h"
|
||||
#include "FileWriter.h"
|
||||
#include "TypeAttributesTable.h"
|
||||
#include "utilities.h"
|
||||
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
||||
#include <iostream>
|
||||
#include <algorithm>
|
||||
|
||||
using namespace std;
|
||||
using namespace wrap;
|
||||
using namespace BOOST_SPIRIT_CLASSIC_NS;
|
||||
namespace bl = boost::lambda;
|
||||
namespace fs = boost::filesystem;
|
||||
|
||||
/* ************************************************************************* */
|
||||
// We parse an interface file into a Module object.
|
||||
// The grammar is defined using the boost/spirit combinatorial parser.
|
||||
// For example, str_p("const") parses the string "const", and the >>
|
||||
// operator creates a sequence parser. The grammar below, composed of rules
|
||||
// and with start rule [class_p], doubles as the specs for our interface files.
|
||||
/* ************************************************************************* */
|
||||
|
||||
/* ************************************************************************* */
|
||||
#include <boost/filesystem.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
|
||||
#include <iostream>
|
||||
#include <algorithm>
|
||||
|
||||
using namespace std;
|
||||
using namespace wrap;
|
||||
using namespace BOOST_SPIRIT_CLASSIC_NS;
|
||||
namespace bl = boost::lambda;
|
||||
namespace fs = boost::filesystem;
|
||||
|
||||
/* ************************************************************************* */
|
||||
// We parse an interface file into a Module object.
|
||||
// The grammar is defined using the boost/spirit combinatorial parser.
|
||||
// For example, str_p("const") parses the string "const", and the >>
|
||||
// operator creates a sequence parser. The grammar below, composed of rules
|
||||
// and with start rule [class_p], doubles as the specs for our interface files.
|
||||
/* ************************************************************************* */
|
||||
|
||||
/* ************************************************************************* */
|
||||
// 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 Template& t) {
|
||||
static void handle_possible_template(vector<Class>& classes,
|
||||
vector<Class>& uninstantiatedClasses,
|
||||
const Class& cls, const Template& t) {
|
||||
uninstantiatedClasses.push_back(cls);
|
||||
if (cls.templateArgs.empty() || t.empty()) {
|
||||
classes.push_back(cls);
|
||||
} else {
|
||||
|
|
@ -62,17 +64,24 @@ static void handle_possible_template(vector<Class>& classes, const Class& cls,
|
|||
}
|
||||
}
|
||||
|
||||
static void push_typedef_pair(vector<TypedefPair>& typedefs,
|
||||
const Qualified& oldType,
|
||||
const Qualified& newType,
|
||||
const string& includeFile) {
|
||||
typedefs.push_back(TypedefPair(oldType, newType, includeFile));
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Module::Module(const std::string& moduleName, bool enable_verbose)
|
||||
: name(moduleName), verbose(enable_verbose)
|
||||
{
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Module::Module(const string& interfacePath,
|
||||
/* ************************************************************************* */
|
||||
Module::Module(const string& interfacePath,
|
||||
const string& moduleName, bool enable_verbose)
|
||||
: name(moduleName), verbose(enable_verbose)
|
||||
{
|
||||
{
|
||||
// read interface file
|
||||
string interfaceFile = interfacePath + "/" + moduleName + ".h";
|
||||
string contents = file_contents(interfaceFile);
|
||||
|
|
@ -84,53 +93,69 @@ Module::Module(const string& interfacePath,
|
|||
/* ************************************************************************* */
|
||||
void Module::parseMarkup(const std::string& data) {
|
||||
// The parse imperatively :-( updates variables gradually during parse
|
||||
// The one with postfix 0 are used to reset the variables after parse.
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// Grammar with actions that build the Class object. Actions are
|
||||
// defined within the square brackets [] and are executed whenever a
|
||||
// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
|
||||
// The grammar is allows a very restricted C++ header
|
||||
// lexeme_d turns off white space skipping
|
||||
// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
|
||||
// ----------------------------------------------------------------------------
|
||||
|
||||
// The one with postfix 0 are used to reset the variables after parse.
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// Grammar with actions that build the Class object. Actions are
|
||||
// defined within the square brackets [] and are executed whenever a
|
||||
// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
|
||||
// The grammar is allows a very restricted C++ header
|
||||
// lexeme_d turns off white space skipping
|
||||
// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
|
||||
// ----------------------------------------------------------------------------
|
||||
|
||||
// Define Rule and instantiate basic rules
|
||||
typedef rule<phrase_scanner_t> Rule;
|
||||
BasicRules<phrase_scanner_t> basic;
|
||||
|
||||
vector<string> namespaces; // current namespace tag
|
||||
string currentInclude;
|
||||
|
||||
// parse a full class
|
||||
Class cls0(verbose),cls(verbose);
|
||||
Template classTemplate;
|
||||
ClassGrammar class_g(cls,classTemplate);
|
||||
Rule class_p = class_g //
|
||||
Rule class_p = class_g //
|
||||
[assign_a(cls.namespaces_, namespaces)]
|
||||
[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls),
|
||||
bl::var(classTemplate))]
|
||||
[clear_a(classTemplate)] //
|
||||
[assign_a(cls,cls0)];
|
||||
[assign_a(cls.includeFile, currentInclude)][bl::bind(
|
||||
&handle_possible_template, bl::var(classes),
|
||||
bl::var(uninstantiatedClasses), bl::var(cls),
|
||||
bl::var(classTemplate))][clear_a(classTemplate)] //
|
||||
[assign_a(cls, cls0)];
|
||||
|
||||
// parse "gtsam::Pose2" and add to singleInstantiation.typeList
|
||||
TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
|
||||
TypeListGrammar<'<','>'> typelist_g(singleInstantiation.typeList);
|
||||
|
||||
|
||||
// typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
|
||||
TypeGrammar instantiationClass_g(singleInstantiation.class_);
|
||||
Rule templateSingleInstantiation_p =
|
||||
Rule templateSingleInstantiation_p =
|
||||
(str_p("typedef") >> instantiationClass_g >>
|
||||
typelist_g >>
|
||||
basic.className_p[assign_a(singleInstantiation.name_)] >>
|
||||
';')
|
||||
';')
|
||||
[assign_a(singleInstantiation.namespaces_, namespaces)]
|
||||
[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
|
||||
[assign_a(singleInstantiation, singleInstantiation0)];
|
||||
|
||||
[push_back_a(templateInstantiationTypedefs, singleInstantiation)]
|
||||
[assign_a(singleInstantiation, singleInstantiation0)];
|
||||
|
||||
Qualified oldType, newType;
|
||||
TypeGrammar typedefOldClass_g(oldType), typedefNewClass_g(newType);
|
||||
Rule typedef_p =
|
||||
(str_p("typedef") >> typedefOldClass_g >> typedefNewClass_g >>
|
||||
';')
|
||||
[assign_a(oldType.namespaces_, namespaces)]
|
||||
[assign_a(newType.namespaces_, namespaces)]
|
||||
[bl::bind(&push_typedef_pair, bl::var(typedefs), bl::var(oldType),
|
||||
bl::var(newType), bl::var(currentInclude))];
|
||||
|
||||
// Create grammar for global functions
|
||||
GlobalFunctionGrammar global_function_g(global_functions,namespaces);
|
||||
|
||||
Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[push_back_a(includes)] >> ch_p('>');
|
||||
GlobalFunctionGrammar global_function_g(global_functions, namespaces,
|
||||
currentInclude);
|
||||
|
||||
Rule include_p = str_p("#include") >> ch_p('<') >>
|
||||
(*(anychar_p - '>'))[push_back_a(includes)]
|
||||
[assign_a(currentInclude)] >>
|
||||
ch_p('>');
|
||||
|
||||
#ifdef __clang__
|
||||
#pragma clang diagnostic push
|
||||
|
|
@ -141,7 +166,7 @@ void Module::parseMarkup(const std::string& data) {
|
|||
(str_p("namespace")
|
||||
>> basic.namespace_p[push_back_a(namespaces)]
|
||||
>> ch_p('{')
|
||||
>> *(include_p | class_p | templateSingleInstantiation_p | global_function_g | namespace_def_p | basic.comments_p)
|
||||
>> *(include_p | class_p | templateSingleInstantiation_p | typedef_p | global_function_g | namespace_def_p | basic.comments_p)
|
||||
>> ch_p('}'))
|
||||
[pop_a(namespaces)];
|
||||
|
||||
|
|
@ -151,21 +176,27 @@ void Module::parseMarkup(const std::string& data) {
|
|||
|
||||
// parse forward declaration
|
||||
ForwardDeclaration fwDec0, fwDec;
|
||||
Class fwParentClass;
|
||||
TypeGrammar className_g(fwDec.cls);
|
||||
TypeGrammar classParent_g(fwParentClass);
|
||||
Rule classParent_p = (':' >> classParent_g >> ';') //
|
||||
[bl::bind(&Class::assignParent, bl::var(fwDec.cls),
|
||||
bl::var(fwParentClass))][clear_a(fwParentClass)];
|
||||
|
||||
Rule forward_declaration_p =
|
||||
!(str_p("virtual")[assign_a(fwDec.isVirtual, T)])
|
||||
>> str_p("class")
|
||||
>> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)]
|
||||
>> ch_p(';')
|
||||
[push_back_a(forward_declarations, fwDec)]
|
||||
>> str_p("class") >> className_g
|
||||
>> (classParent_p | ';')
|
||||
[push_back_a(forward_declarations, fwDec)]
|
||||
[assign_a(cls,cls0)] // also clear class to avoid partial parse
|
||||
[assign_a(fwDec, fwDec0)];
|
||||
|
||||
[assign_a(fwDec, fwDec0)];
|
||||
|
||||
Rule module_content_p = basic.comments_p | include_p | class_p
|
||||
| templateSingleInstantiation_p | forward_declaration_p
|
||||
| global_function_g | namespace_def_p;
|
||||
|
||||
Rule module_p = *module_content_p >> !end_p;
|
||||
|
||||
|
||||
Rule module_p = *module_content_p >> !end_p;
|
||||
|
||||
// and parse contents
|
||||
parse_info<const char*> info = parse(data.c_str(), module_p, space_p);
|
||||
if(!info.full) {
|
||||
|
|
@ -179,10 +210,23 @@ void Module::parseMarkup(const std::string& data) {
|
|||
for(Class& cls: classes)
|
||||
cls.erase_serialization();
|
||||
|
||||
for(Class& cls: uninstantiatedClasses)
|
||||
cls.erase_serialization();
|
||||
|
||||
// Explicitly add methods to the classes from parents so it shows in documentation
|
||||
for(Class& cls: classes)
|
||||
cls.appendInheritedMethods(cls, classes);
|
||||
|
||||
// - Remove inherited methods for Cython classes in the pxd, otherwise Cython can't decide which one to call.
|
||||
// - Only inherited nontemplateMethods_ in uninstantiatedClasses need to be removed
|
||||
// because that what we serialized to the pxd.
|
||||
// - However, we check against the class parent's *methods_* to avoid looking into
|
||||
// its grand parent and grand-grand parent, etc., because all those are already
|
||||
// added in its direct parent.
|
||||
// - So this must be called *after* the above code appendInheritedMethods!!
|
||||
for(Class& cls: uninstantiatedClasses)
|
||||
cls.removeInheritedNontemplateMethods(uninstantiatedClasses);
|
||||
|
||||
// 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.
|
||||
|
|
@ -191,7 +235,7 @@ void Module::parseMarkup(const std::string& data) {
|
|||
|
||||
// Dependency check list
|
||||
vector<string> validTypes = GenerateValidTypes(expandedClasses,
|
||||
forward_declarations);
|
||||
forward_declarations, typedefs);
|
||||
|
||||
// Check that all classes have been defined somewhere
|
||||
verifyArguments<GlobalFunction>(validTypes, global_functions);
|
||||
|
|
@ -204,16 +248,18 @@ void Module::parseMarkup(const std::string& data) {
|
|||
// Create type attributes table and check validity
|
||||
typeAttributes.addClasses(expandedClasses);
|
||||
typeAttributes.addForwardDeclarations(forward_declarations);
|
||||
for (const TypedefPair p: typedefs)
|
||||
typeAttributes.addType(p.newType);
|
||||
// add Eigen types as template arguments are also checked ?
|
||||
vector<ForwardDeclaration> eigen;
|
||||
eigen.push_back(ForwardDeclaration("Vector"));
|
||||
eigen.push_back(ForwardDeclaration("Matrix"));
|
||||
typeAttributes.addForwardDeclarations(eigen);
|
||||
typeAttributes.checkValidity(expandedClasses);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::matlab_code(const string& toolboxPath) const {
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::generate_matlab_wrapper(const string& toolboxPath) const {
|
||||
|
||||
fs::create_directories(toolboxPath);
|
||||
|
||||
|
|
@ -273,7 +319,127 @@ void Module::matlab_code(const string& toolboxPath) const {
|
|||
wrapperFile.emit(true);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
/* ************************************************************************* */
|
||||
void Module::generate_cython_wrapper(const string& toolboxPath, const std::string& pxdImports) const {
|
||||
fs::create_directories(toolboxPath);
|
||||
string pxdFileName = toolboxPath + "/" + name + ".pxd";
|
||||
FileWriter pxdFile(pxdFileName, verbose, "#");
|
||||
pxdFile.oss << pxdImports << "\n";
|
||||
emit_cython_pxd(pxdFile);
|
||||
string pyxFileName = toolboxPath + "/" + name + ".pyx";
|
||||
FileWriter pyxFile(pyxFileName, verbose, "#");
|
||||
emit_cython_pyx(pyxFile);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::emit_cython_pxd(FileWriter& pxdFile) const {
|
||||
// headers
|
||||
pxdFile.oss << "from gtsam_eigency.core cimport *\n"
|
||||
"from libcpp.string cimport string\n"
|
||||
"from libcpp.vector cimport vector\n"
|
||||
"from libcpp.pair cimport pair\n"
|
||||
"from libcpp.set cimport set\n"
|
||||
"from libcpp.map cimport map\n"
|
||||
"from libcpp cimport bool\n\n";
|
||||
|
||||
// boost shared_ptr
|
||||
pxdFile.oss << "cdef extern from \"boost/shared_ptr.hpp\" namespace \"boost\":\n"
|
||||
" cppclass shared_ptr[T]:\n"
|
||||
" shared_ptr()\n"
|
||||
" shared_ptr(T*)\n"
|
||||
" T* get()\n"
|
||||
" long use_count() const\n"
|
||||
" T& operator*()\n\n"
|
||||
" cdef shared_ptr[T] dynamic_pointer_cast[T,U](const shared_ptr[U]& r)\n"
|
||||
" cdef shared_ptr[T] make_shared[T](const T& r)\n\n";
|
||||
|
||||
for(const TypedefPair& types: typedefs)
|
||||
types.emit_cython_pxd(pxdFile);
|
||||
|
||||
//... wrap all classes
|
||||
for (const Class& cls : uninstantiatedClasses) {
|
||||
cls.emit_cython_pxd(pxdFile);
|
||||
|
||||
for (const Class& expCls : expandedClasses) {
|
||||
bool matchingNonTemplated = !expCls.templateClass
|
||||
&& expCls.pxdClassName() == cls.pxdClassName();
|
||||
bool isTemplatedFromCls = expCls.templateClass
|
||||
&& expCls.templateClass->pxdClassName() == cls.pxdClassName();
|
||||
|
||||
// ctypedef for template instantiations
|
||||
if (isTemplatedFromCls) {
|
||||
pxdFile.oss << "\n";
|
||||
pxdFile.oss << "ctypedef " << expCls.templateClass->pxdClassName()
|
||||
<< "[";
|
||||
for (size_t i = 0; i < expCls.templateInstTypeList.size(); ++i)
|
||||
pxdFile.oss << expCls.templateInstTypeList[i].pxdClassName()
|
||||
<< ((i == expCls.templateInstTypeList.size() - 1) ? "" : ", ");
|
||||
pxdFile.oss << "] " << expCls.pxdClassName() << "\n";
|
||||
}
|
||||
|
||||
// Python wrapper class
|
||||
if (isTemplatedFromCls || matchingNonTemplated) {
|
||||
expCls.emit_cython_wrapper_pxd(pxdFile);
|
||||
}
|
||||
}
|
||||
pxdFile.oss << "\n\n";
|
||||
}
|
||||
|
||||
//... wrap global functions
|
||||
for(const GlobalFunctions::value_type& p: global_functions)
|
||||
p.second.emit_cython_pxd(pxdFile);
|
||||
|
||||
pxdFile.emit(true);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::emit_cython_pyx(FileWriter& pyxFile) const {
|
||||
// headers...
|
||||
string pxdHeader = name;
|
||||
pyxFile.oss << "cimport numpy as np\n"
|
||||
"import numpy as npp\n"
|
||||
"cimport " << pxdHeader << "\n"
|
||||
"from "<< pxdHeader << " cimport shared_ptr\n"
|
||||
"from "<< pxdHeader << " cimport dynamic_pointer_cast\n"
|
||||
"from "<< pxdHeader << " cimport make_shared\n";
|
||||
|
||||
pyxFile.oss << "# C helper function that copies all arguments into a positional list.\n"
|
||||
"cdef list process_args(list keywords, tuple args, dict kwargs):\n"
|
||||
" cdef str keyword\n"
|
||||
" cdef int n = len(args), m = len(keywords)\n"
|
||||
" cdef list params = list(args)\n"
|
||||
" assert len(args)+len(kwargs) == m, 'Expected {} arguments'.format(m)\n"
|
||||
" try:\n"
|
||||
" return params + [kwargs[keyword] for keyword in keywords[n:]]\n"
|
||||
" except:\n"
|
||||
" raise ValueError('Epected arguments ' + str(keywords))\n";
|
||||
|
||||
// import all typedefs, e.g. from gtsam_wrapper cimport Key, so we don't need to say gtsam.Key
|
||||
for(const Qualified& q: Qualified::BasicTypedefs) {
|
||||
pyxFile.oss << "from " << pxdHeader << " cimport " << q.pxdClassName() << "\n";
|
||||
}
|
||||
pyxFile.oss << "from gtsam_eigency.core cimport *\n"
|
||||
"from libcpp cimport bool\n\n"
|
||||
"from libcpp.pair cimport pair\n"
|
||||
"from libcpp.string cimport string\n"
|
||||
"from cython.operator cimport dereference as deref\n\n\n";
|
||||
|
||||
// all classes include all forward declarations
|
||||
std::vector<Class> allClasses = expandedClasses;
|
||||
for(const ForwardDeclaration& fd: forward_declarations)
|
||||
allClasses.push_back(fd.cls);
|
||||
|
||||
for(const Class& cls: expandedClasses)
|
||||
cls.emit_cython_pyx(pyxFile, allClasses);
|
||||
pyxFile.oss << "\n";
|
||||
|
||||
//... wrap global functions
|
||||
for(const GlobalFunctions::value_type& p: global_functions)
|
||||
p.second.emit_cython_pyx(pyxFile);
|
||||
pyxFile.emit(true);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::generateIncludes(FileWriter& file) const {
|
||||
|
||||
// collect includes
|
||||
|
|
@ -291,158 +457,161 @@ void Module::generateIncludes(FileWriter& file) const {
|
|||
|
||||
|
||||
/* ************************************************************************* */
|
||||
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";
|
||||
file.oss << "{\n";
|
||||
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
|
||||
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
|
||||
file.oss << " _" << name << "_RTTIRegister();\n\n";
|
||||
file.oss << " int id = unwrap<int>(in[0]);\n\n";
|
||||
file.oss << " try {\n";
|
||||
file.oss << " switch(id) {\n";
|
||||
for(size_t id = 0; id < functionNames.size(); ++id) {
|
||||
file.oss << " case " << id << ":\n";
|
||||
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
|
||||
file.oss << " break;\n";
|
||||
}
|
||||
file.oss << " }\n";
|
||||
file.oss << " } catch(const std::exception& e) {\n";
|
||||
file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n";
|
||||
file.oss << " }\n";
|
||||
file.oss << "\n";
|
||||
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
|
||||
file.oss << "}\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
|
||||
|
||||
vector<Class> expandedClasses = classes;
|
||||
|
||||
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";
|
||||
file.oss << "{\n";
|
||||
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
|
||||
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
|
||||
file.oss << " _" << name << "_RTTIRegister();\n\n";
|
||||
file.oss << " int id = unwrap<int>(in[0]);\n\n";
|
||||
file.oss << " try {\n";
|
||||
file.oss << " switch(id) {\n";
|
||||
for(size_t id = 0; id < functionNames.size(); ++id) {
|
||||
file.oss << " case " << id << ":\n";
|
||||
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
|
||||
file.oss << " break;\n";
|
||||
}
|
||||
file.oss << " }\n";
|
||||
file.oss << " } catch(const std::exception& e) {\n";
|
||||
file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n";
|
||||
file.oss << " }\n";
|
||||
file.oss << "\n";
|
||||
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
|
||||
file.oss << "}\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
|
||||
|
||||
vector<Class> expandedClasses = classes;
|
||||
|
||||
for(const TemplateInstantiationTypedef& inst: instantiations) {
|
||||
// Add the new class to the list
|
||||
expandedClasses.push_back(inst.findAndExpand(classes));
|
||||
}
|
||||
|
||||
// Remove all template classes
|
||||
for(size_t i = 0; i < expandedClasses.size(); ++i)
|
||||
if(!expandedClasses[size_t(i)].templateArgs.empty()) {
|
||||
expandedClasses.erase(expandedClasses.begin() + size_t(i));
|
||||
-- i;
|
||||
}
|
||||
|
||||
return expandedClasses;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration> forwardDeclarations) {
|
||||
vector<string> validTypes;
|
||||
// Add the new class to the list
|
||||
expandedClasses.push_back(inst.findAndExpand(classes));
|
||||
}
|
||||
|
||||
// Remove all template classes
|
||||
for(size_t i = 0; i < expandedClasses.size(); ++i)
|
||||
if(!expandedClasses[i].templateArgs.empty()) {
|
||||
expandedClasses.erase(expandedClasses.begin() + size_t(i));
|
||||
-- i;
|
||||
}
|
||||
|
||||
return expandedClasses;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration>& forwardDeclarations, const vector<TypedefPair>& typedefs) {
|
||||
vector<string> validTypes;
|
||||
for(const ForwardDeclaration& fwDec: forwardDeclarations) {
|
||||
validTypes.push_back(fwDec.name);
|
||||
}
|
||||
validTypes.push_back("void");
|
||||
validTypes.push_back("string");
|
||||
validTypes.push_back("int");
|
||||
validTypes.push_back("bool");
|
||||
validTypes.push_back("char");
|
||||
validTypes.push_back("unsigned char");
|
||||
validTypes.push_back("size_t");
|
||||
validTypes.push_back("double");
|
||||
validTypes.push_back("Vector");
|
||||
validTypes.push_back("Matrix");
|
||||
//Create a list of parsed classes for dependency checking
|
||||
validTypes.push_back(fwDec.name());
|
||||
}
|
||||
validTypes.push_back("void");
|
||||
validTypes.push_back("string");
|
||||
validTypes.push_back("int");
|
||||
validTypes.push_back("bool");
|
||||
validTypes.push_back("char");
|
||||
validTypes.push_back("unsigned char");
|
||||
validTypes.push_back("size_t");
|
||||
validTypes.push_back("double");
|
||||
validTypes.push_back("Vector");
|
||||
validTypes.push_back("Matrix");
|
||||
//Create a list of parsed classes for dependency checking
|
||||
for(const Class& cls: classes) {
|
||||
validTypes.push_back(cls.qualifiedName("::"));
|
||||
}
|
||||
|
||||
return validTypes;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
||||
// Generate all collectors
|
||||
validTypes.push_back(cls.qualifiedName("::"));
|
||||
}
|
||||
for(const TypedefPair& p: typedefs) {
|
||||
validTypes.push_back(p.newType.qualifiedName("::"));
|
||||
}
|
||||
|
||||
return validTypes;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
||||
// Generate all collectors
|
||||
for(const Class& cls: classes) {
|
||||
const string matlabUniqueName = cls.qualifiedName(),
|
||||
cppName = cls.qualifiedName("::");
|
||||
wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
|
||||
<< "Collector_" << matlabUniqueName << ";\n";
|
||||
wrapperFile.oss << "static Collector_" << matlabUniqueName <<
|
||||
" collector_" << matlabUniqueName << ";\n";
|
||||
}
|
||||
|
||||
// generate mexAtExit cleanup function
|
||||
wrapperFile.oss <<
|
||||
"\nvoid _deleteAllObjects()\n"
|
||||
"{\n"
|
||||
" mstream mout;\n" // Send stdout to MATLAB console
|
||||
" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
|
||||
" bool anyDeleted = false;\n";
|
||||
const string matlabUniqueName = cls.qualifiedName(),
|
||||
cppName = cls.qualifiedName("::");
|
||||
wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
|
||||
<< "Collector_" << matlabUniqueName << ";\n";
|
||||
wrapperFile.oss << "static Collector_" << matlabUniqueName <<
|
||||
" collector_" << matlabUniqueName << ";\n";
|
||||
}
|
||||
|
||||
// generate mexAtExit cleanup function
|
||||
wrapperFile.oss <<
|
||||
"\nvoid _deleteAllObjects()\n"
|
||||
"{\n"
|
||||
" mstream mout;\n" // Send stdout to MATLAB console
|
||||
" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
|
||||
" bool anyDeleted = false;\n";
|
||||
for(const Class& cls: classes) {
|
||||
const string matlabUniqueName = cls.qualifiedName();
|
||||
const string cppName = cls.qualifiedName("::");
|
||||
const string collectorType = "Collector_" + matlabUniqueName;
|
||||
const string collectorName = "collector_" + matlabUniqueName;
|
||||
// The extra curly-braces around the for loops work around a limitation in MSVC (existing
|
||||
// since 2005!) preventing more than 248 blocks.
|
||||
wrapperFile.oss <<
|
||||
" { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
|
||||
" iter != " << collectorName << ".end(); ) {\n"
|
||||
" delete *iter;\n"
|
||||
" " << collectorName << ".erase(iter++);\n"
|
||||
" anyDeleted = true;\n"
|
||||
" } }\n";
|
||||
}
|
||||
wrapperFile.oss <<
|
||||
" if(anyDeleted)\n"
|
||||
" cout <<\n"
|
||||
" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
|
||||
" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
|
||||
" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
|
||||
" std::cout.rdbuf(outbuf);\n" // Restore cout
|
||||
"}\n\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
||||
wrapperFile.oss <<
|
||||
"void _" << moduleName << "_RTTIRegister() {\n"
|
||||
" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
|
||||
" if(!alreadyCreated) {\n"
|
||||
" std::map<std::string, std::string> types;\n";
|
||||
const string matlabUniqueName = cls.qualifiedName();
|
||||
const string cppName = cls.qualifiedName("::");
|
||||
const string collectorType = "Collector_" + matlabUniqueName;
|
||||
const string collectorName = "collector_" + matlabUniqueName;
|
||||
// The extra curly-braces around the for loops work around a limitation in MSVC (existing
|
||||
// since 2005!) preventing more than 248 blocks.
|
||||
wrapperFile.oss <<
|
||||
" { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
|
||||
" iter != " << collectorName << ".end(); ) {\n"
|
||||
" delete *iter;\n"
|
||||
" " << collectorName << ".erase(iter++);\n"
|
||||
" anyDeleted = true;\n"
|
||||
" } }\n";
|
||||
}
|
||||
wrapperFile.oss <<
|
||||
" if(anyDeleted)\n"
|
||||
" cout <<\n"
|
||||
" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
|
||||
" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
|
||||
" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
|
||||
" std::cout.rdbuf(outbuf);\n" // Restore cout
|
||||
"}\n\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
|
||||
wrapperFile.oss <<
|
||||
"void _" << moduleName << "_RTTIRegister() {\n"
|
||||
" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
|
||||
" if(!alreadyCreated) {\n"
|
||||
" std::map<std::string, std::string> types;\n";
|
||||
for(const Class& cls: classes) {
|
||||
if(cls.isVirtual)
|
||||
wrapperFile.oss <<
|
||||
" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
|
||||
}
|
||||
wrapperFile.oss << "\n";
|
||||
|
||||
wrapperFile.oss <<
|
||||
" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
|
||||
" if(!registry)\n"
|
||||
" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
|
||||
" typedef std::pair<std::string, std::string> StringPair;\n"
|
||||
if(cls.isVirtual)
|
||||
wrapperFile.oss <<
|
||||
" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
|
||||
}
|
||||
wrapperFile.oss << "\n";
|
||||
|
||||
wrapperFile.oss <<
|
||||
" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
|
||||
" if(!registry)\n"
|
||||
" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
|
||||
" typedef std::pair<std::string, std::string> StringPair;\n"
|
||||
" for(const StringPair& rtti_matlab: types) {\n"
|
||||
" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
|
||||
" if(fieldId < 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
|
||||
" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
|
||||
" }\n"
|
||||
" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxDestroyArray(registry);\n"
|
||||
" \n"
|
||||
" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
|
||||
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxDestroyArray(newAlreadyCreated);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::python_wrapper(const string& toolboxPath) const {
|
||||
" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
|
||||
" if(fieldId < 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
|
||||
" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
|
||||
" }\n"
|
||||
" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxDestroyArray(registry);\n"
|
||||
" \n"
|
||||
" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
|
||||
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
|
||||
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
|
||||
" mxDestroyArray(newAlreadyCreated);\n"
|
||||
" }\n"
|
||||
"}\n"
|
||||
"\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void Module::generate_python_wrapper(const string& toolboxPath) const {
|
||||
|
||||
fs::create_directories(toolboxPath);
|
||||
|
||||
|
|
@ -456,8 +625,9 @@ void Module::python_wrapper(const string& toolboxPath) const {
|
|||
wrapperFile.oss << "{\n";
|
||||
|
||||
// write out classes
|
||||
for(const Class& cls: expandedClasses)
|
||||
for(const Class& cls: expandedClasses) {
|
||||
cls.python_wrapper(wrapperFile);
|
||||
}
|
||||
|
||||
// write out global functions
|
||||
for(const GlobalFunctions::value_type& p: global_functions)
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@
|
|||
#include "GlobalFunction.h"
|
||||
#include "TemplateInstantiationTypedef.h"
|
||||
#include "ForwardDeclaration.h"
|
||||
#include "TypedefPair.h"
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
|
@ -38,10 +39,12 @@ struct Module {
|
|||
std::string name; ///< module name
|
||||
bool verbose; ///< verbose flag
|
||||
std::vector<Class> classes; ///< list of classes
|
||||
std::vector<Class> uninstantiatedClasses; ///< list of template classes after instantiated
|
||||
std::vector<TemplateInstantiationTypedef> templateInstantiationTypedefs; ///< list of template instantiations
|
||||
std::vector<ForwardDeclaration> forward_declarations;
|
||||
std::vector<std::string> includes; ///< Include statements
|
||||
GlobalFunctions global_functions;
|
||||
std::vector<TypedefPair> typedefs;
|
||||
|
||||
// After parsing:
|
||||
std::vector<Class> expandedClasses;
|
||||
|
|
@ -60,7 +63,12 @@ struct Module {
|
|||
void parseMarkup(const std::string& data);
|
||||
|
||||
/// MATLAB code generation:
|
||||
void matlab_code(const std::string& path) const;
|
||||
void generate_matlab_wrapper(const std::string& path) const;
|
||||
|
||||
/// Cython code generation:
|
||||
void generate_cython_wrapper(const std::string& path, const std::string& pxdImports = "") const;
|
||||
void emit_cython_pxd(FileWriter& file) const;
|
||||
void emit_cython_pyx(FileWriter& file) const;
|
||||
|
||||
void generateIncludes(FileWriter& file) const;
|
||||
|
||||
|
|
@ -68,7 +76,7 @@ struct Module {
|
|||
const std::vector<std::string>& functionNames) const;
|
||||
|
||||
/// Python code generation:
|
||||
void python_wrapper(const std::string& path) const;
|
||||
void generate_python_wrapper(const std::string& path) const;
|
||||
|
||||
private:
|
||||
static std::vector<Class> ExpandTypedefInstantiations(
|
||||
|
|
@ -76,7 +84,8 @@ private:
|
|||
const std::vector<TemplateInstantiationTypedef> instantiations);
|
||||
static std::vector<std::string> GenerateValidTypes(
|
||||
const std::vector<Class>& classes,
|
||||
const std::vector<ForwardDeclaration> forwardDeclarations);
|
||||
const std::vector<ForwardDeclaration>& forwardDeclarations,
|
||||
const std::vector<TypedefPair>& typedefs);
|
||||
static void WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile,
|
||||
const std::string& moduleName, const std::vector<Class>& classes);
|
||||
static void WriteRTTIRegistry(FileWriter& wrapperFile,
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -20,36 +20,27 @@
|
|||
|
||||
#include "Function.h"
|
||||
#include "Argument.h"
|
||||
|
||||
#include <unordered_set>
|
||||
namespace wrap {
|
||||
|
||||
/**
|
||||
* ArgumentList Overloads
|
||||
*/
|
||||
class ArgumentOverloads {
|
||||
|
||||
protected:
|
||||
|
||||
public:
|
||||
std::vector<ArgumentList> argLists_;
|
||||
|
||||
public:
|
||||
size_t nrOverloads() const { return argLists_.size(); }
|
||||
|
||||
size_t nrOverloads() const {
|
||||
return argLists_.size();
|
||||
}
|
||||
const ArgumentList& argumentList(size_t i) const { return argLists_.at(i); }
|
||||
|
||||
const ArgumentList& argumentList(size_t i) const {
|
||||
return argLists_.at(i);
|
||||
}
|
||||
|
||||
void push_back(const ArgumentList& args) {
|
||||
argLists_.push_back(args);
|
||||
}
|
||||
void push_back(const ArgumentList& args) { argLists_.push_back(args); }
|
||||
|
||||
std::vector<ArgumentList> expandArgumentListsTemplate(
|
||||
const TemplateSubstitution& ts) const {
|
||||
std::vector<ArgumentList> result;
|
||||
for(const ArgumentList& argList: argLists_) {
|
||||
for (const ArgumentList& argList : argLists_) {
|
||||
ArgumentList instArgList = argList.expandTemplate(ts);
|
||||
result.push_back(instArgList);
|
||||
}
|
||||
|
|
@ -62,51 +53,74 @@ public:
|
|||
}
|
||||
|
||||
void verifyArguments(const std::vector<std::string>& validArgs,
|
||||
const std::string s) const {
|
||||
for(const ArgumentList& argList: argLists_) {
|
||||
for(Argument arg: argList) {
|
||||
const std::string s) const {
|
||||
for (const ArgumentList& argList : argLists_) {
|
||||
for (Argument arg : argList) {
|
||||
std::string fullType = arg.type.qualifiedName("::");
|
||||
if (find(validArgs.begin(), validArgs.end(), fullType)
|
||||
== validArgs.end())
|
||||
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) {
|
||||
for(const ArgumentList& argList: overloads.argLists_)
|
||||
const ArgumentOverloads& overloads) {
|
||||
for (const ArgumentList& argList : overloads.argLists_)
|
||||
os << argList << std::endl;
|
||||
return os;
|
||||
}
|
||||
|
||||
std::string pyx_resolveOverloadParams(const ArgumentList& args, bool isVoid,
|
||||
size_t indentLevel = 2) const {
|
||||
std::string indent;
|
||||
for (size_t i = 0; i < indentLevel; ++i)
|
||||
indent += " ";
|
||||
std::string s;
|
||||
s += indent + "__params = process_args([" + args.pyx_paramsList()
|
||||
+ "], args, kwargs)\n";
|
||||
s += args.pyx_castParamsToPythonType(indent);
|
||||
if (args.size() > 0) {
|
||||
for (size_t i = 0; i < args.size(); ++i) {
|
||||
// For python types we can do the assert after the assignment and save list accesses
|
||||
if (args[i].type.isNonBasicType() || args[i].type.isEigen()) {
|
||||
std::string param = args[i].name;
|
||||
s += indent + "assert isinstance(" + param + ", "
|
||||
+ args[i].type.pyxArgumentType() + ")";
|
||||
if (args[i].type.isEigen()) {
|
||||
s += " and " + param + ".ndim == "
|
||||
+ ((args[i].type.pyxClassName() == "Vector") ? "1" : "2");
|
||||
}
|
||||
s += "\n";
|
||||
}
|
||||
}
|
||||
}
|
||||
return s;
|
||||
}
|
||||
};
|
||||
|
||||
class OverloadedFunction: public Function, public ArgumentOverloads {
|
||||
|
||||
class OverloadedFunction : public Function, public ArgumentOverloads {
|
||||
public:
|
||||
|
||||
bool addOverload(const std::string& name, const ArgumentList& args,
|
||||
boost::optional<const Qualified> instName = boost::none, bool verbose =
|
||||
false) {
|
||||
boost::optional<const Qualified> instName = boost::none,
|
||||
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>
|
||||
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;
|
||||
for(NamedMethod namedMethod: methods) {
|
||||
for (NamedMethod namedMethod : methods) {
|
||||
F instMethod = namedMethod.second;
|
||||
instMethod.expandTemplate(ts);
|
||||
namedMethod.second = instMethod;
|
||||
|
|
@ -115,13 +129,12 @@ static std::map<std::string, F> expandMethodTemplate(
|
|||
return result;
|
||||
}
|
||||
|
||||
template<class F>
|
||||
template <class F>
|
||||
inline void verifyArguments(const std::vector<std::string>& validArgs,
|
||||
const std::map<std::string, F>& vt) {
|
||||
const std::map<std::string, F>& vt) {
|
||||
typedef typename std::map<std::string, F>::value_type NamedMethod;
|
||||
for(const NamedMethod& namedMethod: vt)
|
||||
for (const NamedMethod& namedMethod : vt)
|
||||
namedMethod.second.verifyArguments(validArgs);
|
||||
}
|
||||
|
||||
} // \namespace wrap
|
||||
|
||||
} // \namespace wrap
|
||||
|
|
|
|||
|
|
@ -0,0 +1,5 @@
|
|||
#include <wrap/Qualified.h>
|
||||
|
||||
namespace wrap {
|
||||
std::vector<Qualified> Qualified::BasicTypedefs;
|
||||
}
|
||||
109
wrap/Qualified.h
109
wrap/Qualified.h
|
|
@ -1,6 +1,6 @@
|
|||
/* ----------------------------------------------------------------------------
|
||||
|
||||
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
||||
* 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)
|
||||
|
|
@ -21,6 +21,7 @@
|
|||
#include <wrap/spirit.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <iostream>
|
||||
|
||||
namespace wrap {
|
||||
|
||||
|
|
@ -34,6 +35,7 @@ public:
|
|||
|
||||
std::vector<std::string> namespaces_; ///< Stack of namespaces
|
||||
std::string name_; ///< type name
|
||||
static std::vector<Qualified> BasicTypedefs;
|
||||
|
||||
friend struct TypeGrammar;
|
||||
friend class TemplateSubstitution;
|
||||
|
|
@ -84,6 +86,12 @@ public:
|
|||
return (name_ == templateArg && namespaces_.empty()); //TODO && category == CLASS);
|
||||
}
|
||||
|
||||
bool match(const std::vector<std::string>& templateArgs) const {
|
||||
for(const std::string& s: templateArgs)
|
||||
if (match(s)) return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
void rename(const Qualified& q) {
|
||||
namespaces_ = q.namespaces_;
|
||||
name_ = q.name_;
|
||||
|
|
@ -109,6 +117,35 @@ public:
|
|||
category = VOID;
|
||||
}
|
||||
|
||||
bool isScalar() const {
|
||||
return (name() == "bool" || name() == "char"
|
||||
|| name() == "unsigned char" || name() == "int"
|
||||
|| name() == "size_t" || name() == "double");
|
||||
}
|
||||
|
||||
bool isVoid() const {
|
||||
return name() == "void";
|
||||
}
|
||||
|
||||
bool isString() const {
|
||||
return name() == "string";
|
||||
}
|
||||
|
||||
bool isEigen() const {
|
||||
return name() == "Vector" || name() == "Matrix";
|
||||
}
|
||||
|
||||
bool isBasicTypedef() const {
|
||||
return std::find(Qualified::BasicTypedefs.begin(),
|
||||
Qualified::BasicTypedefs.end(),
|
||||
*this) != Qualified::BasicTypedefs.end();
|
||||
}
|
||||
|
||||
bool isNonBasicType() const {
|
||||
return name() != "This" && !isString() && !isScalar() && !isEigen() &&
|
||||
!isVoid() && !isBasicTypedef();
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
static Qualified MakeClass(std::vector<std::string> namespaces,
|
||||
|
|
@ -128,10 +165,18 @@ public:
|
|||
return Qualified("void", VOID);
|
||||
}
|
||||
|
||||
/// Return a qualified string using given delimiter
|
||||
std::string qualifiedName(const std::string& delimiter = "") const {
|
||||
/// Return a qualified namespace using given delimiter
|
||||
std::string qualifiedNamespaces(const std::string& delimiter = "") const {
|
||||
std::string result;
|
||||
for (std::size_t i = 0; i < namespaces_.size(); ++i)
|
||||
result += (namespaces_[i] + ((i<namespaces_.size()-1)?delimiter:""));
|
||||
return result;
|
||||
}
|
||||
|
||||
/// Return a qualified string using given delimiter
|
||||
std::string qualifiedName(const std::string& delimiter = "", size_t fromLevel = 0) const {
|
||||
std::string result;
|
||||
for (std::size_t i = fromLevel; i < namespaces_.size(); ++i)
|
||||
result += (namespaces_[i] + delimiter);
|
||||
result += name_;
|
||||
return result;
|
||||
|
|
@ -146,11 +191,67 @@ public:
|
|||
return result;
|
||||
}
|
||||
|
||||
/// name of Cython classes in pxd
|
||||
/// Normal classes: innerNamespace_ClassName, e.g. GaussianFactor, noiseModel_Gaussian
|
||||
/// Eigen type: Vector --> VectorXd, Matrix --> MatrixXd
|
||||
std::string pxdClassName() const {
|
||||
if (isEigen())
|
||||
return name_ + "Xd";
|
||||
else if (isNonBasicType())
|
||||
return "C" + qualifiedName("_", 1);
|
||||
else return name_;
|
||||
}
|
||||
|
||||
/// name of Python classes in pyx
|
||||
/// They have the same name with the corresponding Cython classes in pxd
|
||||
/// But note that they are different: These are Python classes in the pyx file
|
||||
/// To refer to a Cython class in pyx, we need to add "pxd.", e.g. pxd.noiseModel_Gaussian
|
||||
/// see the other function pxd_class_in_pyx for that purpose.
|
||||
std::string pyxClassName() const {
|
||||
if (isEigen())
|
||||
return name_;
|
||||
else
|
||||
return qualifiedName("_", 1);
|
||||
}
|
||||
|
||||
/// Python type of function arguments in pyx to interface with normal python scripts
|
||||
/// Eigen types become np.ndarray (There's no Eigen types, e.g. VectorXd, in
|
||||
/// Python. We have to pass in numpy array in the arguments, which will then be
|
||||
/// converted to Eigen types in Cython)
|
||||
std::string pyxArgumentType() const {
|
||||
if (isEigen())
|
||||
return "np.ndarray";
|
||||
else
|
||||
return qualifiedName("_", 1);
|
||||
}
|
||||
|
||||
/// return the Cython class in pxd corresponding to a Python class in pyx
|
||||
std::string pxd_class_in_pyx() const {
|
||||
if (isNonBasicType()) {
|
||||
return pxdClassName();
|
||||
} else if (isEigen()) {
|
||||
return name_ + "Xd";
|
||||
} else // basic types and not Eigen
|
||||
return name_;
|
||||
}
|
||||
|
||||
/// the internal Cython shared obj in a Python class wrappper
|
||||
std::string shared_pxd_obj_in_pyx() const {
|
||||
return pxdClassName() + "_";
|
||||
}
|
||||
|
||||
std::string make_shared_pxd_class_in_pyx() const {
|
||||
return "make_shared[" + pxd_class_in_pyx() + "]";
|
||||
}
|
||||
|
||||
std::string shared_pxd_class_in_pyx() const {
|
||||
return "shared_ptr[" + pxd_class_in_pyx() + "]";
|
||||
}
|
||||
|
||||
friend std::ostream& operator<<(std::ostream& os, const Qualified& q) {
|
||||
os << q.qualifiedName("::");
|
||||
return os;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -5,6 +5,7 @@
|
|||
*/
|
||||
|
||||
#include "ReturnType.h"
|
||||
#include "Class.h"
|
||||
#include "utilities.h"
|
||||
#include <iostream>
|
||||
|
||||
|
|
@ -18,21 +19,21 @@ string ReturnType::str(bool add_ptr) const {
|
|||
|
||||
/* ************************************************************************* */
|
||||
void ReturnType::wrap_result(const string& out, const string& result,
|
||||
FileWriter& wrapperFile, const TypeAttributesTable& typeAttributes) const {
|
||||
|
||||
FileWriter& wrapperFile,
|
||||
const TypeAttributesTable& typeAttributes) const {
|
||||
string cppType = qualifiedName("::"), matlabType = qualifiedName(".");
|
||||
|
||||
if (category == CLASS) {
|
||||
|
||||
// Handle Classes
|
||||
string objCopy, ptrType;
|
||||
const bool isVirtual = typeAttributes.attributes(cppType).isVirtual;
|
||||
if (isPtr)
|
||||
objCopy = result; // a shared pointer can always be passed as is
|
||||
objCopy = result; // a shared pointer can always be passed as is
|
||||
else {
|
||||
// but if we want an actual new object, things get more complex
|
||||
if (isVirtual)
|
||||
// A virtual class needs to be cloned, so the whole hierarchy is returned
|
||||
// A virtual class needs to be cloned, so the whole hierarchy is
|
||||
// returned
|
||||
objCopy = result + ".clone()";
|
||||
else
|
||||
// ...but a non-virtual class can just be copied
|
||||
|
|
@ -40,30 +41,72 @@ void ReturnType::wrap_result(const string& out, const string& result,
|
|||
}
|
||||
// e.g. out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Point3", false);
|
||||
wrapperFile.oss << out << " = wrap_shared_ptr(" << objCopy << ",\""
|
||||
<< matlabType << "\", " << (isVirtual ? "true" : "false") << ");\n";
|
||||
<< matlabType << "\", " << (isVirtual ? "true" : "false")
|
||||
<< ");\n";
|
||||
|
||||
} else if (isPtr) {
|
||||
|
||||
// Handle shared pointer case for BASIS/EIGEN/VOID
|
||||
wrapperFile.oss << " {\n Shared" << name() << "* ret = new Shared" << name()
|
||||
<< "(" << result << ");" << endl;
|
||||
wrapperFile.oss << " {\n Shared" << name() << "* ret = new Shared"
|
||||
<< name() << "(" << result << ");" << endl;
|
||||
wrapperFile.oss << out << " = wrap_shared_ptr(ret,\"" << matlabType
|
||||
<< "\");\n }\n";
|
||||
<< "\");\n }\n";
|
||||
|
||||
} else if (matlabType != "void")
|
||||
|
||||
// Handle normal case case for BASIS/EIGEN
|
||||
wrapperFile.oss << out << " = wrap< " << str(false) << " >(" << result
|
||||
<< ");\n";
|
||||
|
||||
<< ");\n";
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ReturnType::wrapTypeUnwrap(FileWriter& wrapperFile) const {
|
||||
if (category == CLASS)
|
||||
wrapperFile.oss << " typedef boost::shared_ptr<" << qualifiedName("::")
|
||||
<< "> Shared" << name() << ";" << endl;
|
||||
<< "> Shared" << name() << ";" << endl;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ReturnType::emit_cython_pxd(
|
||||
FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const {
|
||||
string cythonType;
|
||||
if (name() == "This")
|
||||
cythonType = className;
|
||||
else if (match(templateArgs))
|
||||
cythonType = name();
|
||||
else
|
||||
cythonType = pxdClassName();
|
||||
if (isPtr) cythonType = "shared_ptr[" + cythonType + "]";
|
||||
file.oss << cythonType;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ReturnType::pyx_returnType(bool addShared) const {
|
||||
string retType = pxd_class_in_pyx();
|
||||
if (isPtr || (isNonBasicType() && addShared))
|
||||
retType = "shared_ptr[" + retType + "]";
|
||||
return retType;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ReturnType::pyx_casting(const std::string& var,
|
||||
bool isSharedVar) const {
|
||||
if (isEigen()) {
|
||||
string s = "ndarray_copy(" + var + ")";
|
||||
if (pyxClassName() == "Vector")
|
||||
return s + ".squeeze()";
|
||||
else return s;
|
||||
}
|
||||
else if (isNonBasicType()) {
|
||||
if (isPtr || isSharedVar)
|
||||
return pyxClassName() + ".cyCreateFromShared(" + var + ")";
|
||||
else {
|
||||
// construct a shared_ptr if var is not a shared ptr
|
||||
return pyxClassName() + ".cyCreateFromShared(" + make_shared_pxd_class_in_pyx() +
|
||||
+ "(" + var + "))";
|
||||
}
|
||||
} else
|
||||
return var;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -18,21 +18,17 @@ namespace wrap {
|
|||
/**
|
||||
* Encapsulates return value of a method or function
|
||||
*/
|
||||
struct ReturnType: public Qualified {
|
||||
|
||||
struct ReturnType : public Qualified {
|
||||
bool isPtr;
|
||||
|
||||
friend struct ReturnValueGrammar;
|
||||
|
||||
/// Makes a void type
|
||||
ReturnType() :
|
||||
isPtr(false) {
|
||||
}
|
||||
ReturnType() : isPtr(false) {}
|
||||
|
||||
/// Constructor, no namespaces
|
||||
ReturnType(const std::string& name, Category c = CLASS, bool ptr = false) :
|
||||
Qualified(name, c), isPtr(ptr) {
|
||||
}
|
||||
ReturnType(const std::string& name, Category c = CLASS, bool ptr = false)
|
||||
: Qualified(name, c), isPtr(ptr) {}
|
||||
|
||||
virtual void clear() {
|
||||
Qualified::clear();
|
||||
|
|
@ -40,45 +36,49 @@ struct ReturnType: public Qualified {
|
|||
}
|
||||
|
||||
/// Check if this type is in a set of valid types
|
||||
template<class 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:
|
||||
/// @param className the actual class name to use when "This" is specified
|
||||
void emit_cython_pxd(FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const;
|
||||
|
||||
std::string pyx_returnType(bool addShared = true) const;
|
||||
std::string pyx_casting(const std::string& var,
|
||||
bool isSharedVar = true) const;
|
||||
|
||||
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;
|
||||
FileWriter& wrapperFile,
|
||||
const TypeAttributesTable& typeAttributes) const;
|
||||
|
||||
/// Creates typedef
|
||||
void wrapTypeUnwrap(FileWriter& wrapperFile) const;
|
||||
|
||||
};
|
||||
|
||||
//******************************************************************************
|
||||
// http://boost-spirit.com/distrib/spirit_1_8_2/libs/spirit/doc/grammar.html
|
||||
struct ReturnTypeGrammar: public classic::grammar<ReturnTypeGrammar> {
|
||||
|
||||
wrap::ReturnType& result_; ///< successful parse will be placed in here
|
||||
struct ReturnTypeGrammar : public classic::grammar<ReturnTypeGrammar> {
|
||||
wrap::ReturnType& result_; ///< successful parse will be placed in here
|
||||
|
||||
TypeGrammar type_g;
|
||||
|
||||
/// Construct ReturnType grammar and specify where result is placed
|
||||
ReturnTypeGrammar(wrap::ReturnType& result) :
|
||||
result_(result), type_g(result_) {
|
||||
}
|
||||
ReturnTypeGrammar(wrap::ReturnType& result)
|
||||
: result_(result), type_g(result_) {}
|
||||
|
||||
/// Definition of type grammar
|
||||
template<typename ScannerT>
|
||||
template <typename ScannerT>
|
||||
struct definition {
|
||||
|
||||
classic::rule<ScannerT> type_p;
|
||||
|
||||
definition(ReturnTypeGrammar const& self) {
|
||||
|
|
@ -86,12 +86,9 @@ struct ReturnTypeGrammar: public classic::grammar<ReturnTypeGrammar> {
|
|||
type_p = self.type_g >> !ch_p('*')[assign_a(self.result_.isPtr, T)];
|
||||
}
|
||||
|
||||
classic::rule<ScannerT> const& start() const {
|
||||
return type_p;
|
||||
}
|
||||
|
||||
classic::rule<ScannerT> const& start() const { return type_p; }
|
||||
};
|
||||
};
|
||||
// ReturnTypeGrammar
|
||||
|
||||
} // \namespace wrap
|
||||
} // \namespace wrap
|
||||
|
|
|
|||
|
|
@ -17,8 +17,7 @@ using namespace wrap;
|
|||
ReturnValue ReturnValue::expandTemplate(const TemplateSubstitution& ts) const {
|
||||
ReturnValue instRetVal = *this;
|
||||
instRetVal.type1 = ts.tryToSubstitite(type1);
|
||||
if (isPair)
|
||||
instRetVal.type2 = ts.tryToSubstitite(type2);
|
||||
if (isPair) instRetVal.type2 = ts.tryToSubstitite(type2);
|
||||
return instRetVal;
|
||||
}
|
||||
|
||||
|
|
@ -37,16 +36,17 @@ string ReturnValue::matlab_returnType() const {
|
|||
|
||||
/* ************************************************************************* */
|
||||
void ReturnValue::wrap_result(const string& result, FileWriter& wrapperFile,
|
||||
const TypeAttributesTable& typeAttributes) const {
|
||||
const TypeAttributesTable& typeAttributes) const {
|
||||
if (isPair) {
|
||||
// For a pair, store the returned pair so we do not evaluate the function twice
|
||||
// For a pair, store the returned pair so we do not evaluate the function
|
||||
// twice
|
||||
wrapperFile.oss << " " << return_type(true) << " pairResult = " << result
|
||||
<< ";\n";
|
||||
<< ";\n";
|
||||
type1.wrap_result(" out[0]", "pairResult.first", wrapperFile,
|
||||
typeAttributes);
|
||||
typeAttributes);
|
||||
type2.wrap_result(" out[1]", "pairResult.second", wrapperFile,
|
||||
typeAttributes);
|
||||
} else { // Not a pair
|
||||
typeAttributes);
|
||||
} else { // Not a pair
|
||||
type1.wrap_result(" out[0]", result, wrapperFile, typeAttributes);
|
||||
}
|
||||
}
|
||||
|
|
@ -54,8 +54,7 @@ void ReturnValue::wrap_result(const string& result, FileWriter& wrapperFile,
|
|||
/* ************************************************************************* */
|
||||
void ReturnValue::wrapTypeUnwrap(FileWriter& wrapperFile) const {
|
||||
type1.wrapTypeUnwrap(wrapperFile);
|
||||
if (isPair)
|
||||
type2.wrapTypeUnwrap(wrapperFile);
|
||||
if (isPair) type2.wrapTypeUnwrap(wrapperFile);
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
@ -68,4 +67,41 @@ void ReturnValue::emit_matlab(FileWriter& proxyFile) const {
|
|||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
void ReturnValue::emit_cython_pxd(
|
||||
FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const {
|
||||
if (isPair) {
|
||||
file.oss << "pair[";
|
||||
type1.emit_cython_pxd(file, className, templateArgs);
|
||||
file.oss << ",";
|
||||
type2.emit_cython_pxd(file, className, templateArgs);
|
||||
file.oss << "] ";
|
||||
} else {
|
||||
type1.emit_cython_pxd(file, className, templateArgs);
|
||||
file.oss << " ";
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ReturnValue::pyx_returnType() const {
|
||||
if (isVoid()) return "";
|
||||
if (isPair) {
|
||||
return "pair [" + type1.pyx_returnType(false) + "," +
|
||||
type2.pyx_returnType(false) + "]";
|
||||
} else {
|
||||
return type1.pyx_returnType(true);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
std::string ReturnValue::pyx_casting(const std::string& var) const {
|
||||
if (isVoid()) return "";
|
||||
if (isPair) {
|
||||
return "(" + type1.pyx_casting(var + ".first", false) + "," +
|
||||
type2.pyx_casting(var + ".second", false) + ")";
|
||||
} else {
|
||||
return type1.pyx_casting(var);
|
||||
}
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
|
|
|
|||
|
|
@ -48,6 +48,10 @@ struct ReturnValue {
|
|||
isPair = false;
|
||||
}
|
||||
|
||||
bool isVoid() const {
|
||||
return !isPair && !type1.isPtr && (type1.name() == "void");
|
||||
}
|
||||
|
||||
bool operator==(const ReturnValue& other) const {
|
||||
return isPair == other.isPair && type1 == other.type1
|
||||
&& type2 == other.type2;
|
||||
|
|
@ -67,6 +71,12 @@ struct ReturnValue {
|
|||
|
||||
void emit_matlab(FileWriter& proxyFile) const;
|
||||
|
||||
/// @param className the actual class name to use when "This" is specified
|
||||
void emit_cython_pxd(FileWriter& file, const std::string& className,
|
||||
const std::vector<std::string>& templateArgs) const;
|
||||
std::string pyx_returnType() const;
|
||||
std::string pyx_casting(const std::string& var) const;
|
||||
|
||||
friend std::ostream& operator<<(std::ostream& os, const ReturnValue& r) {
|
||||
if (!r.isPair && r.type1.category == ReturnType::VOID)
|
||||
os << "void";
|
||||
|
|
|
|||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue