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Fixed mex compile issues (but many problems remain to run stuff)

release/4.3a0
Frank Dellaert 2011-10-14 04:42:31 +00:00
parent 56d1d6ae34
commit cd2c687b54
2 changed files with 19 additions and 11 deletions
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2
wrap/Makefile.am
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@ -53,7 +53,7 @@ interfacePath = $(top_srcdir)
moduleName = gtsam
toolboxpath = ../toolbox
nameSpace = "gtsam"
mexFlags = "${BOOST_CPPFLAGS} -I${prefix}/include -I${prefix}/include/gtsam/linear -I${prefix}/include/gtsam/nonlinear -I${prefix}/include/gtsam/base -I${prefix}/include/gtsam/wrap -I${prefix}/include/gtsam/slam -L${exec_prefix}/lib -lgtsam"
mexFlags = "${BOOST_CPPFLAGS} -I${prefix}/include -I${prefix}/include/gtsam -I${prefix}/include/gtsam/base -I${prefix}/include/gtsam/geometry -I${prefix}/include/gtsam/linear -I${prefix}/include/gtsam/nonlinear -I${prefix}/include/gtsam/slam -L${exec_prefix}/lib -lgtsam"
all:
./wrap ${interfacePath} ${moduleName} ${toolboxpath} ${nameSpace} ${mexFlags}

28
wrap/matlab.h
View File

@ -9,27 +9,35 @@
* -------------------------------------------------------------------------- */
// header file to be included in MATLAB wrappers
// Copyright (c) 2008 Frank Dellaert, All Rights reserved
// wrapping and unwrapping is done using specialized templates, see
// http://www.cplusplus.com/doc/tutorial/templates.html
/**
* @file matlab.h
* @brief header file to be included in MATLAB wrappers
* @date 2008
* @author Frank Dellaert
*
* wrapping and unwrapping is done using specialized templates, see
* http://www.cplusplus.com/doc/tutorial/templates.html
*/
#include <gtsam/base/Vector.h>
#include <gtsam/base/Matrix.h>
extern "C" {
#include <mex.h>
}
#include <boost/shared_ptr.hpp>
#include <list>
#include <string>
#include <sstream>
#include <gtsam/3rdparty/Eigen/Eigen/Core>
#include <boost/shared_ptr.hpp>
using namespace std;
using namespace boost; // not usual, but for conciseness of generated code
// start GTSAM Specifics /////////////////////////////////////////////////
typedef Eigen::VectorXd Vector; // NOTE: outside of gtsam namespace
typedef Eigen::MatrixXd Matrix;
typedef gtsam::Vector Vector; // NOTE: outside of gtsam namespace
typedef gtsam::Matrix Matrix;
// to make keys be constructed from strings:
#define GTSAM_MAGIC_KEY
@ -144,7 +152,7 @@ mxArray* wrap<const Vector >(const Vector& v) {
// wrap a const BOOST MATRIX into a double matrix
mxArray* wrap_Matrix(const Matrix& A) {
int m = A.size1(), n = A.size2();
int m = A.rows(), n = A.cols();
mxArray *result = mxCreateDoubleMatrix(m, n, mxREAL);
double *data = mxGetPr(result);
// converts from column-major to row-major
@ -222,7 +230,7 @@ Vector unwrap< Vector >(const mxArray* array) {
if (mxIsDouble(array)==false || n!=1) error("unwrap<vector>: not a vector");
double* data = (double*)mxGetData(array);
Vector v(m);
copy(data,data+m,v.begin());
for (int i=0;i<m;i++,data++) v(i) = *data;
return v;
}