Merging 'master' into 'wrap'

wrap/gtwrap/matlab_wrapper/wrapper.py

@@ -483,8 +483,8 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         if len(properties) != 0:
             comment += '%\n' \
                        '%-------Properties-------\n'
-            for property in properties:
+            for propty in properties:
-                comment += '%{}\n'.format(property.name)
+                comment += '%{}\n'.format(propty.name)
 
         if len(methods) != 0:
             comment += '%\n' \
@@ -733,7 +733,7 @@ class MatlabWrapper(CheckMixin, FormatMixin):
         class_pointer = "  ptr_{class_name} = 0".format(class_name=class_name)
 
         if len(inst_class.properties) > 0:
-            properties = '\n' + "".join(
+            properties = '\n' + "\n".join(
                 ["  {}".format(p.name) for p in inst_class.properties])
         else:
             properties = ''
@@ -754,35 +754,35 @@ class MatlabWrapper(CheckMixin, FormatMixin):
             inst_class: The instantiated class whose properties we wish to wrap.
         """
         properties = []
-        for property in inst_class.properties:
+        for propty in inst_class.properties:
             # These are the setters and getters in the .m file
-            function_name = namespace_name + inst_class.name + '_get_' + property.name
+            function_name = namespace_name + inst_class.name + '_get_' + propty.name
             getter = """
             function varargout = get.{name}(this)
                 {varargout} = {wrapper}({num}, this);
                 this.{name} = {varargout};
             end
             """.format(
-                name=property.name,
+                name=propty.name,
                 varargout='varargout{1}',
                 wrapper=self._wrapper_name(),
                 num=self._update_wrapper_id(
-                    (namespace_name, inst_class, property.name, property),
+                    (namespace_name, inst_class, propty.name, propty),
                     function_name=function_name))
             properties.append(getter)
 
             # Setter doesn't need varargin since it needs just one input.
-            function_name = namespace_name + inst_class.name + '_set_' + property.name
+            function_name = namespace_name + inst_class.name + '_set_' + propty.name
             setter = """
             function set.{name}(this, value)
                 obj.{name} = value;
                 {wrapper}({num}, this, value);
             end
             """.format(
-                name=property.name,
+                name=propty.name,
                 wrapper=self._wrapper_name(),
                 num=self._update_wrapper_id(
-                    (namespace_name, inst_class, property.name, property),
+                    (namespace_name, inst_class, propty.name, propty),
                     function_name=function_name))
             properties.append(setter)
 

wrap/tests/expected/matlab/ForwardKinematics.m

@@ -12,11 +12,11 @@ classdef ForwardKinematics < handle
     function obj = ForwardKinematics(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(59, my_ptr);
+        class_wrapper(63, my_ptr);
       elseif nargin == 5 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values') && isa(varargin{5},'gtsam.Pose3')
-        my_ptr = class_wrapper(60, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
+        my_ptr = class_wrapper(64, varargin{1}, varargin{2}, varargin{3}, varargin{4}, varargin{5});
       elseif nargin == 4 && isa(varargin{1},'gtdynamics.Robot') && isa(varargin{2},'char') && isa(varargin{3},'char') && isa(varargin{4},'gtsam.Values')
-        my_ptr = class_wrapper(61, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(65, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of ForwardKinematics constructor');
       end
@@ -24,7 +24,7 @@ classdef ForwardKinematics < handle
     end
 
     function delete(obj)
-      class_wrapper(62, obj.ptr_ForwardKinematics);
+      class_wrapper(66, obj.ptr_ForwardKinematics);
     end
 
     function display(obj), obj.print(''); end

wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m

@@ -9,7 +9,7 @@ classdef MultipleTemplatesIntDouble < handle
     function obj = MultipleTemplatesIntDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(55, my_ptr);
+        class_wrapper(59, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntDouble constructor');
       end
@@ -17,7 +17,7 @@ classdef MultipleTemplatesIntDouble < handle
     end
 
     function delete(obj)
-      class_wrapper(56, obj.ptr_MultipleTemplatesIntDouble);
+      class_wrapper(60, obj.ptr_MultipleTemplatesIntDouble);
     end
 
     function display(obj), obj.print(''); end

wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m

@@ -9,7 +9,7 @@ classdef MultipleTemplatesIntFloat < handle
     function obj = MultipleTemplatesIntFloat(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(57, my_ptr);
+        class_wrapper(61, my_ptr);
       else
         error('Arguments do not match any overload of MultipleTemplatesIntFloat constructor');
       end
@@ -17,7 +17,7 @@ classdef MultipleTemplatesIntFloat < handle
     end
 
     function delete(obj)
-      class_wrapper(58, obj.ptr_MultipleTemplatesIntFloat);
+      class_wrapper(62, obj.ptr_MultipleTemplatesIntFloat);
     end
 
     function display(obj), obj.print(''); end

wrap/tests/expected/matlab/MyFactorPosePoint2.m

@@ -15,9 +15,9 @@ classdef MyFactorPosePoint2 < handle
     function obj = MyFactorPosePoint2(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(69, my_ptr);
+        class_wrapper(73, my_ptr);
       elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base')
-        my_ptr = class_wrapper(70, varargin{1}, varargin{2}, varargin{3}, varargin{4});
+        my_ptr = class_wrapper(74, varargin{1}, varargin{2}, varargin{3}, varargin{4});
       else
         error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
       end
@@ -25,7 +25,7 @@ classdef MyFactorPosePoint2 < handle
     end
 
     function delete(obj)
-      class_wrapper(71, obj.ptr_MyFactorPosePoint2);
+      class_wrapper(75, obj.ptr_MyFactorPosePoint2);
     end
 
     function display(obj), obj.print(''); end
@@ -36,19 +36,19 @@ classdef MyFactorPosePoint2 < handle
       % PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
-        class_wrapper(72, this, varargin{:});
+        class_wrapper(76, this, varargin{:});
         return
       end
       % PRINT usage: print(string s) : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'char')
-        class_wrapper(73, this, varargin{:});
+        class_wrapper(77, this, varargin{:});
         return
       end
       % PRINT usage: print() : returns void
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 0
-        class_wrapper(74, this, varargin{:});
+        class_wrapper(78, this, varargin{:});
         return
       end
       error('Arguments do not match any overload of function MyFactorPosePoint2.print');

wrap/tests/expected/matlab/MyVector12.m

@@ -12,9 +12,9 @@ classdef MyVector12 < handle
     function obj = MyVector12(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(52, my_ptr);
+        class_wrapper(56, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(53);
+        my_ptr = class_wrapper(57);
       else
         error('Arguments do not match any overload of MyVector12 constructor');
       end
@@ -22,7 +22,7 @@ classdef MyVector12 < handle
     end
 
     function delete(obj)
-      class_wrapper(54, obj.ptr_MyVector12);
+      class_wrapper(58, obj.ptr_MyVector12);
     end
 
     function display(obj), obj.print(''); end

wrap/tests/expected/matlab/MyVector3.m

@@ -12,9 +12,9 @@ classdef MyVector3 < handle
     function obj = MyVector3(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(49, my_ptr);
+        class_wrapper(53, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(50);
+        my_ptr = class_wrapper(54);
       else
         error('Arguments do not match any overload of MyVector3 constructor');
       end
@@ -22,7 +22,7 @@ classdef MyVector3 < handle
     end
 
     function delete(obj)
-      class_wrapper(51, obj.ptr_MyVector3);
+      class_wrapper(55, obj.ptr_MyVector3);
     end
 
     function display(obj), obj.print(''); end

wrap/tests/expected/matlab/PrimitiveRefDouble.m

@@ -19,9 +19,9 @@ classdef PrimitiveRefDouble < handle
     function obj = PrimitiveRefDouble(varargin)
       if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
         my_ptr = varargin{2};
-        class_wrapper(45, my_ptr);
+        class_wrapper(49, my_ptr);
       elseif nargin == 0
-        my_ptr = class_wrapper(46);
+        my_ptr = class_wrapper(50);
       else
         error('Arguments do not match any overload of PrimitiveRefDouble constructor');
       end
@@ -29,7 +29,7 @@ classdef PrimitiveRefDouble < handle
     end
 
     function delete(obj)
-      class_wrapper(47, obj.ptr_PrimitiveRefDouble);
+      class_wrapper(51, obj.ptr_PrimitiveRefDouble);
     end
 
     function display(obj), obj.print(''); end
@@ -43,7 +43,7 @@ classdef PrimitiveRefDouble < handle
       % BRUTAL usage: Brutal(double t) : returns PrimitiveRefdouble
       % Doxygen can be found at https://gtsam.org/doxygen/
       if length(varargin) == 1 && isa(varargin{1},'double')
-        varargout{1} = class_wrapper(48, varargin{:});
+        varargout{1} = class_wrapper(52, varargin{:});
         return
       end
 

wrap/tests/expected/matlab/Test.m

@@ -7,6 +7,8 @@
 %
 %-------Properties-------
 %model_ptr
+%value
+%name
 %
 %-------Methods-------
 %arg_EigenConstRef(Matrix value) : returns void
@@ -40,6 +42,8 @@ classdef Test < handle
   properties
     ptr_Test = 0
     model_ptr
+    value
+    name
   end
   methods
     function obj = Test(varargin)
@@ -328,6 +332,26 @@ classdef Test < handle
         obj.model_ptr = value;
         class_wrapper(44, this, value);
     end
+
+    function varargout = get.value(this)
+        varargout{1} = class_wrapper(45, this);
+        this.value = varargout{1};
+    end
+
+    function set.value(this, value)
+        obj.value = value;
+        class_wrapper(46, this, value);
+    end
+
+    function varargout = get.name(this)
+        varargout{1} = class_wrapper(47, this);
+        this.name = varargout{1};
+    end
+
+    function set.name(this, value)
+        obj.name = value;
+        class_wrapper(48, this, value);
+    end
   end
 
   methods(Static = true)

wrap/tests/expected/matlab/class_wrapper.cpp

@@ -546,7 +546,37 @@ void Test_set_model_ptr_44(int nargout, mxArray *out[], int nargin, const mxArra
   obj->model_ptr = *model_ptr;
 }
 
-void PrimitiveRefDouble_collectorInsertAndMakeBase_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void Test_get_value_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("value",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  out[0] = wrap< double >(obj->value);
+}
+
+void Test_set_value_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("value",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  double value = unwrap< double >(in[1]);
+  obj->value = value;
+}
+
+void Test_get_name_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("name",nargout,nargin-1,0);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  out[0] = wrap< string >(obj->name);
+}
+
+void Test_set_name_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+{
+  checkArguments("name",nargout,nargin-1,1);
+  auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
+  string name = unwrap< string >(in[1]);
+  obj->name = name;
+}
+
+void PrimitiveRefDouble_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -555,7 +585,7 @@ void PrimitiveRefDouble_collectorInsertAndMakeBase_45(int nargout, mxArray *out[
   collector_PrimitiveRefDouble.insert(self);
 }
 
-void PrimitiveRefDouble_constructor_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
@@ -566,7 +596,7 @@ void PrimitiveRefDouble_constructor_46(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void PrimitiveRefDouble_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
   checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1);
@@ -579,14 +609,14 @@ void PrimitiveRefDouble_deconstructor_47(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void PrimitiveRefDouble_Brutal_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void PrimitiveRefDouble_Brutal_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("PrimitiveRef<double>.Brutal",nargout,nargin,1);
   double t = unwrap< double >(in[0]);
   out[0] = wrap_shared_ptr(boost::make_shared<PrimitiveRef<double>>(PrimitiveRef<double>::Brutal(t)),"PrimitiveRefdouble", false);
 }
 
-void MyVector3_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_collectorInsertAndMakeBase_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -595,7 +625,7 @@ void MyVector3_collectorInsertAndMakeBase_49(int nargout, mxArray *out[], int na
   collector_MyVector3.insert(self);
 }
 
-void MyVector3_constructor_50(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_constructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<3>> Shared;
@@ -606,7 +636,7 @@ void MyVector3_constructor_50(int nargout, mxArray *out[], int nargin, const mxA
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector3_deconstructor_51(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector3_deconstructor_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<3>> Shared;
   checkArguments("delete_MyVector3",nargout,nargin,1);
@@ -619,7 +649,7 @@ void MyVector3_deconstructor_51(int nargout, mxArray *out[], int nargin, const m
   delete self;
 }
 
-void MyVector12_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_collectorInsertAndMakeBase_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -628,7 +658,7 @@ void MyVector12_collectorInsertAndMakeBase_52(int nargout, mxArray *out[], int n
   collector_MyVector12.insert(self);
 }
 
-void MyVector12_constructor_53(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_constructor_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyVector<12>> Shared;
@@ -639,7 +669,7 @@ void MyVector12_constructor_53(int nargout, mxArray *out[], int nargin, const mx
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyVector12_deconstructor_54(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyVector12_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyVector<12>> Shared;
   checkArguments("delete_MyVector12",nargout,nargin,1);
@@ -652,7 +682,7 @@ void MyVector12_deconstructor_54(int nargout, mxArray *out[], int nargin, const
   delete self;
 }
 
-void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
@@ -661,7 +691,7 @@ void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(int nargout, mxArr
   collector_MultipleTemplatesIntDouble.insert(self);
 }
 
-void MultipleTemplatesIntDouble_deconstructor_56(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntDouble_deconstructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
   checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1);
@@ -674,7 +704,7 @@ void MultipleTemplatesIntDouble_deconstructor_56(int nargout, mxArray *out[], in
   delete self;
 }
 
-void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
@@ -683,7 +713,7 @@ void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(int nargout, mxArra
   collector_MultipleTemplatesIntFloat.insert(self);
 }
 
-void MultipleTemplatesIntFloat_deconstructor_58(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MultipleTemplatesIntFloat_deconstructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
   checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1);
@@ -696,7 +726,7 @@ void MultipleTemplatesIntFloat_deconstructor_58(int nargout, mxArray *out[], int
   delete self;
 }
 
-void ForwardKinematics_collectorInsertAndMakeBase_59(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -705,7 +735,7 @@ void ForwardKinematics_collectorInsertAndMakeBase_59(int nargout, mxArray *out[]
   collector_ForwardKinematics.insert(self);
 }
 
-void ForwardKinematics_constructor_60(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -721,7 +751,7 @@ void ForwardKinematics_constructor_60(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_constructor_61(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<ForwardKinematics> Shared;
@@ -736,7 +766,7 @@ void ForwardKinematics_constructor_61(int nargout, mxArray *out[], int nargin, c
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void ForwardKinematics_deconstructor_62(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void ForwardKinematics_deconstructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<ForwardKinematics> Shared;
   checkArguments("delete_ForwardKinematics",nargout,nargin,1);
@@ -749,7 +779,7 @@ void ForwardKinematics_deconstructor_62(int nargout, mxArray *out[], int nargin,
   delete self;
 }
 
-void TemplatedConstructor_collectorInsertAndMakeBase_63(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_collectorInsertAndMakeBase_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -758,7 +788,7 @@ void TemplatedConstructor_collectorInsertAndMakeBase_63(int nargout, mxArray *ou
   collector_TemplatedConstructor.insert(self);
 }
 
-void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -769,7 +799,7 @@ void TemplatedConstructor_constructor_64(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -781,7 +811,7 @@ void TemplatedConstructor_constructor_65(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_66(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -793,7 +823,7 @@ void TemplatedConstructor_constructor_66(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_constructor_67(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_constructor_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
@@ -805,7 +835,7 @@ void TemplatedConstructor_constructor_67(int nargout, mxArray *out[], int nargin
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void TemplatedConstructor_deconstructor_68(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void TemplatedConstructor_deconstructor_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<TemplatedConstructor> Shared;
   checkArguments("delete_TemplatedConstructor",nargout,nargin,1);
@@ -818,7 +848,7 @@ void TemplatedConstructor_deconstructor_68(int nargout, mxArray *out[], int narg
   delete self;
 }
 
-void MyFactorPosePoint2_collectorInsertAndMakeBase_69(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -827,7 +857,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_69(int nargout, mxArray *out[
   collector_MyFactorPosePoint2.insert(self);
 }
 
-void MyFactorPosePoint2_constructor_70(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   mexAtExit(&_deleteAllObjects);
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
@@ -842,7 +872,7 @@ void MyFactorPosePoint2_constructor_70(int nargout, mxArray *out[], int nargin,
   *reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
 }
 
-void MyFactorPosePoint2_deconstructor_71(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
   checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
@@ -855,7 +885,7 @@ void MyFactorPosePoint2_deconstructor_71(int nargout, mxArray *out[], int nargin
   delete self;
 }
 
-void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,2);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -864,7 +894,7 @@ void MyFactorPosePoint2_print_72(int nargout, mxArray *out[], int nargin, const
   obj->print(s,keyFormatter);
 }
 
-void MyFactorPosePoint2_print_73(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,1);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -872,7 +902,7 @@ void MyFactorPosePoint2_print_73(int nargout, mxArray *out[], int nargin, const
   obj->print(s,gtsam::DefaultKeyFormatter);
 }
 
-void MyFactorPosePoint2_print_74(int nargout, mxArray *out[], int nargin, const mxArray *in[])
+void MyFactorPosePoint2_print_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
 {
   checkArguments("print",nargout,nargin-1,0);
   auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
@@ -1027,94 +1057,106 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
       Test_set_model_ptr_44(nargout, out, nargin-1, in+1);
       break;
     case 45:
-      PrimitiveRefDouble_collectorInsertAndMakeBase_45(nargout, out, nargin-1, in+1);
+      Test_get_value_45(nargout, out, nargin-1, in+1);
       break;
     case 46:
-      PrimitiveRefDouble_constructor_46(nargout, out, nargin-1, in+1);
+      Test_set_value_46(nargout, out, nargin-1, in+1);
       break;
     case 47:
-      PrimitiveRefDouble_deconstructor_47(nargout, out, nargin-1, in+1);
+      Test_get_name_47(nargout, out, nargin-1, in+1);
       break;
     case 48:
-      PrimitiveRefDouble_Brutal_48(nargout, out, nargin-1, in+1);
+      Test_set_name_48(nargout, out, nargin-1, in+1);
       break;
     case 49:
-      MyVector3_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_collectorInsertAndMakeBase_49(nargout, out, nargin-1, in+1);
       break;
     case 50:
-      MyVector3_constructor_50(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_constructor_50(nargout, out, nargin-1, in+1);
       break;
     case 51:
-      MyVector3_deconstructor_51(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_deconstructor_51(nargout, out, nargin-1, in+1);
       break;
     case 52:
-      MyVector12_collectorInsertAndMakeBase_52(nargout, out, nargin-1, in+1);
+      PrimitiveRefDouble_Brutal_52(nargout, out, nargin-1, in+1);
       break;
     case 53:
-      MyVector12_constructor_53(nargout, out, nargin-1, in+1);
+      MyVector3_collectorInsertAndMakeBase_53(nargout, out, nargin-1, in+1);
       break;
     case 54:
-      MyVector12_deconstructor_54(nargout, out, nargin-1, in+1);
+      MyVector3_constructor_54(nargout, out, nargin-1, in+1);
       break;
     case 55:
-      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_55(nargout, out, nargin-1, in+1);
+      MyVector3_deconstructor_55(nargout, out, nargin-1, in+1);
       break;
     case 56:
-      MultipleTemplatesIntDouble_deconstructor_56(nargout, out, nargin-1, in+1);
+      MyVector12_collectorInsertAndMakeBase_56(nargout, out, nargin-1, in+1);
       break;
     case 57:
-      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_57(nargout, out, nargin-1, in+1);
+      MyVector12_constructor_57(nargout, out, nargin-1, in+1);
       break;
     case 58:
-      MultipleTemplatesIntFloat_deconstructor_58(nargout, out, nargin-1, in+1);
+      MyVector12_deconstructor_58(nargout, out, nargin-1, in+1);
       break;
     case 59:
-      ForwardKinematics_collectorInsertAndMakeBase_59(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_collectorInsertAndMakeBase_59(nargout, out, nargin-1, in+1);
       break;
     case 60:
-      ForwardKinematics_constructor_60(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntDouble_deconstructor_60(nargout, out, nargin-1, in+1);
       break;
     case 61:
-      ForwardKinematics_constructor_61(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_collectorInsertAndMakeBase_61(nargout, out, nargin-1, in+1);
       break;
     case 62:
-      ForwardKinematics_deconstructor_62(nargout, out, nargin-1, in+1);
+      MultipleTemplatesIntFloat_deconstructor_62(nargout, out, nargin-1, in+1);
       break;
     case 63:
-      TemplatedConstructor_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1);
+      ForwardKinematics_collectorInsertAndMakeBase_63(nargout, out, nargin-1, in+1);
       break;
     case 64:
-      TemplatedConstructor_constructor_64(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_64(nargout, out, nargin-1, in+1);
       break;
     case 65:
-      TemplatedConstructor_constructor_65(nargout, out, nargin-1, in+1);
+      ForwardKinematics_constructor_65(nargout, out, nargin-1, in+1);
       break;
     case 66:
-      TemplatedConstructor_constructor_66(nargout, out, nargin-1, in+1);
+      ForwardKinematics_deconstructor_66(nargout, out, nargin-1, in+1);
       break;
     case 67:
-      TemplatedConstructor_constructor_67(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_collectorInsertAndMakeBase_67(nargout, out, nargin-1, in+1);
       break;
     case 68:
-      TemplatedConstructor_deconstructor_68(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_68(nargout, out, nargin-1, in+1);
       break;
     case 69:
-      MyFactorPosePoint2_collectorInsertAndMakeBase_69(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_69(nargout, out, nargin-1, in+1);
       break;
     case 70:
-      MyFactorPosePoint2_constructor_70(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_70(nargout, out, nargin-1, in+1);
       break;
     case 71:
-      MyFactorPosePoint2_deconstructor_71(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_constructor_71(nargout, out, nargin-1, in+1);
       break;
     case 72:
-      MyFactorPosePoint2_print_72(nargout, out, nargin-1, in+1);
+      TemplatedConstructor_deconstructor_72(nargout, out, nargin-1, in+1);
       break;
     case 73:
-      MyFactorPosePoint2_print_73(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1);
       break;
     case 74:
-      MyFactorPosePoint2_print_74(nargout, out, nargin-1, in+1);
+      MyFactorPosePoint2_constructor_74(nargout, out, nargin-1, in+1);
+      break;
+    case 75:
+      MyFactorPosePoint2_deconstructor_75(nargout, out, nargin-1, in+1);
+      break;
+    case 76:
+      MyFactorPosePoint2_print_76(nargout, out, nargin-1, in+1);
+      break;
+    case 77:
+      MyFactorPosePoint2_print_77(nargout, out, nargin-1, in+1);
+      break;
+    case 78:
+      MyFactorPosePoint2_print_78(nargout, out, nargin-1, in+1);
       break;
     }
   } catch(const std::exception& e) {

wrap/tests/expected/python/class_pybind.cpp

@@ -70,7 +70,9 @@ PYBIND11_MODULE(class_py, m_) {
         .def("set_container",[](Test* self, std::vector<testing::Test&> container){ self->set_container(container);}, py::arg("container"))
         .def("get_container",[](Test* self){return self->get_container();})
         .def("_repr_markdown_",[](Test* self, const gtsam::KeyFormatter& keyFormatter){return self->markdown(keyFormatter);}, py::arg("keyFormatter") = gtsam::DefaultKeyFormatter)
-        .def_readwrite("model_ptr", &Test::model_ptr);
+        .def_readwrite("model_ptr", &Test::model_ptr)
+        .def_readwrite("value", &Test::value)
+        .def_readwrite("name", &Test::name);
 
     py::class_<PrimitiveRef<double>, std::shared_ptr<PrimitiveRef<double>>>(m_, "PrimitiveRefDouble")
         .def(py::init<>())

wrap/tests/fixtures/class.i

@@ -35,6 +35,10 @@ class Test {
   // Test a shared ptr property
   gtsam::noiseModel::Base* model_ptr;
 
+  // Test adding more than 1 property
+  double value;
+  string name;
+
   pair<Vector,Matrix> return_pair (Vector v, Matrix A) const; // intentionally the first method
   pair<Vector,Matrix> return_pair (Vector v) const; // overload