Vastly improved "help gtsam" and "doc gtsam" output
Frank Dellaert
parent
e663d54c3c
commit
d8a6b6a5e4
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@ -0,0 +1,161 @@
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% GTSAM MATLAB toolbox interface to the Georgia Tech Smoothing and Mapping C++ library
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% Version 2.1 08-Sep-2012
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%
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%% Basic Utilities
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% linear_independent - check whether the rows of two matrices are linear independent
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% Permutation - class Permutation, see Doxygen page for details
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%
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%% General Inference Classes
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% IndexConditional - class IndexConditional, see Doxygen page for details
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% IndexFactor - class IndexFactor, see Doxygen page for details
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% SymbolicBayesNet - class SymbolicBayesNet, see Doxygen page for details
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% SymbolicBayesTree - class SymbolicBayesTree, see Doxygen page for details
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% SymbolicFactorGraph - class SymbolicFactorGraph, see Doxygen page for details
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% SymbolicMultifrontalSolver - class SymbolicMultifrontalSolver, see Doxygen page for details
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% SymbolicSequentialSolver - class SymbolicSequentialSolver, see Doxygen page for details
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% VariableIndex - class VariableIndex, see Doxygen page for details
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%
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%% Linear-Gaussian Factor Graphs
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% Errors - class Errors, see Doxygen page for details
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% GaussianBayesNet - class GaussianBayesNet, see Doxygen page for details
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% GaussianConditional - class GaussianConditional, see Doxygen page for details
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% GaussianDensity - class GaussianDensity, see Doxygen page for details
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% GaussianFactor - class GaussianFactor, see Doxygen page for details
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% GaussianFactorGraph - class GaussianFactorGraph, see Doxygen page for details
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% GaussianISAM - class GaussianISAM, see Doxygen page for details
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% HessianFactor - class HessianFactor, see Doxygen page for details
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% JacobianFactor - class JacobianFactor, see Doxygen page for details
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% VectorValues - class VectorValues, see Doxygen page for details
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%
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%% Linear Inference
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% GaussianSequentialSolver - class GaussianSequentialSolver, see Doxygen page for details
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% IterativeOptimizationParameters - class IterativeOptimizationParameters, see Doxygen page for details
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% KalmanFilter - class KalmanFilter, see Doxygen page for details
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% SubgraphSolver - class SubgraphSolver, see Doxygen page for details
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% SubgraphSolverParameters - class SubgraphSolverParameters, see Doxygen page for details
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% SuccessiveLinearizationParams - class SuccessiveLinearizationParams, see Doxygen page for details
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% Sampler - class Sampler, see Doxygen page for details
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%
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%% Nonlinear Factor Graphs
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% NonlinearFactor - class NonlinearFactor, see Doxygen page for details
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% NonlinearFactorGraph - class NonlinearFactorGraph, see Doxygen page for details
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% Ordering - class Ordering, see Doxygen page for details
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% Value - class Value, see Doxygen page for details
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% Values - class Values, see Doxygen page for details
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%
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%% Nonlinear Optimization
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% ConjugateGradientParameters - class ConjugateGradientParameters, see Doxygen page for details
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% DoglegOptimizer - class DoglegOptimizer, see Doxygen page for details
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% DoglegParams - class DoglegParams, see Doxygen page for details
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% GaussNewtonOptimizer - class GaussNewtonOptimizer, see Doxygen page for details
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% GaussNewtonParams - class GaussNewtonParams, see Doxygen page for details
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% ISAM2 - class ISAM2, see Doxygen page for details
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% ISAM2DoglegParams - class ISAM2DoglegParams, see Doxygen page for details
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% ISAM2GaussNewtonParams - class ISAM2GaussNewtonParams, see Doxygen page for details
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% ISAM2Params - class ISAM2Params, see Doxygen page for details
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% ISAM2Result - class ISAM2Result, see Doxygen page for details
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% ISAM2ThresholdMap - class ISAM2ThresholdMap, see Doxygen page for details
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% ISAM2ThresholdMapValue - class ISAM2ThresholdMapValue, see Doxygen page for details
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% InvertedOrdering - class InvertedOrdering, see Doxygen page for details
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% JointMarginal - class JointMarginal, see Doxygen page for details
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% KeyList - class KeyList, see Doxygen page for details
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% KeySet - class KeySet, see Doxygen page for details
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% KeyVector - class KeyVector, see Doxygen page for details
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% LevenbergMarquardtOptimizer - class LevenbergMarquardtOptimizer, see Doxygen page for details
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% LevenbergMarquardtParams - class LevenbergMarquardtParams, see Doxygen page for details
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% Marginals - class Marginals, see Doxygen page for details
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% NonlinearISAM - class NonlinearISAM, see Doxygen page for details
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% NonlinearOptimizer - class NonlinearOptimizer, see Doxygen page for details
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% NonlinearOptimizerParams - class NonlinearOptimizerParams, see Doxygen page for details
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%
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%% Geometry
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% Cal3_S2 - class Cal3_S2, see Doxygen page for details
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% Cal3_S2Stereo - class Cal3_S2Stereo, see Doxygen page for details
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% Cal3DS2 - class Cal3DS2, see Doxygen page for details
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% CalibratedCamera - class CalibratedCamera, see Doxygen page for details
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% Point2 - class Point2, see Doxygen page for details
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% Point3 - class Point3, see Doxygen page for details
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% Pose2 - class Pose2, see Doxygen page for details
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% Pose3 - class Pose3, see Doxygen page for details
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% Rot2 - class Rot2, see Doxygen page for details
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% Rot3 - class Rot3, see Doxygen page for details
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% SimpleCamera - class SimpleCamera, see Doxygen page for details
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% StereoPoint2 - class StereoPoint2, see Doxygen page for details
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%
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%% SLAM and SFM
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% BearingFactor2D - class BearingFactor2D, see Doxygen page for details
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% BearingRangeFactor2D - class BearingRangeFactor2D, see Doxygen page for details
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% BetweenFactorLieMatrix - class BetweenFactorLieMatrix, see Doxygen page for details
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% BetweenFactorLieScalar - class BetweenFactorLieScalar, see Doxygen page for details
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% BetweenFactorLieVector - class BetweenFactorLieVector, see Doxygen page for details
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% BetweenFactorPoint2 - class BetweenFactorPoint2, see Doxygen page for details
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% BetweenFactorPoint3 - class BetweenFactorPoint3, see Doxygen page for details
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% BetweenFactorPose2 - class BetweenFactorPose2, see Doxygen page for details
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% BetweenFactorPose3 - class BetweenFactorPose3, see Doxygen page for details
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% BetweenFactorRot2 - class BetweenFactorRot2, see Doxygen page for details
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% BetweenFactorRot3 - class BetweenFactorRot3, see Doxygen page for details
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% GeneralSFMFactor2Cal3_S2 - class GeneralSFMFactor2Cal3_S2, see Doxygen page for details
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% GeneralSFMFactorCal3_S2 - class GeneralSFMFactorCal3_S2, see Doxygen page for details
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% GenericProjectionFactorCal3_S2 - class GenericProjectionFactorCal3_S2, see Doxygen page for details
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% GenericStereoFactor3D - class GenericStereoFactor3D, see Doxygen page for details
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% NonlinearEqualityCal3_S2 - class NonlinearEqualityCal3_S2, see Doxygen page for details
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% NonlinearEqualityCalibratedCamera - class NonlinearEqualityCalibratedCamera, see Doxygen page for details
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% NonlinearEqualityLieMatrix - class NonlinearEqualityLieMatrix, see Doxygen page for details
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% NonlinearEqualityLieScalar - class NonlinearEqualityLieScalar, see Doxygen page for details
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% NonlinearEqualityLieVector - class NonlinearEqualityLieVector, see Doxygen page for details
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% NonlinearEqualityPoint2 - class NonlinearEqualityPoint2, see Doxygen page for details
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% NonlinearEqualityPoint3 - class NonlinearEqualityPoint3, see Doxygen page for details
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% NonlinearEqualityPose2 - class NonlinearEqualityPose2, see Doxygen page for details
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% NonlinearEqualityPose3 - class NonlinearEqualityPose3, see Doxygen page for details
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% NonlinearEqualityRot2 - class NonlinearEqualityRot2, see Doxygen page for details
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% NonlinearEqualityRot3 - class NonlinearEqualityRot3, see Doxygen page for details
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% NonlinearEqualitySimpleCamera - class NonlinearEqualitySimpleCamera, see Doxygen page for details
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% NonlinearEqualityStereoPoint2 - class NonlinearEqualityStereoPoint2, see Doxygen page for details
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% PriorFactorCal3_S2 - class PriorFactorCal3_S2, see Doxygen page for details
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% PriorFactorCalibratedCamera - class PriorFactorCalibratedCamera, see Doxygen page for details
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% PriorFactorLieMatrix - class PriorFactorLieMatrix, see Doxygen page for details
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% PriorFactorLieScalar - class PriorFactorLieScalar, see Doxygen page for details
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% PriorFactorLieVector - class PriorFactorLieVector, see Doxygen page for details
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% PriorFactorPoint2 - class PriorFactorPoint2, see Doxygen page for details
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% PriorFactorPoint3 - class PriorFactorPoint3, see Doxygen page for details
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% PriorFactorPose2 - class PriorFactorPose2, see Doxygen page for details
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% PriorFactorPose3 - class PriorFactorPose3, see Doxygen page for details
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% PriorFactorRot2 - class PriorFactorRot2, see Doxygen page for details
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% PriorFactorRot3 - class PriorFactorRot3, see Doxygen page for details
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% PriorFactorSimpleCamera - class PriorFactorSimpleCamera, see Doxygen page for details
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% PriorFactorStereoPoint2 - class PriorFactorStereoPoint2, see Doxygen page for details
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% RangeFactorCalibratedCamera - class RangeFactorCalibratedCamera, see Doxygen page for details
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% RangeFactorCalibratedCameraPoint - class RangeFactorCalibratedCameraPoint, see Doxygen page for details
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% RangeFactorPose2 - class RangeFactorPose2, see Doxygen page for details
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% RangeFactorPose3 - class RangeFactorPose3, see Doxygen page for details
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% RangeFactorPosePoint2 - class RangeFactorPosePoint2, see Doxygen page for details
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% RangeFactorPosePoint3 - class RangeFactorPosePoint3, see Doxygen page for details
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% RangeFactorSimpleCamera - class RangeFactorSimpleCamera, see Doxygen page for details
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% RangeFactorSimpleCameraPoint - class RangeFactorSimpleCameraPoint, see Doxygen page for details
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% VisualISAMGenerateData - VisualISAMGenerateData creates data for viusalSLAM::iSAM examples
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% VisualISAMInitialize - VisualISAMInitialize initializes visualSLAM::iSAM object and noise parameters
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% VisualISAMPlot - VisualISAMPlot plots current state of ISAM2 object
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% VisualISAMStep - VisualISAMStep executes one update step of visualSLAM::iSAM object
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%
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%% MATLAB-only Utilities
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% CHECK - throw an error if an assertion fails
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% circlePose2 - circlePose2 generates a set of poses in a circle. This function
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% circlePose3 - circlePose3 generates a set of poses in a circle. This function
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% covarianceEllipse - covarianceEllipse plots a Gaussian as an uncertainty ellipse
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% covarianceEllipse3D - covarianceEllipse3D plots a Gaussian as an uncertainty ellipse
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% EQUALITY - test equality of two vectors/matrices up to tolerance
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% findExampleDataFile - Find a dataset in the examples folder
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% load2D - load2D reads a TORO-style 2D pose graph
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% load3D - load3D reads a TORO-style 3D pose graph
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% plot2DPoints - Plots the Point2's in a values, with optional covariances
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% plot2DTrajectory - Plots the Pose2's in a values, with optional covariances
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% plot3DPoints - Plots the Point3's in a values, with optional covariances
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% plot3DTrajectory - plot3DTrajectory plots a 3D trajectory
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% plotCamera -
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% plotPoint2 - plotPoint2 shows a Point2, possibly with covariance matrix
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% plotPoint3 - Plot a Point3 with an optional covariance matrix
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% plotPose2 - plotPose2 shows a Pose2, possibly with covariance matrix
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% plotPose3 - plotPose3 shows a Pose, possibly with covariance matrix
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% symbol - create a Symbol key
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% symbolChr - get character from a symbol key
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% symbolIndex - get index from a symbol key
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131
wrap/Class.cpp
131
wrap/Class.cpp
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@ -58,13 +58,13 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
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const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName;
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comment_fragment(proxyFile);
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proxyFile.oss << "classdef " << name << " < " << parent << endl;
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proxyFile.oss << " properties" << endl;
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proxyFile.oss << " ptr_" << matlabUniqueName << " = 0" << endl;
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proxyFile.oss << " end" << endl;
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proxyFile.oss << " methods" << endl;
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proxyFile.oss << " properties\n";
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proxyFile.oss << " ptr_" << matlabUniqueName << " = 0\n";
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proxyFile.oss << " end\n";
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proxyFile.oss << " methods\n";
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// Constructor
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proxyFile.oss << " function obj = " << name << "(varargin)" << endl;
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proxyFile.oss << " function obj = " << name << "(varargin)\n";
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// Special pointer constructors - one in MATLAB to create an object and
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// assign a pointer returned from a C++ function. In turn this MATLAB
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// constructor calls a special C++ function that just adds the object to
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@ -85,7 +85,7 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
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functionNames.push_back(wrapFunctionName);
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}
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proxyFile.oss << " else\n";
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proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');" << endl;
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proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');\n";
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proxyFile.oss << " end\n";
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if(!qualifiedParent.empty())
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proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n";
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@ -124,8 +124,8 @@ void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
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wrapperFile.oss << "\n";
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}
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proxyFile.oss << " end" << endl;
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proxyFile.oss << "end" << endl;
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proxyFile.oss << " end\n";
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proxyFile.oss << "end\n";
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// Close file
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proxyFile.emit(true);
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@ -181,7 +181,7 @@ void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wra
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// comes from a C++ return value; this mechanism allows the object to be added
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// to a collector in a different wrap module. If this class has a base class,
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// a new pointer to the base class is allocated and returned.
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wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])" << endl;
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wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
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wrapperFile.oss << "{\n";
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wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n";
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// Typedef boost::shared_ptr
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@ -325,70 +325,69 @@ std::string Class::getTypedef() const {
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/* ************************************************************************* */
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void Class::comment_fragment(FileWriter& proxyFile) const
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{
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proxyFile.oss << "%" << "-------Constructors-------" << endl;
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BOOST_FOREACH(ArgumentList argList, constructor.args_list)
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{
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void Class::comment_fragment(FileWriter& proxyFile) const {
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proxyFile.oss << "%class " << name
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<< ", see Doxygen page for details\n";
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proxyFile.oss
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<< "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
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string up_name = boost::to_upper_copy(name);
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proxyFile.oss << "%" << name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList)
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{
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if(i != argList.size()-1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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proxyFile.oss << ")" << endl;
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if (!constructor.args_list.empty())
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proxyFile.oss << "%\n%-------Constructors-------\n";
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BOOST_FOREACH(ArgumentList argList, constructor.args_list) {
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string up_name = boost::to_upper_copy(name);
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proxyFile.oss << "%" << name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList) {
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if (i != argList.size() - 1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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proxyFile.oss << ")\n";
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}
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proxyFile.oss << "% " << "" << endl;
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proxyFile.oss << "%" << "-------Methods-------" << endl;
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BOOST_FOREACH(const Methods::value_type& name_m, methods) {
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const Method& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists)
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{
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string up_name = boost::to_upper_copy(m.name);
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proxyFile.oss << "%" << m.name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList)
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{
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if(i != argList.size()-1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
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}
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if (!methods.empty())
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proxyFile.oss << "%\n%-------Methods-------\n";
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BOOST_FOREACH(const Methods::value_type& name_m, methods) {
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const Method& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists) {
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string up_name = boost::to_upper_copy(m.name);
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proxyFile.oss << "%" << m.name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList) {
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if (i != argList.size() - 1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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proxyFile.oss << ") : returns "
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<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
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}
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}
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proxyFile.oss << "% " << "" << endl;
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proxyFile.oss << "%" << "-------Static Methods-------" << endl;
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BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
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const StaticMethod& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists)
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{
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string up_name = boost::to_upper_copy(m.name);
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proxyFile.oss << "%" << m.name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList)
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{
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if(i != argList.size()-1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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if (!static_methods.empty())
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proxyFile.oss << "%\n%-------Static Methods-------\n";
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BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
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const StaticMethod& m = name_m.second;
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BOOST_FOREACH(ArgumentList argList, m.argLists) {
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string up_name = boost::to_upper_copy(m.name);
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proxyFile.oss << "%" << m.name << "(";
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unsigned int i = 0;
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BOOST_FOREACH(const Argument& arg, argList) {
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if (i != argList.size() - 1)
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proxyFile.oss << arg.type << " " << arg.name << ", ";
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else
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proxyFile.oss << arg.type << " " << arg.name;
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i++;
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}
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proxyFile.oss << ") : returns " << m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
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}
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proxyFile.oss << ") : returns "
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<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
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}
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}
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proxyFile.oss << "%" << "" << endl;
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proxyFile.oss << "%" << "For more detailed documentation on GTSAM go to our Doxygen page, which can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html" << endl;
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proxyFile.oss << "%\n";
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}
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/* ************************************************************************* */
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