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Merge remote-tracking branch 'upstream/develop' into fix/unaryFactor

release/4.3a0
Navid Mahabadi 2021-03-31 09:03:11 +02:00
parent 587ad0fad3 8ffad01868
commit e3550595ac
124 changed files with 7814 additions and 4075 deletions
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1
.github/scripts/python.sh vendored
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@ -58,7 +58,6 @@ PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
BUILD_PYBIND="ON"
TYPEDEF_POINTS_TO_VECTORS="ON"
sudo $PYTHON -m pip install -r $GITHUB_WORKSPACE/python/requirements.txt

2
CMakeLists.txt
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@ -82,6 +82,8 @@ if(GTSAM_BUILD_PYTHON OR GTSAM_INSTALL_MATLAB_TOOLBOX)
# Need to set this for the wrap package so we don't use the default value.
set(WRAP_PYTHON_VERSION ${GTSAM_PYTHON_VERSION}
CACHE STRING "The Python version to use for wrapping")
# Set the include directory for matlab.h
set(GTWRAP_INCLUDE_NAME "wrap")
add_subdirectory(wrap)
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/wrap/cmake")
endif()

3
gtsam/base/ProductLieGroup.h
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@ -161,6 +161,9 @@ public:
}
return v;
}
static TangentVector LocalCoordinates(const ProductLieGroup& p, ChartJacobian Hp = boost::none) {
return Logmap(p, Hp);
}
ProductLieGroup expmap(const TangentVector& v) const {
return compose(ProductLieGroup::Expmap(v));
}

54
gtsam_unstable/dynamics/DynamicsPriors.h
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@ -9,20 +9,28 @@
#pragma once
#include <gtsam_unstable/slam/PartialPriorFactor.h>
#include <gtsam_unstable/dynamics/PoseRTV.h>
#include <gtsam_unstable/slam/PartialPriorFactor.h>
namespace gtsam {
// Indices of relevant variables in the PoseRTV tangent vector:
// [ rx ry rz tx ty tz vx vy vz ]
static const size_t kRollIndex = 0;
static const size_t kPitchIndex = 1;
static const size_t kHeightIndex = 5;
static const size_t kVelocityZIndex = 8;
static const std::vector<size_t> kVelocityIndices = { 6, 7, 8 };
/**
* Forces the value of the height in a PoseRTV to a specific value
* Forces the value of the height (z) in a PoseRTV to a specific value.
* Dim: 1
*/
struct DHeightPrior : public gtsam::PartialPriorFactor<PoseRTV> {
typedef gtsam::PartialPriorFactor<PoseRTV> Base;
DHeightPrior(Key key, double height, const gtsam::SharedNoiseModel& model)
: Base(key, 5, height, model) { }
: Base(key, kHeightIndex, height, model) {}
};
/**
@ -35,11 +43,11 @@ struct DRollPrior : public gtsam::PartialPriorFactor<PoseRTV> {
/** allows for explicit roll parameterization - uses canonical coordinate */
DRollPrior(Key key, double wx, const gtsam::SharedNoiseModel& model)
: Base(key, 0, wx, model) { }
: Base(key, kRollIndex, wx, model) { }
/** Forces roll to zero */
DRollPrior(Key key, const gtsam::SharedNoiseModel& model)
: Base(key, 0, 0.0, model) { }
: Base(key, kRollIndex, 0.0, model) { }
};
/**
@ -49,17 +57,9 @@ struct DRollPrior : public gtsam::PartialPriorFactor<PoseRTV> {
*/
struct VelocityPrior : public gtsam::PartialPriorFactor<PoseRTV> {
typedef gtsam::PartialPriorFactor<PoseRTV> Base;
VelocityPrior(Key key, const gtsam::Vector& vel, const gtsam::SharedNoiseModel& model)
: Base(key, model) {
this->prior_ = vel;
assert(vel.size() == 3);
this->mask_.resize(3);
this->mask_[0] = 6;
this->mask_[1] = 7;
this->mask_[2] = 8;
this->H_ = Matrix::Zero(3, 9);
this->fillH();
}
: Base(key, kVelocityIndices, vel, model) {}
};
/**
@ -74,31 +74,15 @@ struct DGroundConstraint : public gtsam::PartialPriorFactor<PoseRTV> {
* Primary constructor allows for variable height of the "floor"
*/
DGroundConstraint(Key key, double height, const gtsam::SharedNoiseModel& model)
: Base(key, model) {
this->prior_ = Vector::Unit(4,0)*height; // [z, vz, roll, pitch]
this->mask_.resize(4);
this->mask_[0] = 5; // z = height
this->mask_[1] = 8; // vz
this->mask_[2] = 0; // roll
this->mask_[3] = 1; // pitch
this->H_ = Matrix::Zero(3, 9);
this->fillH();
}
: Base(key, { kHeightIndex, kVelocityZIndex, kRollIndex, kPitchIndex },
Vector::Unit(4, 0)*height, model) {}
/**
* Fully specify vector - use only for debugging
*/
DGroundConstraint(Key key, const Vector& constraint, const gtsam::SharedNoiseModel& model)
: Base(key, model) {
: Base(key, { kHeightIndex, kVelocityZIndex, kRollIndex, kPitchIndex }, constraint, model) {
assert(constraint.size() == 4);
this->prior_ = constraint; // [z, vz, roll, pitch]
this->mask_.resize(4);
this->mask_[0] = 5; // z = height
this->mask_[1] = 8; // vz
this->mask_[2] = 0; // roll
this->mask_[3] = 1; // pitch
this->H_ = Matrix::Zero(3, 9);
this->fillH();
}
};

1
gtsam_unstable/dynamics/PoseRTV.h
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@ -80,6 +80,7 @@ public:
using Base::Dim;
using Base::retract;
using Base::localCoordinates;
using Base::LocalCoordinates;
/// @}
/// @name measurement functions

82
gtsam_unstable/slam/PartialPriorFactor.h
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@ -29,11 +29,9 @@ namespace gtsam {
*
* The prior vector used in this factor is stored in compressed form, such that
* it only contains values for measurements that are to be compared, and they are in
* the same order as VALUE::Logmap(). The mask will determine which components to extract
* in the error function.
* the same order as VALUE::Logmap(). The provided indices will determine which components to
* extract in the error function.
*
* For practical use, it would be good to subclass this factor and have the class type
* construct the mask.
* @tparam VALUE is the type of variable the prior effects
*/
template<class VALUE>
@ -43,16 +41,14 @@ namespace gtsam {
typedef VALUE T;
protected:
// Concept checks on the variable type - currently requires Lie
GTSAM_CONCEPT_LIE_TYPE(VALUE)
typedef NoiseModelFactor1<VALUE> Base;
typedef PartialPriorFactor<VALUE> This;
Vector prior_; ///< measurement on tangent space parameters, in compressed form
std::vector<size_t> mask_; ///< indices of values to constrain in compressed prior vector
Matrix H_; ///< Constant Jacobian - computed at creation
Vector prior_; ///< Measurement on tangent space parameters, in compressed form.
std::vector<size_t> indices_; ///< Indices of the measured tangent space parameters.
/** default constructor - only use for serialization */
PartialPriorFactor() {}
@ -68,20 +64,22 @@ namespace gtsam {
~PartialPriorFactor() override {}
/** Single Element Constructor: acts on a single parameter specified by idx */
/** Single Element Constructor: Prior on a single parameter at index 'idx' in the tangent vector.*/
PartialPriorFactor(Key key, size_t idx, double prior, const SharedNoiseModel& model) :
Base(model, key), prior_((Vector(1) << prior).finished()), mask_(1, idx), H_(Matrix::Zero(1, T::dimension)) {
Base(model, key),
prior_((Vector(1) << prior).finished()),
indices_(1, idx) {
assert(model->dim() == 1);
this->fillH();
}
/** Indices Constructor: specify the mask with a set of indices */
PartialPriorFactor(Key key, const std::vector<size_t>& mask, const Vector& prior,
/** Indices Constructor: Specify the relevant measured indices in the tangent vector.*/
PartialPriorFactor(Key key, const std::vector<size_t>& indices, const Vector& prior,
const SharedNoiseModel& model) :
Base(model, key), prior_(prior), mask_(mask), H_(Matrix::Zero(mask.size(), T::dimension)) {
assert((size_t)prior_.size() == mask.size());
assert(model->dim() == (size_t) prior.size());
this->fillH();
Base(model, key),
prior_(prior),
indices_(indices) {
assert((size_t)prior_.size() == indices_.size());
assert(model->dim() == (size_t)prior.size());
}
/// @return a deep copy of this factor
@ -102,35 +100,41 @@ namespace gtsam {
const This *e = dynamic_cast<const This*> (&expected);
return e != nullptr && Base::equals(*e, tol) &&
gtsam::equal_with_abs_tol(this->prior_, e->prior_, tol) &&
this->mask_ == e->mask_;
this->indices_ == e->indices_;
}
/** implement functions needed to derive from Factor */
/** vector of errors */
/** Returns a vector of errors for the measured tangent parameters. */
Vector evaluateError(const T& p, boost::optional<Matrix&> H = boost::none) const override {
if (H) (*H) = H_;
// FIXME: this was originally the generic retraction - may not produce same results
Vector full_logmap = T::Logmap(p);
// Vector full_logmap = T::identity().localCoordinates(p); // Alternate implementation
Vector masked_logmap = Vector::Zero(this->dim());
for (size_t i=0; i<mask_.size(); ++i)
masked_logmap(i) = full_logmap(mask_[i]);
return masked_logmap - prior_;
Eigen::Matrix<double, T::dimension, T::dimension> H_local;
// If the Rot3 Cayley map is used, Rot3::LocalCoordinates will throw a runtime error
// when asked to compute the Jacobian matrix (see Rot3M.cpp).
#ifdef GTSAM_ROT3_EXPMAP
const Vector full_tangent = T::LocalCoordinates(p, H ? &H_local : nullptr);
#else
const Vector full_tangent = T::Logmap(p, H ? &H_local : nullptr);
#endif
if (H) {
(*H) = Matrix::Zero(indices_.size(), T::dimension);
for (size_t i = 0; i < indices_.size(); ++i) {
(*H).row(i) = H_local.row(indices_.at(i));
}
}
// Select relevant parameters from the tangent vector.
Vector partial_tangent = Vector::Zero(indices_.size());
for (size_t i = 0; i < indices_.size(); ++i) {
partial_tangent(i) = full_tangent(indices_.at(i));
}
return partial_tangent - prior_;
}
// access
const Vector& prior() const { return prior_; }
const std::vector<size_t>& mask() const { return mask_; }
const Matrix& H() const { return H_; }
protected:
/** Constructs the jacobian matrix in place */
void fillH() {
for (size_t i=0; i<mask_.size(); ++i)
H_(i, mask_[i]) = 1.0;
}
const std::vector<size_t>& indices() const { return indices_; }
private:
/** Serialization function */
@ -140,8 +144,8 @@ namespace gtsam {
ar & boost::serialization::make_nvp("NoiseModelFactor1",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(prior_);
ar & BOOST_SERIALIZATION_NVP(mask_);
ar & BOOST_SERIALIZATION_NVP(H_);
ar & BOOST_SERIALIZATION_NVP(indices_);
// ar & BOOST_SERIALIZATION_NVP(H_);
}
}; // \class PartialPriorFactor

283
gtsam_unstable/slam/tests/testPartialPriorFactor.cpp Normal file
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@ -0,0 +1,283 @@
/* ----------------------------------------------------------------------------
* 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
* -------------------------------------------------------------------------- */
#include <gtsam_unstable/slam/PartialPriorFactor.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/numericalDerivative.h>
#include <gtsam/base/TestableAssertions.h>
#include <CppUnitLite/TestHarness.h>
using namespace std;
using namespace gtsam;
namespace NM = gtsam::noiseModel;
// Pose3 tangent representation is [ Rx Ry Rz Tx Ty Tz ].
static const int kIndexRx = 0;
static const int kIndexRy = 1;
static const int kIndexRz = 2;
static const int kIndexTx = 3;
static const int kIndexTy = 4;
static const int kIndexTz = 5;
typedef PartialPriorFactor<Pose2> TestPartialPriorFactor2;
typedef PartialPriorFactor<Pose3> TestPartialPriorFactor3;
typedef std::vector<size_t> Indices;
/// traits
namespace gtsam {
template<>
struct traits<TestPartialPriorFactor2> : public Testable<TestPartialPriorFactor2> {};
template<>
struct traits<TestPartialPriorFactor3> : public Testable<TestPartialPriorFactor3> {};
}
/* ************************************************************************* */
TEST(PartialPriorFactor, Constructors2) {
Key poseKey(1);
Pose2 measurement(-13.1, 3.14, -0.73);
// Prior on x component of translation.
TestPartialPriorFactor2 factor1(poseKey, 0, measurement.x(), NM::Isotropic::Sigma(1, 0.25));
CHECK(assert_equal(1, factor1.prior().rows()));
CHECK(assert_equal(measurement.x(), factor1.prior()(0)));
CHECK(assert_container_equality<Indices>({ 0 }, factor1.indices()));
// Prior on full translation vector.
const Indices t_indices = { 0, 1 };
TestPartialPriorFactor2 factor2(poseKey, t_indices, measurement.translation(), NM::Isotropic::Sigma(2, 0.25));
CHECK(assert_equal(2, factor2.prior().rows()));
CHECK(assert_equal(measurement.translation(), factor2.prior()));
CHECK(assert_container_equality<Indices>(t_indices, factor2.indices()));
// Prior on theta.
TestPartialPriorFactor2 factor3(poseKey, 2, measurement.theta(), NM::Isotropic::Sigma(1, 0.1));
CHECK(assert_equal(1, factor3.prior().rows()));
CHECK(assert_equal(measurement.theta(), factor3.prior()(0)));
CHECK(assert_container_equality<Indices>({ 2 }, factor3.indices()));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianPartialTranslation2) {
Key poseKey(1);
Pose2 measurement(-13.1, 3.14, -0.73);
// Prior on x component of translation.
TestPartialPriorFactor2 factor(poseKey, 0, measurement.x(), NM::Isotropic::Sigma(1, 0.25));
Pose2 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
boost::bind(&TestPartialPriorFactor2::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianFullTranslation2) {
Key poseKey(1);
Pose2 measurement(-6.0, 3.5, 0.123);
// Prior on x component of translation.
TestPartialPriorFactor2 factor(poseKey, { 0, 1 }, measurement.translation(), NM::Isotropic::Sigma(2, 0.25));
Pose2 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
boost::bind(&TestPartialPriorFactor2::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianTheta) {
Key poseKey(1);
Pose2 measurement(-1.0, 0.4, -2.5);
// Prior on x component of translation.
TestPartialPriorFactor2 factor(poseKey, 2, measurement.theta(), NM::Isotropic::Sigma(1, 0.25));
Pose2 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose2>(
boost::bind(&TestPartialPriorFactor2::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, Constructors3) {
Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(-0.17, 0.567, M_PI), Point3(10.0, -2.3, 3.14));
// Single component of translation.
TestPartialPriorFactor3 factor1(poseKey, kIndexTy, measurement.y(),
NM::Isotropic::Sigma(1, 0.25));
CHECK(assert_equal(1, factor1.prior().rows()));
CHECK(assert_equal(measurement.y(), factor1.prior()(0)));
CHECK(assert_container_equality<Indices>({ kIndexTy }, factor1.indices()));
// Full translation vector.
const Indices t_indices = { kIndexTx, kIndexTy, kIndexTz };
TestPartialPriorFactor3 factor2(poseKey, t_indices, measurement.translation(),
NM::Isotropic::Sigma(3, 0.25));
CHECK(assert_equal(3, factor2.prior().rows()));
CHECK(assert_equal(measurement.translation(), factor2.prior()));
CHECK(assert_container_equality<Indices>(t_indices, factor2.indices()));
// Full tangent vector of rotation.
const Indices r_indices = { kIndexRx, kIndexRy, kIndexRz };
TestPartialPriorFactor3 factor3(poseKey, r_indices, Rot3::Logmap(measurement.rotation()),
NM::Isotropic::Sigma(3, 0.1));
CHECK(assert_equal(3, factor3.prior().rows()));
CHECK(assert_equal(Rot3::Logmap(measurement.rotation()), factor3.prior()));
CHECK(assert_container_equality<Indices>(r_indices, factor3.indices()));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianAtIdentity3) {
Key poseKey(1);
Pose3 measurement = Pose3::identity();
SharedNoiseModel model = NM::Isotropic::Sigma(1, 0.25);
TestPartialPriorFactor3 factor(poseKey, kIndexTy, measurement.translation().y(), model);
Pose3 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
boost::bind(&TestPartialPriorFactor3::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianPartialTranslation3) {
Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));
SharedNoiseModel model = NM::Isotropic::Sigma(1, 0.25);
TestPartialPriorFactor3 factor(poseKey, kIndexTy, measurement.translation().y(), model);
Pose3 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
boost::bind(&TestPartialPriorFactor3::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianFullTranslation3) {
Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));
SharedNoiseModel model = NM::Isotropic::Sigma(3, 0.25);
std::vector<size_t> translationIndices = { kIndexTx, kIndexTy, kIndexTz };
TestPartialPriorFactor3 factor(poseKey, translationIndices, measurement.translation(), model);
// Create a linearization point at the zero-error point
Pose3 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
boost::bind(&TestPartialPriorFactor3::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianTxTz3) {
Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(-0.17, 0.567, M_PI), Point3(10.0, -2.3, 3.14));
SharedNoiseModel model = NM::Isotropic::Sigma(2, 0.25);
std::vector<size_t> translationIndices = { kIndexTx, kIndexTz };
TestPartialPriorFactor3 factor(poseKey, translationIndices,
(Vector(2) << measurement.x(), measurement.z()).finished(), model);
Pose3 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
boost::bind(&TestPartialPriorFactor3::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
TEST(PartialPriorFactor, JacobianFullRotation3) {
Key poseKey(1);
Pose3 measurement(Rot3::RzRyRx(0.15, -0.30, 0.45), Point3(-5.0, 8.0, -11.0));
SharedNoiseModel model = NM::Isotropic::Sigma(3, 0.25);
std::vector<size_t> rotationIndices = { kIndexRx, kIndexRy, kIndexRz };
TestPartialPriorFactor3 factor(poseKey, rotationIndices, Rot3::Logmap(measurement.rotation()), model);
Pose3 pose = measurement; // Zero-error linearization point.
// Calculate numerical derivatives.
Matrix expectedH1 = numericalDerivative11<Vector, Pose3>(
boost::bind(&TestPartialPriorFactor3::evaluateError, &factor, _1, boost::none), pose);
// Use the factor to calculate the derivative.
Matrix actualH1;
factor.evaluateError(pose, actualH1);
// Verify we get the expected error.
CHECK(assert_equal(expectedH1, actualH1, 1e-5));
}
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

2
matlab/CMakeLists.txt
View File

@ -77,7 +77,7 @@ if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
# Wrap
matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" ""
"${mexFlags}")
"${mexFlags}" "${ignore}")
endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
# Record the root dir for gtsam - needed during external builds, e.g., ROS

2
python/gtsam/examples/ImuFactorISAM2Example.py
View File

@ -24,7 +24,7 @@ from gtsam.utils import plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
g = 9.81

12
python/gtsam/examples/PlanarManipulatorExample.py
View File

@ -29,7 +29,7 @@ from gtsam.utils.test_case import GtsamTestCase
def vector3(x, y, z):
"""Create 3D double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
def compose(*poses):
@ -94,7 +94,7 @@ class ThreeLinkArm(object):
[-self.L1*math.sin(q[0]) - self.L2*math.sin(a)-self.L3*math.sin(b),
-self.L1*math.sin(a)-self.L3*math.sin(b),
- self.L3*math.sin(b)],
[1, 1, 1]], np.float)
[1, 1, 1]], float)
def poe(self, q):
""" Forward kinematics.
@ -230,12 +230,12 @@ class TestPose2SLAMExample(GtsamTestCase):
def test_jacobian(self):
"""Test Jacobian calculation."""
# at rest
expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[-9.5, -6, -2.5], [0, 0, 0], [1, 1, 1]], float)
J = self.arm.jacobian(Q0)
np.testing.assert_array_almost_equal(J, expected)
# at -90, 90, 0
expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[-6, -6, -2.5], [3.5, 0, 0], [1, 1, 1]], float)
J = self.arm.jacobian(Q2)
np.testing.assert_array_almost_equal(J, expected)
@ -280,13 +280,13 @@ class TestPose2SLAMExample(GtsamTestCase):
def test_manipulator_jacobian(self):
"""Test Jacobian calculation."""
# at rest
expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], np.float)
expected = np.array([[0, 3.5, 7], [0, 0, 0], [1, 1, 1]], float)
J = self.arm.manipulator_jacobian(Q0)
np.testing.assert_array_almost_equal(J, expected)
# at -90, 90, 0
expected = np.array(
[[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], np.float)
[[0, 0, 3.5], [0, -3.5, -3.5], [1, 1, 1]], float)
J = self.arm.manipulator_jacobian(Q2)
np.testing.assert_array_almost_equal(J, expected)

2
python/gtsam/examples/Pose2SLAMExample.py
View File

@ -25,7 +25,7 @@ import gtsam.utils.plot as gtsam_plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
# Create noise models
PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(vector3(0.3, 0.3, 0.1))

2
python/gtsam/examples/Pose2SLAMExample_g2o.py
View File

@ -23,7 +23,7 @@ from gtsam.utils import plot
def vector3(x, y, z):
"""Create 3d double numpy array."""
return np.array([x, y, z], dtype=np.float)
return np.array([x, y, z], dtype=float)
parser = argparse.ArgumentParser(

2
python/gtsam/examples/Pose3SLAMExample_g2o.py
View File

@ -19,7 +19,7 @@ from gtsam.utils import plot
def vector6(x, y, z, a, b, c):
"""Create 6d double numpy array."""
return np.array([x, y, z, a, b, c], dtype=np.float)
return np.array([x, y, z, a, b, c], dtype=float)
parser = argparse.ArgumentParser(

6
python/gtsam/examples/PreintegrationExample.py
View File

@ -29,11 +29,11 @@ class PreintegrationExample(object):
kGyroSigma = math.radians(0.5) / 60 # 0.5 degree ARW
kAccelSigma = 0.1 / 60 # 10 cm VRW
params.setGyroscopeCovariance(
kGyroSigma ** 2 * np.identity(3, np.float))
kGyroSigma ** 2 * np.identity(3, float))
params.setAccelerometerCovariance(
kAccelSigma ** 2 * np.identity(3, np.float))
kAccelSigma ** 2 * np.identity(3, float))
params.setIntegrationCovariance(
0.0000001 ** 2 * np.identity(3, np.float))
0.0000001 ** 2 * np.identity(3, float))
return params
def __init__(self, twist=None, bias=None, dt=1e-2):

4
python/gtsam/tests/test_SO4.py
View File

@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase):
def test_retract(self):
"""Test retraction to manifold."""
v = np.zeros((6,), np.float)
v = np.zeros((6,), float)
actual = I4.retract(v)
self.assertTrue(actual.equals(I4, 1e-9))
def test_local(self):
"""Check localCoordinates for trivial case."""
v0 = np.zeros((6,), np.float)
v0 = np.zeros((6,), float)
actual = I4.localCoordinates(I4)
np.testing.assert_array_almost_equal(actual, v0)

4
python/gtsam/tests/test_SOn.py
View File

@ -32,13 +32,13 @@ class TestSO4(unittest.TestCase):
def test_retract(self):
"""Test retraction to manifold."""
v = np.zeros((6,), np.float)
v = np.zeros((6,), float)
actual = I4.retract(v)
self.assertTrue(actual.equals(I4, 1e-9))
def test_local(self):
"""Check localCoordinates for trivial case."""
v0 = np.zeros((6,), np.float)
v0 = np.zeros((6,), float)
actual = I4.localCoordinates(I4)
np.testing.assert_array_almost_equal(actual, v0)

52
wrap/.github/workflows/ci.yml vendored
View File

@ -1,52 +0,0 @@
name: Python CI
on: [push, pull_request]
jobs:
build:
name: ${{ matrix.name }} 🐍 ${{ matrix.python_version }}
runs-on: ${{ matrix.os }}
env:
PYTHON_VERSION: ${{ matrix.python_version }}
strategy:
fail-fast: false
matrix:
# Github Actions requires a single row to be added to the build matrix.
# See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
name: [
ubuntu-18.04
]
python_version: [3]
include:
- name: ubuntu-18.04
os: ubuntu-18.04
steps:
- name: Checkout
uses: actions/checkout@master
- name: Install (Linux)
if: runner.os == 'Linux'
run: |
sudo apt-get -y update
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
- name: Install (macOS)
if: runner.os == 'macOS'
run: |
brew install cmake ninja boost
- name: Build (Linux)
if: runner.os == 'Linux'
run: |
sudo pip$PYTHON_VERSION install -r requirements.txt
cd tests
python$PYTHON_VERSION test_pybind_wrapper.py
python$PYTHON_VERSION test_matlab_wrapper.py
- name: Build (macOS)
if: runner.os == 'macOS'
run: |
pip$PYTHON_VERSION install -r requirements.txt
cd tests
python$PYTHON_VERSION test_pybind_wrapper.py
python$PYTHON_VERSION test_matlab_wrapper.py

39
wrap/.github/workflows/linux-ci.yml vendored Normal file
View File

@ -0,0 +1,39 @@
name: Wrap CI for Linux
on: [pull_request]
jobs:
build:
name: Tests for 🐍 ${{ matrix.python-version }}
runs-on: ubuntu-18.04
strategy:
fail-fast: false
matrix:
python-version: [3.6, 3.7, 3.8, 3.9]
steps:
- name: Checkout
uses: actions/checkout@v2
- name: Install Dependencies
run: |
sudo apt-get -y update
sudo apt install cmake build-essential pkg-config libpython-dev python-numpy libboost-all-dev
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python-version }}
- name: Python Dependencies
run: |
sudo pip3 install -U pip setuptools
sudo pip3 install -r requirements.txt
- name: Build and Test
run: |
cmake .
cd tests
# Use Pytest to run all the tests.
pytest

38
wrap/.github/workflows/macos-ci.yml vendored Normal file
View File

@ -0,0 +1,38 @@
name: Wrap CI for macOS
on: [pull_request]
jobs:
build:
name: Tests for 🐍 ${{ matrix.python-version }}
runs-on: macos-10.15
strategy:
fail-fast: false
matrix:
python-version: [3.6, 3.7, 3.8, 3.9]
steps:
- name: Checkout
uses: actions/checkout@v2
- name: Install Dependencies
run: |
brew install cmake ninja boost
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python-version }}
- name: Python Dependencies
run: |
pip3 install -r requirements.txt
- name: Build and Test
run: |
cmake .
cd tests
# Use Pytest to run all the tests.
pytest

5
wrap/.gitignore vendored
View File

@ -3,3 +3,8 @@ __pycache__/
*build*
*dist*
*.egg-info
# Files related to code coverage stats
**/.coverage
gtwrap/matlab_wrapper.tpl

15
wrap/CMakeLists.txt
View File

@ -21,6 +21,13 @@ else()
set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/cmake")
endif()
# Configure the include directory for matlab.h
# This allows the #include to be either gtwrap/matlab.h, wrap/matlab.h or something custom.
if(NOT DEFINED GTWRAP_INCLUDE_NAME)
set(GTWRAP_INCLUDE_NAME "gtwrap" CACHE INTERNAL "Directory name for Matlab includes")
endif()
configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper.tpl)
# Install CMake scripts to the standard CMake script directory.
install(FILES cmake/gtwrapConfig.cmake cmake/MatlabWrap.cmake
cmake/PybindWrap.cmake cmake/GtwrapUtils.cmake
@ -31,17 +38,17 @@ include(GNUInstallDirs)
# Install the gtwrap python package as a directory so it can be found by CMake
# for wrapping.
install(DIRECTORY gtwrap DESTINATION "${CMAKE_INSTALL_DATADIR}/gtwrap")
install(DIRECTORY gtwrap DESTINATION "${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap")
# Install wrapping scripts as binaries to `CMAKE_INSTALL_PREFIX/bin` so they can
# be invoked for wrapping. We use DESTINATION (instead of TYPE) so we can
# support older CMake versions.
install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py
DESTINATION ${CMAKE_INSTALL_BINDIR})
DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
# Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/gtwrap/pybind11` This
# will allow the gtwrapConfig.cmake file to load it later.
install(DIRECTORY pybind11 DESTINATION "${CMAKE_INSTALL_LIBDIR}/gtwrap")
install(DIRECTORY pybind11 DESTINATION "${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap")
# Install the matlab.h file to `CMAKE_INSTALL_PREFIX/lib/gtwrap/matlab.h`.
install(FILES matlab.h DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/gtwrap")
install(FILES matlab.h DESTINATION "${CMAKE_INSTALL_FULL_INCLUDEDIR}/gtwrap")

17
wrap/DOCS.md
View File

@ -52,8 +52,8 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Class variables are read-write so they can be updated directly in Python.
- Pointer types
- To declare a pointer type (including shared pointers), simply add an asterisk (i.e. `*`) to the class name.
- E.g. `gtsam::noiseModel::Base*` to define the wrapping for the `Base` noise model shared pointer.
- To declare a simple/raw pointer, simply add an `@` to the class name, e.g.`Pose3@`.
- To declare a shared pointer (e.g. `gtsam::noiseModel::Base::shared_ptr`), use an asterisk (i.e. `*`). E.g. `gtsam::noiseModel::Base*` to define the wrapping for the `Base` noise model shared pointer.
- Comments can use either C++ or C style, with multiple lines.
@ -76,9 +76,13 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Functions specified outside of a class are **global**.
- Can be overloaded with different arguments.
- Can have multiple functions of the same name in different namespaces.
- Functions can be templated and have multiple template arguments, e.g.
```cpp
template<T, >
```
- Using classes defined in other modules
- If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error.
- If you are using a class `OtherClass` not wrapped in an interface file, add `class OtherClass;` as a forward declaration to avoid a dependency error. `OtherClass` should be in the same project.
- Virtual inheritance
- Specify fully-qualified base classes, i.e. `virtual class Derived : ns::Base {` where `ns` is the namespace.
@ -140,9 +144,9 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Forward declarations and class definitions for **Pybind**:
- Need to specify the base class (both this forward class and base class are declared in an external Pybind header)
This is so that Pybind can generate proper inheritance.
- This is so that Pybind can generate proper inheritance.
Example when wrapping a gtsam-based project:
- Example for when wrapping a gtsam-based project:
```cpp
// forward declarations
@ -153,8 +157,7 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
virtual class MyFactor : gtsam::NoiseModelFactor {...};
```
- **DO NOT** re-define an overriden function already declared in the external (forward-declared) base class
- This will cause an ambiguity problem in Pybind header file.
- **DO NOT** re-define an overriden function already declared in the external (forward-declared) base class. This will cause an ambiguity problem in the Pybind header file.
### TODO

51
wrap/cmake/GtwrapUtils.cmake
View File

@ -1,5 +1,6 @@
# Utilities to help with wrapping.
# Use CMake's find_package to find the version of Python installed.
macro(get_python_version)
if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
# Use older version of cmake's find_python
@ -13,19 +14,6 @@ macro(get_python_version)
find_package(PythonLibs ${PYTHON_VERSION_STRING})
set(Python_VERSION_MAJOR
${PYTHON_VERSION_MAJOR}
PARENT_SCOPE)
set(Python_VERSION_MINOR
${PYTHON_VERSION_MINOR}
PARENT_SCOPE)
set(Python_VERSION_PATCH
${PYTHON_VERSION_PATCH}
PARENT_SCOPE)
set(Python_EXECUTABLE
${PYTHON_EXECUTABLE}
PARENT_SCOPE)
else()
# Get info about the Python interpreter
# https://cmake.org/cmake/help/latest/module/FindPython.html#module:FindPython
@ -40,6 +28,40 @@ macro(get_python_version)
endif()
endmacro()
# Depending on the version of CMake, ensure all the appropriate variables are set.
macro(configure_python_variables)
if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
set(Python_VERSION_MAJOR
${PYTHON_VERSION_MAJOR}
CACHE INTERNAL "")
set(Python_VERSION_MINOR
${PYTHON_VERSION_MINOR}
CACHE INTERNAL "")
set(Python_VERSION_PATCH
${PYTHON_VERSION_PATCH}
CACHE INTERNAL "")
set(Python_EXECUTABLE
${PYTHON_EXECUTABLE}
CACHE PATH "")
else()
# Set both sets of variables
set(PYTHON_VERSION_MAJOR
${Python_VERSION_MAJOR}
CACHE INTERNAL "")
set(PYTHON_VERSION_MINOR
${Python_VERSION_MINOR}
CACHE INTERNAL "")
set(PYTHON_VERSION_PATCH
${Python_VERSION_PATCH}
CACHE INTERNAL "")
set(PYTHON_EXECUTABLE
${Python_EXECUTABLE}
CACHE PATH "")
endif()
endmacro()
# Set the Python version for the wrapper and set the paths to the executable and
# include/library directories. WRAP_PYTHON_VERSION can be "Default" or a
# specific major.minor version.
@ -71,4 +93,7 @@ macro(gtwrap_get_python_version WRAP_PYTHON_VERSION)
EXACT)
endif()
# (Always) Configure the variables once we find the python package
configure_python_variables()
endmacro()

10
wrap/cmake/PybindWrap.cmake
View File

@ -1,5 +1,3 @@
set(PYBIND11_PYTHON_VERSION ${WRAP_PYTHON_VERSION})
if(GTWRAP_PYTHON_PACKAGE_DIR)
# packaged
set(GTWRAP_PACKAGE_DIR "${GTWRAP_PYTHON_PACKAGE_DIR}")
@ -7,6 +5,14 @@ else()
set(GTWRAP_PACKAGE_DIR ${CMAKE_CURRENT_LIST_DIR}/..)
endif()
# Get the Python version
include(GtwrapUtils)
message(STATUS "Checking Python Version")
gtwrap_get_python_version(${WRAP_PYTHON_VERSION})
message(STATUS "Setting Python version for wrapper")
set(PYBIND11_PYTHON_VERSION ${WRAP_PYTHON_VERSION})
# User-friendly Pybind11 wrapping and installing function.
# Builds a Pybind11 module from the provided interface_header.
# For example, for the interface header gtsam.h, this will

29
wrap/cmake/gtwrapConfig.cmake
View File

@ -1,24 +1,25 @@
# This config file modifies CMAKE_MODULE_PATH so that the wrap cmake files may
# be included This file also allows the use of `find_package(gtwrap)` in CMake.
set(GTWRAP_DIR "${CMAKE_CURRENT_LIST_DIR}")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
if(WIN32 AND NOT CYGWIN)
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${GTWRAP_CMAKE_DIR}/../../../bin)
set(GTWRAP_PYTHON_PACKAGE_DIR ${GTWRAP_CMAKE_DIR}/../../../share/gtwrap)
else()
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${GTWRAP_CMAKE_DIR}/../../../bin)
set(GTWRAP_PYTHON_PACKAGE_DIR ${GTWRAP_CMAKE_DIR}/../../../share/gtwrap)
endif()
# Standard includes
include(GNUInstallDirs)
include(CMakePackageConfigHelpers)
include(CMakeDependentOption)
set(GTWRAP_DIR "${CMAKE_CURRENT_LIST_DIR}")
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
if(WIN32 AND NOT CYGWIN)
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${CMAKE_INSTALL_FULL_BINDIR})
set(GTWRAP_PYTHON_PACKAGE_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap)
else()
set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
set(GTWRAP_SCRIPT_DIR ${CMAKE_INSTALL_FULL_BINDIR})
set(GTWRAP_PYTHON_PACKAGE_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap)
endif()
# Load all the CMake scripts from the standard location
include(${GTWRAP_CMAKE_DIR}/PybindWrap.cmake)
include(${GTWRAP_CMAKE_DIR}/GtwrapUtils.cmake)
@ -28,4 +29,4 @@ set(PYBIND_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/pybind_wrap.py")
set(MATLAB_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/matlab_wrap.py")
# Load the pybind11 code from the library installation path
add_subdirectory(${GTWRAP_CMAKE_DIR}/../../gtwrap/pybind11 pybind11)
add_subdirectory(${CMAKE_INSTALL_FULL_LIBDIR}/gtwrap/pybind11 pybind11)

411
wrap/docs/parser/conf_doxygen.py → wrap/docs/parser/doxygen.conf
View File

@ -1,4 +1,4 @@
# Doxyfile 1.8.11
# Doxyfile 1.9.1
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project.
@ -17,11 +17,11 @@
# Project related configuration options
#---------------------------------------------------------------------------
# This tag specifies the encoding used for all characters in the config file
# that follow. The default is UTF-8 which is also the encoding used for all text
# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv
# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv
# for the list of possible encodings.
# This tag specifies the encoding used for all characters in the configuration
# file that follow. The default is UTF-8 which is also the encoding used for all
# text before the first occurrence of this tag. Doxygen uses libiconv (or the
# iconv built into libc) for the transcoding. See
# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
# The default value is: UTF-8.
DOXYFILE_ENCODING = UTF-8
@ -32,7 +32,7 @@ DOXYFILE_ENCODING = UTF-8
# title of most generated pages and in a few other places.
# The default value is: My Project.
PROJECT_NAME = "GTSAM"
PROJECT_NAME = GTSAM
# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
# could be handy for archiving the generated documentation or if some version
@ -93,6 +93,14 @@ ALLOW_UNICODE_NAMES = NO
OUTPUT_LANGUAGE = English
# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
# documentation generated by doxygen is written. Doxygen will use this
# information to generate all generated output in the proper direction.
# Possible values are: None, LTR, RTL and Context.
# The default value is: None.
OUTPUT_TEXT_DIRECTION = None
# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
# descriptions after the members that are listed in the file and class
# documentation (similar to Javadoc). Set to NO to disable this.
@ -179,6 +187,16 @@ SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = NO
# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
# such as
# /***************
# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
# Javadoc-style will behave just like regular comments and it will not be
# interpreted by doxygen.
# The default value is: NO.
JAVADOC_BANNER = NO
# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
# line (until the first dot) of a Qt-style comment as the brief description. If
# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
@ -199,6 +217,14 @@ QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
# By default Python docstrings are displayed as preformatted text and doxygen's
# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
# doxygen's special commands can be used and the contents of the docstring
# documentation blocks is shown as doxygen documentation.
# The default value is: YES.
PYTHON_DOCSTRING = YES
# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
# documentation from any documented member that it re-implements.
# The default value is: YES.
@ -226,16 +252,15 @@ TAB_SIZE = 4
# will allow you to put the command \sideeffect (or @sideeffect) in the
# documentation, which will result in a user-defined paragraph with heading
# "Side Effects:". You can put \n's in the value part of an alias to insert
# newlines.
# newlines (in the resulting output). You can put ^^ in the value part of an
# alias to insert a newline as if a physical newline was in the original file.
# When you need a literal { or } or , in the value part of an alias you have to
# escape them by means of a backslash (\), this can lead to conflicts with the
# commands \{ and \} for these it is advised to use the version @{ and @} or use
# a double escape (\\{ and \\})
ALIASES =
# This tag can be used to specify a number of word-keyword mappings (TCL only).
# A mapping has the form "name=value". For example adding "class=itcl::class"
# will allow you to use the command class in the itcl::class meaning.
TCL_SUBST =
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
# only. Doxygen will then generate output that is more tailored for C. For
# instance, some of the names that are used will be different. The list of all
@ -264,28 +289,40 @@ OPTIMIZE_FOR_FORTRAN = NO
OPTIMIZE_OUTPUT_VHDL = NO
# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
# sources only. Doxygen will then generate output that is more tailored for that
# language. For instance, namespaces will be presented as modules, types will be
# separated into more groups, etc.
# The default value is: NO.
OPTIMIZE_OUTPUT_SLICE = NO
# Doxygen selects the parser to use depending on the extension of the files it
# parses. With this tag you can assign which parser to use for a given
# extension. Doxygen has a built-in mapping, but you can override or extend it
# using this tag. The format is ext=language, where ext is a file extension, and
# language is one of the parsers supported by doxygen: IDL, Java, Javascript,
# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran:
# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran:
# Fortran. In the later case the parser tries to guess whether the code is fixed
# or free formatted code, this is the default for Fortran type files), VHDL. For
# instance to make doxygen treat .inc files as Fortran files (default is PHP),
# and .f files as C (default is Fortran), use: inc=Fortran f=C.
# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL,
# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
# tries to guess whether the code is fixed or free formatted code, this is the
# default for Fortran type files). For instance to make doxygen treat .inc files
# as Fortran files (default is PHP), and .f files as C (default is Fortran),
# use: inc=Fortran f=C.
#
# Note: For files without extension you can use no_extension as a placeholder.
#
# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
# the files are not read by doxygen.
# the files are not read by doxygen. When specifying no_extension you should add
# * to the FILE_PATTERNS.
#
# Note see also the list of default file extension mappings.
EXTENSION_MAPPING =
# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
# according to the Markdown format, which allows for more readable
# documentation. See http://daringfireball.net/projects/markdown/ for details.
# documentation. See https://daringfireball.net/projects/markdown/ for details.
# The output of markdown processing is further processed by doxygen, so you can
# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
# case of backward compatibilities issues.
@ -293,6 +330,15 @@ EXTENSION_MAPPING =
MARKDOWN_SUPPORT = YES
# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
# to that level are automatically included in the table of contents, even if
# they do not have an id attribute.
# Note: This feature currently applies only to Markdown headings.
# Minimum value: 0, maximum value: 99, default value: 5.
# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
TOC_INCLUDE_HEADINGS = 5
# When enabled doxygen tries to link words that correspond to documented
# classes, or namespaces to their corresponding documentation. Such a link can
# be prevented in individual cases by putting a % sign in front of the word or
@ -318,7 +364,7 @@ BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen
# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
# will parse them like normal C++ but will assume all classes use public instead
# of private inheritance when no explicit protection keyword is present.
# The default value is: NO.
@ -404,6 +450,19 @@ TYPEDEF_HIDES_STRUCT = NO
LOOKUP_CACHE_SIZE = 0
# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use
# during processing. When set to 0 doxygen will based this on the number of
# cores available in the system. You can set it explicitly to a value larger
# than 0 to get more control over the balance between CPU load and processing
# speed. At this moment only the input processing can be done using multiple
# threads. Since this is still an experimental feature the default is set to 1,
# which efficively disables parallel processing. Please report any issues you
# encounter. Generating dot graphs in parallel is controlled by the
# DOT_NUM_THREADS setting.
# Minimum value: 0, maximum value: 32, default value: 1.
NUM_PROC_THREADS = 1
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
@ -416,7 +475,7 @@ LOOKUP_CACHE_SIZE = 0
# normally produced when WARNINGS is set to YES.
# The default value is: NO.
EXTRACT_ALL =
EXTRACT_ALL = NO
# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
# be included in the documentation.
@ -424,6 +483,12 @@ EXTRACT_ALL =
EXTRACT_PRIVATE = NO
# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
# methods of a class will be included in the documentation.
# The default value is: NO.
EXTRACT_PRIV_VIRTUAL = NO
# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
# scope will be included in the documentation.
# The default value is: NO.
@ -461,6 +526,13 @@ EXTRACT_LOCAL_METHODS = NO
EXTRACT_ANON_NSPACES = NO
# If this flag is set to YES, the name of an unnamed parameter in a declaration
# will be determined by the corresponding definition. By default unnamed
# parameters remain unnamed in the output.
# The default value is: YES.
RESOLVE_UNNAMED_PARAMS = YES
# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
# undocumented members inside documented classes or files. If set to NO these
# members will be included in the various overviews, but no documentation
@ -478,8 +550,8 @@ HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
# (class|struct|union) declarations. If set to NO, these declarations will be
# included in the documentation.
# declarations. If set to NO, these declarations will be included in the
# documentation.
# The default value is: NO.
HIDE_FRIEND_COMPOUNDS = NO
@ -498,11 +570,18 @@ HIDE_IN_BODY_DOCS = NO
INTERNAL_DOCS = NO
# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
# names in lower-case letters. If set to YES, upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# and Mac users are advised to set this option to NO.
# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
# able to match the capabilities of the underlying filesystem. In case the
# filesystem is case sensitive (i.e. it supports files in the same directory
# whose names only differ in casing), the option must be set to YES to properly
# deal with such files in case they appear in the input. For filesystems that
# are not case sensitive the option should be be set to NO to properly deal with
# output files written for symbols that only differ in casing, such as for two
# classes, one named CLASS and the other named Class, and to also support
# references to files without having to specify the exact matching casing. On
# Windows (including Cygwin) and MacOS, users should typically set this option
# to NO, whereas on Linux or other Unix flavors it should typically be set to
# YES.
# The default value is: system dependent.
CASE_SENSE_NAMES = YES
@ -689,7 +768,7 @@ LAYOUT_FILE =
# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
# the reference definitions. This must be a list of .bib files. The .bib
# extension is automatically appended if omitted. This requires the bibtex tool
# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
# For LaTeX the style of the bibliography can be controlled using
# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
# search path. See also \cite for info how to create references.
@ -734,13 +813,17 @@ WARN_IF_DOC_ERROR = YES
# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
# are documented, but have no documentation for their parameters or return
# value. If set to NO, doxygen will only warn about wrong or incomplete
# parameter documentation, but not about the absence of documentation.
# parameter documentation, but not about the absence of documentation. If
# EXTRACT_ALL is set to YES then this flag will automatically be disabled.
# The default value is: NO.
WARN_NO_PARAMDOC = NO
# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
# a warning is encountered.
# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
# at the end of the doxygen process doxygen will return with a non-zero status.
# Possible values are: NO, YES and FAIL_ON_WARNINGS.
# The default value is: NO.
WARN_AS_ERROR = NO
@ -776,8 +859,8 @@ INPUT =
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
# documentation (see: http://www.gnu.org/software/libiconv) for the list of
# possible encodings.
# documentation (see:
# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
# The default value is: UTF-8.
INPUT_ENCODING = UTF-8
@ -790,11 +873,15 @@ INPUT_ENCODING = UTF-8
# need to set EXTENSION_MAPPING for the extension otherwise the files are not
# read by doxygen.
#
# Note the list of default checked file patterns might differ from the list of
# default file extension mappings.
#
# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl,
# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js.
# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl,
# *.ucf, *.qsf and *.ice.
FILE_PATTERNS =
@ -949,7 +1036,7 @@ INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
# function all documented functions referencing it will be listed.
# entity all documented functions referencing it will be listed.
# The default value is: NO.
REFERENCED_BY_RELATION = NO
@ -981,12 +1068,12 @@ SOURCE_TOOLTIPS = YES
# If the USE_HTAGS tag is set to YES then the references to source code will
# point to the HTML generated by the htags(1) tool instead of doxygen built-in
# source browser. The htags tool is part of GNU's global source tagging system
# (see http://www.gnu.org/software/global/global.html). You will need version
# (see https://www.gnu.org/software/global/global.html). You will need version
# 4.8.6 or higher.
#
# To use it do the following:
# - Install the latest version of global
# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
# - Make sure the INPUT points to the root of the source tree
# - Run doxygen as normal
#
@ -1008,25 +1095,6 @@ USE_HTAGS = NO
VERBATIM_HEADERS = YES
# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the
# cost of reduced performance. This can be particularly helpful with template
# rich C++ code for which doxygen's built-in parser lacks the necessary type
# information.
# Note: The availability of this option depends on whether or not doxygen was
# generated with the -Duse-libclang=ON option for CMake.
# The default value is: NO.
CLANG_ASSISTED_PARSING = NO
# If clang assisted parsing is enabled you can provide the compiler with command
# line options that you would normally use when invoking the compiler. Note that
# the include paths will already be set by doxygen for the files and directories
# specified with INPUT and INCLUDE_PATH.
# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
CLANG_OPTIONS =
#---------------------------------------------------------------------------
# Configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
@ -1038,13 +1106,6 @@ CLANG_OPTIONS =
ALPHABETICAL_INDEX = YES
# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
# which the alphabetical index list will be split.
# Minimum value: 1, maximum value: 20, default value: 5.
# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
COLS_IN_ALPHA_INDEX = 5
# In case all classes in a project start with a common prefix, all classes will
# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
# can be used to specify a prefix (or a list of prefixes) that should be ignored
@ -1145,7 +1206,7 @@ HTML_EXTRA_FILES =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
# will adjust the colors in the style sheet and background images according to
# this color. Hue is specified as an angle on a colorwheel, see
# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
# purple, and 360 is red again.
# Minimum value: 0, maximum value: 359, default value: 220.
@ -1181,6 +1242,17 @@ HTML_COLORSTYLE_GAMMA = 80
HTML_TIMESTAMP = NO
# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
# documentation will contain a main index with vertical navigation menus that
# are dynamically created via JavaScript. If disabled, the navigation index will
# consists of multiple levels of tabs that are statically embedded in every HTML
# page. Disable this option to support browsers that do not have JavaScript,
# like the Qt help browser.
# The default value is: YES.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_DYNAMIC_MENUS = YES
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded.
@ -1204,13 +1276,14 @@ HTML_INDEX_NUM_ENTRIES = 100
# If the GENERATE_DOCSET tag is set to YES, additional index files will be
# generated that can be used as input for Apple's Xcode 3 integrated development
# environment (see: http://developer.apple.com/tools/xcode/), introduced with
# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
# Makefile in the HTML output directory. Running make will produce the docset in
# that directory and running make install will install the docset in
# environment (see:
# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
# create a documentation set, doxygen will generate a Makefile in the HTML
# output directory. Running make will produce the docset in that directory and
# running make install will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
# genXcode/_index.html for more information.
# The default value is: NO.
# This tag requires that the tag GENERATE_HTML is set to YES.
@ -1249,8 +1322,8 @@ DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
# Windows.
# (see:
# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows.
#
# The HTML Help Workshop contains a compiler that can convert all HTML output
# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
@ -1280,7 +1353,7 @@ CHM_FILE =
HHC_LOCATION =
# The GENERATE_CHI flag controls if a separate .chi index file is generated
# (YES) or that it should be included in the master .chm file (NO).
# (YES) or that it should be included in the main .chm file (NO).
# The default value is: NO.
# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
@ -1325,7 +1398,8 @@ QCH_FILE =
# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
# Project output. For more information please see Qt Help Project / Namespace
# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
# (see:
# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
# The default value is: org.doxygen.Project.
# This tag requires that the tag GENERATE_QHP is set to YES.
@ -1333,8 +1407,8 @@ QHP_NAMESPACE = org.doxygen.Project
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
# Help Project output. For more information please see Qt Help Project / Virtual
# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
# folders).
# Folders (see:
# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
# The default value is: doc.
# This tag requires that the tag GENERATE_QHP is set to YES.
@ -1342,30 +1416,30 @@ QHP_VIRTUAL_FOLDER = doc
# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
# filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# Filters (see:
# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_NAME =
# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
# custom filter to add. For more information please see Qt Help Project / Custom
# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
# filters).
# Filters (see:
# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_CUST_FILTER_ATTRS =
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
# project's filter section matches. Qt Help Project / Filter Attributes (see:
# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
# This tag requires that the tag GENERATE_QHP is set to YES.
QHP_SECT_FILTER_ATTRS =
# The QHG_LOCATION tag can be used to specify the location of Qt's
# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
# generated .qhp file.
# The QHG_LOCATION tag can be used to specify the location (absolute path
# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
# run qhelpgenerator on the generated .qhp file.
# This tag requires that the tag GENERATE_QHP is set to YES.
QHG_LOCATION =
@ -1442,6 +1516,17 @@ TREEVIEW_WIDTH = 250
EXT_LINKS_IN_WINDOW = NO
# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
# the HTML output. These images will generally look nicer at scaled resolutions.
# Possible values are: png (the default) and svg (looks nicer but requires the
# pdf2svg or inkscape tool).
# The default value is: png.
# This tag requires that the tag GENERATE_HTML is set to YES.
HTML_FORMULA_FORMAT = png
# Use this tag to change the font size of LaTeX formulas included as images in
# the HTML documentation. When you change the font size after a successful
# doxygen run you need to manually remove any form_*.png images from the HTML
@ -1451,7 +1536,7 @@ EXT_LINKS_IN_WINDOW = NO
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
# generated for formulas are transparent PNGs. Transparent PNGs are not
# supported properly for IE 6.0, but are supported on all modern browsers.
#
@ -1462,8 +1547,14 @@ FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
# to create new LaTeX commands to be used in formulas as building blocks. See
# the section "Including formulas" for details.
FORMULA_MACROFILE =
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
# http://www.mathjax.org) which uses client side Javascript for the rendering
# https://www.mathjax.org) which uses client side JavaScript for the rendering
# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
# installed or if you want to formulas look prettier in the HTML output. When
# enabled you may also need to install MathJax separately and configure the path
@ -1475,7 +1566,7 @@ USE_MATHJAX = NO
# When MathJax is enabled you can set the default output format to be used for
# the MathJax output. See the MathJax site (see:
# http://docs.mathjax.org/en/latest/output.html) for more details.
# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details.
# Possible values are: HTML-CSS (which is slower, but has the best
# compatibility), NativeMML (i.e. MathML) and SVG.
# The default value is: HTML-CSS.
@ -1490,8 +1581,8 @@ MATHJAX_FORMAT = HTML-CSS
# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
# Content Delivery Network so you can quickly see the result without installing
# MathJax. However, it is strongly recommended to install a local copy of
# MathJax from http://www.mathjax.org before deployment.
# The default value is: http://cdn.mathjax.org/mathjax/latest.
# MathJax from https://www.mathjax.org before deployment.
# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2.
# This tag requires that the tag USE_MATHJAX is set to YES.
MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
@ -1505,7 +1596,8 @@ MATHJAX_EXTENSIONS =
# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
# of code that will be used on startup of the MathJax code. See the MathJax site
# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
# (see:
# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
# example see the documentation.
# This tag requires that the tag USE_MATHJAX is set to YES.
@ -1533,7 +1625,7 @@ MATHJAX_CODEFILE =
SEARCHENGINE = YES
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
# implemented using a web server instead of a web client using Javascript. There
# implemented using a web server instead of a web client using JavaScript. There
# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
# setting. When disabled, doxygen will generate a PHP script for searching and
# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
@ -1552,7 +1644,8 @@ SERVER_BASED_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/).
# Xapian (see:
# https://xapian.org/).
#
# See the section "External Indexing and Searching" for details.
# The default value is: NO.
@ -1565,8 +1658,9 @@ EXTERNAL_SEARCH = NO
#
# Doxygen ships with an example indexer (doxyindexer) and search engine
# (doxysearch.cgi) which are based on the open source search engine library
# Xapian (see: http://xapian.org/). See the section "External Indexing and
# Searching" for details.
# Xapian (see:
# https://xapian.org/). See the section "External Indexing and Searching" for
# details.
# This tag requires that the tag SEARCHENGINE is set to YES.
SEARCHENGINE_URL =
@ -1617,21 +1711,35 @@ LATEX_OUTPUT = latex
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
# invoked.
#
# Note that when enabling USE_PDFLATEX this option is only used for generating
# bitmaps for formulas in the HTML output, but not in the Makefile that is
# written to the output directory.
# The default file is: latex.
# Note that when not enabling USE_PDFLATEX the default is latex when enabling
# USE_PDFLATEX the default is pdflatex and when in the later case latex is
# chosen this is overwritten by pdflatex. For specific output languages the
# default can have been set differently, this depends on the implementation of
# the output language.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_CMD_NAME = latex
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
# index for LaTeX.
# Note: This tag is used in the Makefile / make.bat.
# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
# (.tex).
# The default file is: makeindex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
MAKEINDEX_CMD_NAME = makeindex
# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
# generate index for LaTeX. In case there is no backslash (\) as first character
# it will be automatically added in the LaTeX code.
# Note: This tag is used in the generated output file (.tex).
# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
# The default value is: makeindex.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_MAKEINDEX_CMD = makeindex
# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
# documents. This may be useful for small projects and may help to save some
# trees in general.
@ -1716,9 +1824,11 @@ LATEX_EXTRA_FILES =
PDF_HYPERLINKS = YES
# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
# the PDF file directly from the LaTeX files. Set this option to YES, to get a
# higher quality PDF documentation.
# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
# files. Set this option to YES, to get a higher quality PDF documentation.
#
# See also section LATEX_CMD_NAME for selecting the engine.
# The default value is: YES.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@ -1752,7 +1862,7 @@ LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. See
# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
# The default value is: plain.
# This tag requires that the tag GENERATE_LATEX is set to YES.
@ -1766,6 +1876,14 @@ LATEX_BIB_STYLE = plain
LATEX_TIMESTAMP = NO
# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
# path from which the emoji images will be read. If a relative path is entered,
# it will be relative to the LATEX_OUTPUT directory. If left blank the
# LATEX_OUTPUT directory will be used.
# This tag requires that the tag GENERATE_LATEX is set to YES.
LATEX_EMOJI_DIRECTORY =
#---------------------------------------------------------------------------
# Configuration options related to the RTF output
#---------------------------------------------------------------------------
@ -1805,9 +1923,9 @@ COMPACT_RTF = NO
RTF_HYPERLINKS = NO
# Load stylesheet definitions from file. Syntax is similar to doxygen's config
# file, i.e. a series of assignments. You only have to provide replacements,
# missing definitions are set to their default value.
# Load stylesheet definitions from file. Syntax is similar to doxygen's
# configuration file, i.e. a series of assignments. You only have to provide
# replacements, missing definitions are set to their default value.
#
# See also section "Doxygen usage" for information on how to generate the
# default style sheet that doxygen normally uses.
@ -1816,8 +1934,8 @@ RTF_HYPERLINKS = NO
RTF_STYLESHEET_FILE =
# Set optional variables used in the generation of an RTF document. Syntax is
# similar to doxygen's config file. A template extensions file can be generated
# using doxygen -e rtf extensionFile.
# similar to doxygen's configuration file. A template extensions file can be
# generated using doxygen -e rtf extensionFile.
# This tag requires that the tag GENERATE_RTF is set to YES.
RTF_EXTENSIONS_FILE =
@ -1903,6 +2021,13 @@ XML_OUTPUT = xml
XML_PROGRAMLISTING = YES
# If the XML_NS_MEMB_FILE_SCOPE tag is set to YES, doxygen will include
# namespace members in file scope as well, matching the HTML output.
# The default value is: NO.
# This tag requires that the tag GENERATE_XML is set to YES.
XML_NS_MEMB_FILE_SCOPE = NO
#---------------------------------------------------------------------------
# Configuration options related to the DOCBOOK output
#---------------------------------------------------------------------------
@ -1935,9 +2060,9 @@ DOCBOOK_PROGRAMLISTING = NO
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an
# AutoGen Definitions (see http://autogen.sf.net) file that captures the
# structure of the code including all documentation. Note that this feature is
# still experimental and incomplete at the moment.
# AutoGen Definitions (see http://autogen.sourceforge.net/) file that captures
# the structure of the code including all documentation. Note that this feature
# is still experimental and incomplete at the moment.
# The default value is: NO.
GENERATE_AUTOGEN_DEF = NO
@ -2104,12 +2229,6 @@ EXTERNAL_GROUPS = YES
EXTERNAL_PAGES = YES
# The PERL_PATH should be the absolute path and name of the perl script
# interpreter (i.e. the result of 'which perl').
# The default file (with absolute path) is: /usr/bin/perl.
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
@ -2123,15 +2242,6 @@ PERL_PATH = /usr/bin/perl
CLASS_DIAGRAMS = YES
# You can define message sequence charts within doxygen comments using the \msc
# command. Doxygen will then run the mscgen tool (see:
# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
# documentation. The MSCGEN_PATH tag allows you to specify the directory where
# the mscgen tool resides. If left empty the tool is assumed to be found in the
# default search path.
MSCGEN_PATH =
# You can include diagrams made with dia in doxygen documentation. Doxygen will
# then run dia to produce the diagram and insert it in the documentation. The
# DIA_PATH tag allows you to specify the directory where the dia binary resides.
@ -2150,7 +2260,7 @@ HIDE_UNDOC_RELATIONS = YES
# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
# Bell Labs. The other options in this section have no effect if this option is
# set to NO
# The default value is: YES.
# The default value is: NO.
HAVE_DOT = YES
@ -2229,10 +2339,32 @@ UML_LOOK = NO
# but if the number exceeds 15, the total amount of fields shown is limited to
# 10.
# Minimum value: 0, maximum value: 100, default value: 10.
# This tag requires that the tag HAVE_DOT is set to YES.
# This tag requires that the tag UML_LOOK is set to YES.
UML_LIMIT_NUM_FIELDS = 10
# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
# tag is set to YES, doxygen will add type and arguments for attributes and
# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
# will not generate fields with class member information in the UML graphs. The
# class diagrams will look similar to the default class diagrams but using UML
# notation for the relationships.
# Possible values are: NO, YES and NONE.
# The default value is: NO.
# This tag requires that the tag UML_LOOK is set to YES.
DOT_UML_DETAILS = NO
# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
# to display on a single line. If the actual line length exceeds this threshold
# significantly it will wrapped across multiple lines. Some heuristics are apply
# to avoid ugly line breaks.
# Minimum value: 0, maximum value: 1000, default value: 17.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_WRAP_THRESHOLD = 17
# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
# collaboration graphs will show the relations between templates and their
# instances.
@ -2306,9 +2438,7 @@ DIRECTORY_GRAPH = YES
# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
# to make the SVG files visible in IE 9+ (other browsers do not have this
# requirement).
# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd,
# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo,
# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo,
# Possible values are: png, jpg, gif, svg, png:gd, png:gd:gd, png:cairo,
# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and
# png:gdiplus:gdiplus.
# The default value is: png.
@ -2361,6 +2491,11 @@ DIAFILE_DIRS =
PLANTUML_JAR_PATH =
# When using plantuml, the PLANTUML_CFG_FILE tag can be used to specify a
# configuration file for plantuml.
PLANTUML_CFG_FILE =
# When using plantuml, the specified paths are searched for files specified by
# the !include statement in a plantuml block.
@ -2419,9 +2554,11 @@ DOT_MULTI_TARGETS = NO
GENERATE_LEGEND = YES
# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
# files that are used to generate the various graphs.
#
# Note: This setting is not only used for dot files but also for msc and
# plantuml temporary files.
# The default value is: YES.
# This tag requires that the tag HAVE_DOT is set to YES.
DOT_CLEANUP = YES

2
wrap/docs/parser/parse_doxygen_xml.py
View File

@ -4,7 +4,7 @@ import xml.etree.ElementTree as ET
from docs.docs import ClassDoc, Doc, Docs, FreeDoc
DOXYGEN_CONF = 'conf_doxygen.py'
DOXYGEN_CONF = 'doxygen.conf'
class ParseDoxygenXML():

2
wrap/docs/parser/parse_xml.py
View File

@ -4,7 +4,7 @@ from docs.doc_template import ClassDoc, Doc, Docs, FreeDoc
import os.path as path
import xml.etree.ElementTree as ET
DOXYGEN_CONF = 'conf_doxygen.py'
DOXYGEN_CONF = 'doxygen.conf'
def parse(input_path, output_path, quiet=False, generate_xml_flag=True):

893
wrap/gtwrap/interface_parser.py
View File

@ -1,893 +0,0 @@
"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Parser to get the interface of a C++ source file
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
# pylint: disable=unnecessary-lambda, unused-import, expression-not-assigned, no-else-return, protected-access, too-few-public-methods, too-many-arguments
import sys
import typing
import pyparsing
from pyparsing import (CharsNotIn, Forward, Group, Keyword, Literal, OneOrMore,
Optional, Or, ParseException, ParserElement, Suppress,
Word, ZeroOrMore, alphanums, alphas, cppStyleComment,
delimitedList, empty, nums, stringEnd)
# Fix deepcopy issue with pyparsing
# Can remove once https://github.com/pyparsing/pyparsing/issues/208 is resolved.
if sys.version_info >= (3, 8):
def fixed_get_attr(self, item):
"""
Fix for monkey-patching issue with deepcopy in pyparsing.ParseResults
"""
if item == '__deepcopy__':
raise AttributeError(item)
try:
return self[item]
except KeyError:
return ""
# apply the monkey-patch
pyparsing.ParseResults.__getattr__ = fixed_get_attr
ParserElement.enablePackrat()
# rule for identifiers (e.g. variable names)
IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)
POINTER, REF = map(Literal, "*&")
LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;")
LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=")
CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map(
Keyword,
[
"const",
"virtual",
"class",
"static",
"pair",
"template",
"typedef",
"#include",
],
)
NAMESPACE = Keyword("namespace")
BASIS_TYPES = map(
Keyword,
[
"void",
"bool",
"unsigned char",
"char",
"int",
"size_t",
"double",
"float",
"string",
],
)
class Typename:
"""
Type's name with full namespaces, used in Type class.
"""
namespaces_name_rule = delimitedList(IDENT, "::")
instantiation_name_rule = delimitedList(IDENT, "::")
rule = Forward()
rule << (
namespaces_name_rule("namespaces_name")
+ Optional(
(LOPBRACK + delimitedList(rule, ",")("instantiations") + ROPBRACK)
)
).setParseAction(lambda t: Typename(t.namespaces_name, t.instantiations))
def __init__(self, namespaces_name, instantiations=()):
self.namespaces = namespaces_name[:-1]
self.name = namespaces_name[-1]
if instantiations:
if not isinstance(instantiations, typing.Iterable):
self.instantiations = instantiations.asList()
else:
self.instantiations = instantiations
else:
self.instantiations = []
if self.name in ["Matrix", "Vector"] and not self.namespaces:
self.namespaces = ["gtsam"]
@staticmethod
def from_parse_result(parse_result):
"""Return the typename from the parsed result."""
return parse_result[0]
def __repr__(self):
return self.to_cpp()
def instantiated_name(self):
"""Get the instantiated name of the type."""
res = self.name
for instantiation in self.instantiations:
res += instantiation.instantiated_name()
return res
def to_cpp(self):
"""Generate the C++ code for wrapping."""
idx = 1 if self.namespaces and not self.namespaces[0] else 0
if self.instantiations:
cpp_name = self.name + "<{}>".format(
", ".join([inst.to_cpp() for inst in self.instantiations])
)
else:
cpp_name = self.name
return '{}{}{}'.format(
"::".join(self.namespaces[idx:]),
"::" if self.namespaces[idx:] else "",
cpp_name,
)
def __eq__(self, other):
if isinstance(other, Typename):
return str(self) == str(other)
else:
return NotImplemented
def __ne__(self, other):
res = self.__eq__(other)
if res is NotImplemented:
return res
return not res
class Type:
"""
The type value that is parsed, e.g. void, string, size_t.
"""
class _QualifiedType:
"""
Type with qualifiers.
"""
rule = (
Optional(CONST("is_const"))
+ Typename.rule("typename")
+ Optional(POINTER("is_ptr") | REF("is_ref"))
).setParseAction(
lambda t: Type._QualifiedType(
Typename.from_parse_result(t.typename),
t.is_const,
t.is_ptr,
t.is_ref,
)
)
def __init__(self, typename, is_const, is_ptr, is_ref):
self.typename = typename
self.is_const = is_const
self.is_ptr = is_ptr
self.is_ref = is_ref
class _BasisType:
"""
Basis types don't have qualifiers and only allow copy-by-value.
"""
rule = Or(BASIS_TYPES).setParseAction(lambda t: Typename(t))
rule = (
_BasisType.rule("basis") | _QualifiedType.rule("qualified") # BR
).setParseAction(lambda t: Type.from_parse_result(t))
def __init__(self, typename, is_const, is_ptr, is_ref, is_basis):
self.typename = typename
self.is_const = is_const
self.is_ptr = is_ptr
self.is_ref = is_ref
self.is_basis = is_basis
@staticmethod
def from_parse_result(t):
"""Return the resulting Type from parsing the source."""
if t.basis:
return Type(
typename=t.basis,
is_const='',
is_ptr='',
is_ref='',
is_basis=True,
)
elif t.qualified:
return Type(
typename=t.qualified.typename,
is_const=t.qualified.is_const,
is_ptr=t.qualified.is_ptr,
is_ref=t.qualified.is_ref,
is_basis=False,
)
else:
raise ValueError("Parse result is not a Type?")
def __repr__(self):
return '{} {}{}{}'.format(
self.typename, self.is_const, self.is_ptr, self.is_ref
)
def to_cpp(self, use_boost):
"""
Generate the C++ code for wrapping.
Treat all pointers as "const shared_ptr<T>&"
Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp.
"""
shared_ptr_ns = "boost" if use_boost else "std"
return (
"{const} {shared_ptr}{typename}"
"{shared_ptr_ropbracket}{ref}".format(
const="const"
if self.is_const
or self.is_ptr
or self.typename.name in ["Matrix", "Vector"]
else "",
typename=self.typename.to_cpp(),
shared_ptr="{}::shared_ptr<".format(shared_ptr_ns)
if self.is_ptr
else "",
shared_ptr_ropbracket=">" if self.is_ptr else "",
ref="&"
if self.is_ref
or self.is_ptr
or self.typename.name in ["Matrix", "Vector"]
else "",
)
)
class Argument:
"""
The type and name of a function/method argument.
E.g.
```
void sayHello(/*s is the method argument with type `const string&`*/ const string& s);
```
"""
rule = (Type.rule("ctype") + IDENT("name")).setParseAction(
lambda t: Argument(t.ctype, t.name)
)
def __init__(self, ctype, name):
self.ctype = ctype
self.name = name
def __repr__(self):
return '{} {}'.format(self.ctype.__repr__(), self.name)
class ArgumentList:
"""
List of Argument objects for all arguments in a function.
"""
rule = Optional(delimitedList(Argument.rule)("args_list")).setParseAction(
lambda t: ArgumentList.from_parse_result(t.args_list)
)
def __init__(self, args_list):
self.args_list = args_list
for arg in args_list:
arg.parent = self
@staticmethod
def from_parse_result(parse_result):
"""Return the result of parsing."""
if parse_result:
return ArgumentList(parse_result.asList())
else:
return ArgumentList([])
def __repr__(self):
return self.args_list.__repr__()
def args_names(self):
"""Return a list of the names of all the arguments."""
return [arg.name for arg in self.args_list]
def to_cpp(self, use_boost):
"""Generate the C++ code for wrapping."""
return [arg.ctype.to_cpp(use_boost) for arg in self.args_list]
class ReturnType:
"""
Rule to parse the return type.
The return type can either be a single type or a pair such as <type1, type2>.
"""
_pair = (
PAIR.suppress()
+ LOPBRACK
+ Type.rule("type1")
+ COMMA
+ Type.rule("type2")
+ ROPBRACK
)
rule = (_pair ^ Type.rule("type1")).setParseAction( # BR
lambda t: ReturnType(t.type1, t.type2)
)
def __init__(self, type1, type2):
self.type1 = type1
self.type2 = type2
def is_void(self):
"""
Check if the return type is void.
"""
return self.type1.typename.name == "void" and not self.type2
def __repr__(self):
return "{}{}".format(
self.type1, (', ' + self.type2.__repr__()) if self.type2 else ''
)
def to_cpp(self):
"""Generate the C++ code for wrapping."""
if self.type2:
return "std::pair<{type1},{type2}>".format(
type1=self.type1.to_cpp(), type2=self.type2.to_cpp()
)
else:
return self.type1.to_cpp()
class Template:
"""
Rule to parse templated values in the interface file.
E.g.
template<POSE> // this is the Template.
class Camera { ... };
"""
class TypenameAndInstantiations:
"""
Rule to parse the template parameters.
template<typename POSE> // POSE is the Instantiation.
"""
rule = (
IDENT("typename")
+ Optional(
EQUAL
+ LBRACE
+ ((delimitedList(Typename.rule)("instantiations")))
+ RBRACE
)
).setParseAction(
lambda t: Template.TypenameAndInstantiations(
t.typename, t.instantiations
)
)
def __init__(self, typename, instantiations):
self.typename = typename
if instantiations:
self.instantiations = instantiations.asList()
else:
self.instantiations = []
rule = ( # BR
TEMPLATE
+ LOPBRACK
+ delimitedList(TypenameAndInstantiations.rule)(
"typename_and_instantiations_list"
)
+ ROPBRACK # BR
).setParseAction(
lambda t: Template(t.typename_and_instantiations_list.asList())
)
def __init__(self, typename_and_instantiations_list):
ti_list = typename_and_instantiations_list
self.typenames = [ti.typename for ti in ti_list]
self.instantiations = [ti.instantiations for ti in ti_list]
def __repr__(self):
return "<{0}>".format(", ".join(self.typenames))
class Method:
"""
Rule to parse a method in a class.
E.g.
```
class Hello {
void sayHello() const;
};
```
"""
rule = (
Optional(Template.rule("template"))
+ ReturnType.rule("return_type")
+ IDENT("name")
+ LPAREN
+ ArgumentList.rule("args_list")
+ RPAREN
+ Optional(CONST("is_const"))
+ SEMI_COLON # BR
).setParseAction(
lambda t: Method(
t.template, t.name, t.return_type, t.args_list, t.is_const
)
)
def __init__(self, template, name, return_type, args, is_const, parent=''):
self.template = template
self.name = name
self.return_type = return_type
self.args = args
self.is_const = is_const
self.parent = parent
def __repr__(self):
return "Method: {} {} {}({}){}".format(
self.template,
self.return_type,
self.name,
self.args,
self.is_const,
)
class StaticMethod:
"""
Rule to parse all the static methods in a class.
E.g.
```
class Hello {
static void changeGreeting();
};
```
"""
rule = (
STATIC
+ ReturnType.rule("return_type")
+ IDENT("name")
+ LPAREN
+ ArgumentList.rule("args_list")
+ RPAREN
+ SEMI_COLON # BR
).setParseAction(
lambda t: StaticMethod(t.name, t.return_type, t.args_list)
)
def __init__(self, name, return_type, args, parent=''):
self.name = name
self.return_type = return_type
self.args = args
self.parent = parent
def __repr__(self):
return "static {} {}{}".format(self.return_type, self.name, self.args)
def to_cpp(self):
"""Generate the C++ code for wrapping."""
return self.name
class Constructor:
"""
Rule to parse the class constructor.
Can have 0 or more arguments.
"""
rule = (
IDENT("name")
+ LPAREN
+ ArgumentList.rule("args_list")
+ RPAREN
+ SEMI_COLON # BR
).setParseAction(lambda t: Constructor(t.name, t.args_list))
def __init__(self, name, args, parent=''):
self.name = name
self.args = args
self.parent = parent
def __repr__(self):
return "Constructor: {}".format(self.name)
class Property:
"""
Rule to parse the variable members of a class.
E.g.
```
class Hello {
string name; // This is a property.
};
````
"""
rule = (Type.rule("ctype") + IDENT("name") + SEMI_COLON).setParseAction(
lambda t: Property(t.ctype, t.name)
)
def __init__(self, ctype, name, parent=''):
self.ctype = ctype
self.name = name
self.parent = parent
def __repr__(self):
return '{} {}'.format(self.ctype.__repr__(), self.name)
def collect_namespaces(obj):
"""Get the chain of namespaces from the lowest to highest for the given object."""
namespaces = []
ancestor = obj.parent
while ancestor and ancestor.name:
namespaces = [ancestor.name] + namespaces
ancestor = ancestor.parent
return [''] + namespaces
class Class:
"""
Rule to parse a class defined in the interface file.
E.g.
```
class Hello {
...
};
```
"""
class MethodsAndProperties:
"""
Rule for all the methods and properties within a class.
"""
rule = ZeroOrMore(
Constructor.rule ^ StaticMethod.rule ^ Method.rule ^ Property.rule
).setParseAction(lambda t: Class.MethodsAndProperties(t.asList()))
def __init__(self, methods_props):
self.ctors = []
self.methods = []
self.static_methods = []
self.properties = []
for m in methods_props:
if isinstance(m, Constructor):
self.ctors.append(m)
elif isinstance(m, Method):
self.methods.append(m)
elif isinstance(m, StaticMethod):
self.static_methods.append(m)
elif isinstance(m, Property):
self.properties.append(m)
_parent = COLON + Typename.rule("parent_class")
rule = (
Optional(Template.rule("template"))
+ Optional(VIRTUAL("is_virtual"))
+ CLASS
+ IDENT("name")
+ Optional(_parent)
+ LBRACE
+ MethodsAndProperties.rule("methods_props")
+ RBRACE
+ SEMI_COLON # BR
).setParseAction(
lambda t: Class(
t.template,
t.is_virtual,
t.name,
t.parent_class,
t.methods_props.ctors,
t.methods_props.methods,
t.methods_props.static_methods,
t.methods_props.properties,
)
)
def __init__(
self,
template,
is_virtual,
name,
parent_class,
ctors,
methods,
static_methods,
properties,
parent='',
):
self.template = template
self.is_virtual = is_virtual
self.name = name
if parent_class:
self.parent_class = Typename.from_parse_result(parent_class)
else:
self.parent_class = ''
self.ctors = ctors
self.methods = methods
self.static_methods = static_methods
self.properties = properties
self.parent = parent
# Make sure ctors' names and class name are the same.
for ctor in self.ctors:
if ctor.name != self.name:
raise ValueError(
"Error in constructor name! {} != {}".format(
ctor.name, self.name
)
)
for ctor in self.ctors:
ctor.parent = self
for method in self.methods:
method.parent = self
for static_method in self.static_methods:
static_method.parent = self
for _property in self.properties:
_property.parent = self
def namespaces(self):
"""Get the namespaces which this class is nested under as a list."""
return collect_namespaces(self)
class TypedefTemplateInstantiation:
"""
Rule for parsing typedefs (with templates) within the interface file.
E.g.
```
typedef SuperComplexName<Arg1, Arg2, Arg3> EasierName;
```
"""
rule = (
TYPEDEF + Typename.rule("typename") + IDENT("new_name") + SEMI_COLON
).setParseAction(
lambda t: TypedefTemplateInstantiation(
Typename.from_parse_result(t.typename), t.new_name
)
)
def __init__(self, typename, new_name, parent=''):
self.typename = typename
self.new_name = new_name
self.parent = parent
class Include:
"""
Rule to parse #include directives.
"""
rule = (
INCLUDE + LOPBRACK + CharsNotIn('>')("header") + ROPBRACK
).setParseAction(lambda t: Include(t.header))
def __init__(self, header, parent=''):
self.header = header
self.parent = parent
def __repr__(self):
return "#include <{}>".format(self.header)
class ForwardDeclaration:
"""
Rule to parse forward declarations in the interface file.
"""
rule = (
Optional(VIRTUAL("is_virtual"))
+ CLASS
+ Typename.rule("name")
+ Optional(COLON + Typename.rule("parent_type"))
+ SEMI_COLON
).setParseAction(
lambda t: ForwardDeclaration(t.is_virtual, t.name, t.parent_type)
)
def __init__(self, is_virtual, name, parent_type, parent=''):
self.is_virtual = is_virtual
self.name = name
if parent_type:
self.parent_type = Typename.from_parse_result(parent_type)
else:
self.parent_type = ''
self.parent = parent
def __repr__(self):
return "ForwardDeclaration: {} {}({})".format(
self.is_virtual, self.name, self.parent
)
class GlobalFunction:
"""
Rule to parse functions defined in the global scope.
"""
rule = (
ReturnType.rule("return_type")
+ IDENT("name")
+ LPAREN
+ ArgumentList.rule("args_list")
+ RPAREN
+ SEMI_COLON
).setParseAction(
lambda t: GlobalFunction(t.name, t.return_type, t.args_list)
)
def __init__(self, name, return_type, args_list, parent=''):
self.name = name
self.return_type = return_type
self.args = args_list
self.is_const = None
self.parent = parent
self.return_type.parent = self
self.args.parent = self
def __repr__(self):
return "GlobalFunction: {}{}({})".format(
self.return_type, self.name, self.args
)
def to_cpp(self):
"""Generate the C++ code for wrapping."""
return self.name
def find_sub_namespace(namespace, str_namespaces):
"""
Get the namespaces nested under `namespace`, filtered by a list of namespace strings.
Args:
namespace: The top-level namespace under which to find sub-namespaces.
str_namespaces: The list of namespace strings to filter against.
"""
if not str_namespaces:
return [namespace]
sub_namespaces = (
ns for ns in namespace.content if isinstance(ns, Namespace)
)
found_namespaces = [
ns for ns in sub_namespaces if ns.name == str_namespaces[0]
]
if not found_namespaces:
return None
res = []
for found_namespace in found_namespaces:
ns = find_sub_namespace(found_namespace, str_namespaces[1:])
if ns:
res += ns
return res
class Namespace:
"""Rule for parsing a namespace in the interface file."""
rule = Forward()
rule << (
NAMESPACE
+ IDENT("name")
+ LBRACE
+ ZeroOrMore( # BR
ForwardDeclaration.rule
^ Include.rule
^ Class.rule
^ TypedefTemplateInstantiation.rule
^ GlobalFunction.rule
^ rule
)(
"content"
) # BR
+ RBRACE
).setParseAction(lambda t: Namespace.from_parse_result(t))
def __init__(self, name, content, parent=''):
self.name = name
self.content = content
self.parent = parent
for child in self.content:
child.parent = self
@staticmethod
def from_parse_result(t):
"""Return the result of parsing."""
if t.content:
content = t.content.asList()
else:
content = []
return Namespace(t.name, content)
def find_class(self, typename):
"""
Find the Class object given its typename.
We have to traverse the tree of namespaces.
"""
found_namespaces = find_sub_namespace(self, typename.namespaces)
res = []
for namespace in found_namespaces:
classes = (c for c in namespace.content if isinstance(c, Class))
res += [c for c in classes if c.name == typename.name]
if not res:
raise ValueError(
"Cannot find class {} in module!".format(typename.name)
)
elif len(res) > 1:
raise ValueError(
"Found more than one classes {} in module!".format(
typename.name
)
)
else:
return res[0]
def top_level(self):
"""Return the top leve namespace."""
if self.name == '' or self.parent == '':
return self
else:
return self.parent.top_level()
def __repr__(self):
return "Namespace: {}\n\t{}".format(self.name, self.content)
def full_namespaces(self):
"""Get the full namespace list."""
ancestors = collect_namespaces(self)
if self.name:
ancestors.append(self.name)
return ancestors
class Module:
"""
Module is just a global namespace.
E.g.
```
namespace gtsam {
...
}
```
"""
rule = (
ZeroOrMore(
ForwardDeclaration.rule
^ Include.rule
^ Class.rule
^ TypedefTemplateInstantiation.rule
^ GlobalFunction.rule
^ Namespace.rule
).setParseAction(lambda t: Namespace('', t.asList()))
+ stringEnd
)
rule.ignore(cppStyleComment)
@staticmethod
def parseString(s: str):
"""Parse the source string and apply the rules."""
return Module.rule.parseString(s)[0]

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Parser to get the interface of a C++ source file
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
import sys
import pyparsing
from .classes import *
from .declaration import *
from .function import *
from .module import *
from .namespace import *
from .template import *
from .tokens import *
from .type import *
# Fix deepcopy issue with pyparsing
# Can remove once https://github.com/pyparsing/pyparsing/issues/208 is resolved.
if sys.version_info >= (3, 8):
def fixed_get_attr(self, item):
"""
Fix for monkey-patching issue with deepcopy in pyparsing.ParseResults
"""
if item == '__deepcopy__':
raise AttributeError(item)
try:
return self[item]
except KeyError:
return ""
# apply the monkey-patch
pyparsing.ParseResults.__getattr__ = fixed_get_attr
pyparsing.ParserElement.enablePackrat()

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Parser classes and rules for parsing C++ classes.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from typing import List, Union
from pyparsing import Optional, ZeroOrMore
from .function import ArgumentList, ReturnType
from .template import Template
from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, RBRACE,
RPAREN, SEMI_COLON, STATIC, VIRTUAL)
from .type import Type, Typename
class Method:
"""
Rule to parse a method in a class.
E.g.
```
class Hello {
void sayHello() const;
};
```
"""
rule = (
Optional(Template.rule("template")) #
+ ReturnType.rule("return_type") #
+ IDENT("name") #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ Optional(CONST("is_const")) #
+ SEMI_COLON # BR
).setParseAction(lambda t: Method(t.template, t.name, t.return_type, t.
args_list, t.is_const))
def __init__(self,
template: str,
name: str,
return_type: ReturnType,
args: ArgumentList,
is_const: str,
parent: Union[str, "Class"] = ''):
self.template = template
self.name = name
self.return_type = return_type
self.args = args
self.is_const = is_const
self.parent = parent
def __repr__(self) -> str:
return "Method: {} {} {}({}){}".format(
self.template,
self.return_type,
self.name,
self.args,
self.is_const,
)
class StaticMethod:
"""
Rule to parse all the static methods in a class.
E.g.
```
class Hello {
static void changeGreeting();
};
```
"""
rule = (
STATIC #
+ ReturnType.rule("return_type") #
+ IDENT("name") #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ SEMI_COLON # BR
).setParseAction(
lambda t: StaticMethod(t.name, t.return_type, t.args_list))
def __init__(self,
name: str,
return_type: ReturnType,
args: ArgumentList,
parent: Union[str, "Class"] = ''):
self.name = name
self.return_type = return_type
self.args = args
self.parent = parent
def __repr__(self) -> str:
return "static {} {}{}".format(self.return_type, self.name, self.args)
def to_cpp(self) -> str:
"""Generate the C++ code for wrapping."""
return self.name
class Constructor:
"""
Rule to parse the class constructor.
Can have 0 or more arguments.
"""
rule = (
IDENT("name") #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ SEMI_COLON # BR
).setParseAction(lambda t: Constructor(t.name, t.args_list))
def __init__(self,
name: str,
args: ArgumentList,
parent: Union["Class", str] = ''):
self.name = name
self.args = args
self.parent = parent
def __repr__(self) -> str:
return "Constructor: {}".format(self.name)
class Property:
"""
Rule to parse the variable members of a class.
E.g.
```
class Hello {
string name; // This is a property.
};
````
"""
rule = (
Type.rule("ctype") #
+ IDENT("name") #
+ SEMI_COLON #
).setParseAction(lambda t: Property(t.ctype, t.name))
def __init__(self, ctype: Type, name: str, parent=''):
self.ctype = ctype
self.name = name
self.parent = parent
def __repr__(self) -> str:
return '{} {}'.format(self.ctype.__repr__(), self.name)
def collect_namespaces(obj):
"""
Get the chain of namespaces from the lowest to highest for the given object.
Args:
obj: Object of type Namespace, Class or InstantiatedClass.
"""
namespaces = []
ancestor = obj.parent
while ancestor and ancestor.name:
namespaces = [ancestor.name] + namespaces
ancestor = ancestor.parent
return [''] + namespaces
class Class:
"""
Rule to parse a class defined in the interface file.
E.g.
```
class Hello {
...
};
```
"""
class MethodsAndProperties:
"""
Rule for all the methods and properties within a class.
"""
rule = ZeroOrMore(Constructor.rule ^ StaticMethod.rule ^ Method.rule
^ Property.rule).setParseAction(
lambda t: Class.MethodsAndProperties(t.asList()))
def __init__(self, methods_props: List[Union[Constructor, Method,
StaticMethod, Property]]):
self.ctors = []
self.methods = []
self.static_methods = []
self.properties = []
for m in methods_props:
if isinstance(m, Constructor):
self.ctors.append(m)
elif isinstance(m, Method):
self.methods.append(m)
elif isinstance(m, StaticMethod):
self.static_methods.append(m)
elif isinstance(m, Property):
self.properties.append(m)
_parent = COLON + Typename.rule("parent_class")
rule = (
Optional(Template.rule("template")) #
+ Optional(VIRTUAL("is_virtual")) #
+ CLASS #
+ IDENT("name") #
+ Optional(_parent) #
+ LBRACE #
+ MethodsAndProperties.rule("methods_props") #
+ RBRACE #
+ SEMI_COLON # BR
).setParseAction(lambda t: Class(
t.template,
t.is_virtual,
t.name,
t.parent_class,
t.methods_props.ctors,
t.methods_props.methods,
t.methods_props.static_methods,
t.methods_props.properties,
))
def __init__(
self,
template: Template,
is_virtual: str,
name: str,
parent_class: list,
ctors: List[Constructor],
methods: List[Method],
static_methods: List[StaticMethod],
properties: List[Property],
parent: str = '',
):
self.template = template
self.is_virtual = is_virtual
self.name = name
if parent_class:
self.parent_class = Typename.from_parse_result(parent_class)
else:
self.parent_class = ''
self.ctors = ctors
self.methods = methods
self.static_methods = static_methods
self.properties = properties
self.parent = parent
# Make sure ctors' names and class name are the same.
for ctor in self.ctors:
if ctor.name != self.name:
raise ValueError("Error in constructor name! {} != {}".format(
ctor.name, self.name))
for ctor in self.ctors:
ctor.parent = self
for method in self.methods:
method.parent = self
for static_method in self.static_methods:
static_method.parent = self
for _property in self.properties:
_property.parent = self
def namespaces(self) -> list:
"""Get the namespaces which this class is nested under as a list."""
return collect_namespaces(self)
def __repr__(self):
return "Class: {self.name}".format(self=self)

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Classes and rules for declarations such as includes and forward declarations.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from pyparsing import CharsNotIn, Optional
from .tokens import (CLASS, COLON, INCLUDE, LOPBRACK, ROPBRACK, SEMI_COLON,
VIRTUAL)
from .type import Typename
class Include:
"""
Rule to parse #include directives.
"""
rule = (INCLUDE + LOPBRACK + CharsNotIn('>')("header") +
ROPBRACK).setParseAction(lambda t: Include(t.header))
def __init__(self, header: CharsNotIn, parent: str = ''):
self.header = header
self.parent = parent
def __repr__(self) -> str:
return "#include <{}>".format(self.header)
class ForwardDeclaration:
"""
Rule to parse forward declarations in the interface file.
"""
rule = (Optional(VIRTUAL("is_virtual")) + CLASS + Typename.rule("name") +
Optional(COLON + Typename.rule("parent_type")) +
SEMI_COLON).setParseAction(lambda t: ForwardDeclaration(
t.name, t.parent_type, t.is_virtual))
def __init__(self,
name: Typename,
parent_type: str,
is_virtual: str,
parent: str = ''):
self.name = name
if parent_type:
self.parent_type = Typename.from_parse_result(parent_type)
else:
self.parent_type = ''
self.is_virtual = is_virtual
self.parent = parent
def __repr__(self) -> str:
return "ForwardDeclaration: {} {}({})".format(self.is_virtual,
self.name, self.parent)

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Parser classes and rules for parsing C++ functions.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from typing import List, Union
from pyparsing import Optional, ParseResults, delimitedList
from .template import Template
from .tokens import (COMMA, IDENT, LOPBRACK, LPAREN, PAIR, ROPBRACK, RPAREN,
SEMI_COLON)
from .type import Type
class Argument:
"""
The type and name of a function/method argument.
E.g.
```
void sayHello(/*`s` is the method argument with type `const string&`*/ const string& s);
```
"""
rule = (Type.rule("ctype") +
IDENT("name")).setParseAction(lambda t: Argument(t.ctype, t.name))
def __init__(self, ctype: Type, name: str):
self.ctype = ctype
self.name = name
self.parent: Union[ArgumentList, None] = None
def __repr__(self) -> str:
return '{} {}'.format(self.ctype.__repr__(), self.name)
class ArgumentList:
"""
List of Argument objects for all arguments in a function.
"""
rule = Optional(delimitedList(Argument.rule)("args_list")).setParseAction(
lambda t: ArgumentList.from_parse_result(t.args_list))
def __init__(self, args_list: List[Argument]):
self.args_list = args_list
for arg in args_list:
arg.parent = self
# The parent object which contains the argument list
# E.g. Method, StaticMethod, Template, Constructor, GlobalFunction
self.parent = None
@staticmethod
def from_parse_result(parse_result: ParseResults):
"""Return the result of parsing."""
if parse_result:
return ArgumentList(parse_result.asList())
else:
return ArgumentList([])
def __repr__(self) -> str:
return self.args_list.__repr__()
def __len__(self) -> int:
return len(self.args_list)
def args_names(self) -> List[str]:
"""Return a list of the names of all the arguments."""
return [arg.name for arg in self.args_list]
def to_cpp(self, use_boost: bool) -> List[str]:
"""Generate the C++ code for wrapping."""
return [arg.ctype.to_cpp(use_boost) for arg in self.args_list]
class ReturnType:
"""
Rule to parse the return type.
The return type can either be a single type or a pair such as <type1, type2>.
"""
_pair = (
PAIR.suppress() #
+ LOPBRACK #
+ Type.rule("type1") #
+ COMMA #
+ Type.rule("type2") #
+ ROPBRACK #
)
rule = (_pair ^ Type.rule("type1")).setParseAction( # BR
lambda t: ReturnType(t.type1, t.type2))
def __init__(self, type1: Type, type2: Type):
self.type1 = type1
self.type2 = type2
# The parent object which contains the return type
# E.g. Method, StaticMethod, Template, Constructor, GlobalFunction
self.parent = None
def is_void(self) -> bool:
"""
Check if the return type is void.
"""
return self.type1.typename.name == "void" and not self.type2
def __repr__(self) -> str:
return "{}{}".format(
self.type1, (', ' + self.type2.__repr__()) if self.type2 else '')
def to_cpp(self, use_boost: bool) -> str:
"""
Generate the C++ code for wrapping.
If there are two return types, we return a pair<>,
otherwise we return the regular return type.
"""
if self.type2:
return "std::pair<{type1},{type2}>".format(
type1=self.type1.to_cpp(use_boost),
type2=self.type2.to_cpp(use_boost))
else:
return self.type1.to_cpp(use_boost)
class GlobalFunction:
"""
Rule to parse functions defined in the global scope.
"""
rule = (
Optional(Template.rule("template")) + ReturnType.rule("return_type") #
+ IDENT("name") #
+ LPAREN #
+ ArgumentList.rule("args_list") #
+ RPAREN #
+ SEMI_COLON #
).setParseAction(lambda t: GlobalFunction(t.name, t.return_type, t.
args_list, t.template))
def __init__(self,
name: str,
return_type: ReturnType,
args_list: ArgumentList,
template: Template,
parent: str = ''):
self.name = name
self.return_type = return_type
self.args = args_list
self.template = template
self.parent = parent
self.return_type.parent = self
self.args.parent = self
def __repr__(self) -> str:
return "GlobalFunction: {}{}({})".format(self.return_type, self.name,
self.args)
def to_cpp(self) -> str:
"""Generate the C++ code for wrapping."""
return self.name

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Rules and classes for parsing a module.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
# pylint: disable=unnecessary-lambda, unused-import, expression-not-assigned, no-else-return, protected-access, too-few-public-methods, too-many-arguments
import sys
import pyparsing # type: ignore
from pyparsing import (ParserElement, ParseResults, ZeroOrMore,
cppStyleComment, stringEnd)
from .classes import Class
from .declaration import ForwardDeclaration, Include
from .function import GlobalFunction
from .namespace import Namespace
from .template import TypedefTemplateInstantiation
class Module:
"""
Module is just a global namespace.
E.g.
```
namespace gtsam {
...
}
```
"""
rule = (
ZeroOrMore(ForwardDeclaration.rule #
^ Include.rule #
^ Class.rule #
^ TypedefTemplateInstantiation.rule #
^ GlobalFunction.rule #
^ Namespace.rule #
).setParseAction(lambda t: Namespace('', t.asList())) +
stringEnd)
rule.ignore(cppStyleComment)
@staticmethod
def parseString(s: str) -> ParseResults:
"""Parse the source string and apply the rules."""
return Module.rule.parseString(s)[0]

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Classes and rules to parse a namespace.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
# pylint: disable=unnecessary-lambda, expression-not-assigned
from typing import List, Union
from pyparsing import Forward, ParseResults, ZeroOrMore
from .classes import Class, collect_namespaces
from .declaration import ForwardDeclaration, Include
from .function import GlobalFunction
from .template import TypedefTemplateInstantiation
from .tokens import IDENT, LBRACE, NAMESPACE, RBRACE
from .type import Typename
def find_sub_namespace(namespace: "Namespace",
str_namespaces: List["Namespace"]) -> list:
"""
Get the namespaces nested under `namespace`, filtered by a list of namespace strings.
Args:
namespace: The top-level namespace under which to find sub-namespaces.
str_namespaces: The list of namespace strings to filter against.
"""
if not str_namespaces:
return [namespace]
sub_namespaces = (ns for ns in namespace.content
if isinstance(ns, Namespace))
found_namespaces = [
ns for ns in sub_namespaces if ns.name == str_namespaces[0]
]
if not found_namespaces:
return []
res = []
for found_namespace in found_namespaces:
ns = find_sub_namespace(found_namespace, str_namespaces[1:])
if ns:
res += ns
return res
class Namespace:
"""Rule for parsing a namespace in the interface file."""
rule = Forward()
rule << (
NAMESPACE #
+ IDENT("name") #
+ LBRACE #
+ ZeroOrMore( # BR
ForwardDeclaration.rule #
^ Include.rule #
^ Class.rule #
^ TypedefTemplateInstantiation.rule #
^ GlobalFunction.rule #
^ rule #
)("content") # BR
+ RBRACE #
).setParseAction(lambda t: Namespace.from_parse_result(t))
def __init__(self, name: str, content: ZeroOrMore, parent=''):
self.name = name
self.content = content
self.parent = parent
for child in self.content:
child.parent = self
@staticmethod
def from_parse_result(t: ParseResults):
"""Return the result of parsing."""
if t.content:
content = t.content.asList()
else:
content = []
return Namespace(t.name, content)
def find_class_or_function(
self, typename: Typename) -> Union[Class, GlobalFunction]:
"""
Find the Class or GlobalFunction object given its typename.
We have to traverse the tree of namespaces.
"""
found_namespaces = find_sub_namespace(self, typename.namespaces)
res = []
for namespace in found_namespaces:
classes_and_funcs = (c for c in namespace.content
if isinstance(c, (Class, GlobalFunction)))
res += [c for c in classes_and_funcs if c.name == typename.name]
if not res:
raise ValueError("Cannot find class {} in module!".format(
typename.name))
elif len(res) > 1:
raise ValueError(
"Found more than one classes {} in module!".format(
typename.name))
else:
return res[0]
def top_level(self) -> "Namespace":
"""Return the top leve namespace."""
if self.name == '' or self.parent == '':
return self
else:
return self.parent.top_level()
def __repr__(self) -> str:
return "Namespace: {}\n\t{}".format(self.name, self.content)
def full_namespaces(self) -> List["Namespace"]:
"""Get the full namespace list."""
ancestors = collect_namespaces(self)
if self.name:
ancestors.append(self.name)
return ancestors

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Classes and rules for parsing C++ templates and typedefs for template instantiations.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from typing import List
from pyparsing import Optional, ParseResults, delimitedList
from .tokens import (EQUAL, IDENT, LBRACE, LOPBRACK, RBRACE, ROPBRACK,
SEMI_COLON, TEMPLATE, TYPEDEF)
from .type import Typename
class Template:
"""
Rule to parse templated values in the interface file.
E.g.
template<POSE> // this is the Template.
class Camera { ... };
"""
class TypenameAndInstantiations:
"""
Rule to parse the template parameters.
template<typename POSE> // POSE is the Instantiation.
"""
rule = (
IDENT("typename") #
+ Optional( #
EQUAL #
+ LBRACE #
+ ((delimitedList(Typename.rule)("instantiations"))) #
+ RBRACE #
)).setParseAction(lambda t: Template.TypenameAndInstantiations(
t.typename, t.instantiations))
def __init__(self, typename: str, instantiations: ParseResults):
self.typename = typename
if instantiations:
self.instantiations = instantiations.asList()
else:
self.instantiations = []
rule = ( # BR
TEMPLATE #
+ LOPBRACK #
+ delimitedList(TypenameAndInstantiations.rule)(
"typename_and_instantiations_list") #
+ ROPBRACK # BR
).setParseAction(
lambda t: Template(t.typename_and_instantiations_list.asList()))
def __init__(
self,
typename_and_instantiations_list: List[TypenameAndInstantiations]):
ti_list = typename_and_instantiations_list
self.typenames = [ti.typename for ti in ti_list]
self.instantiations = [ti.instantiations for ti in ti_list]
def __repr__(self) -> str:
return "<{0}>".format(", ".join(self.typenames))
class TypedefTemplateInstantiation:
"""
Rule for parsing typedefs (with templates) within the interface file.
E.g.
```
typedef SuperComplexName<Arg1, Arg2, Arg3> EasierName;
```
"""
rule = (TYPEDEF + Typename.rule("typename") + IDENT("new_name") +
SEMI_COLON).setParseAction(lambda t: TypedefTemplateInstantiation(
Typename.from_parse_result(t.typename), t.new_name))
def __init__(self, typename: Typename, new_name: str, parent: str = ''):
self.typename = typename
self.new_name = new_name
self.parent = parent

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
All the token definitions.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
from pyparsing import Keyword, Literal, Suppress, Word, alphanums, alphas, nums
# rule for identifiers (e.g. variable names)
IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)
RAW_POINTER, SHARED_POINTER, REF = map(Literal, "@*&")
LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;")
LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=")
CONST, VIRTUAL, CLASS, STATIC, PAIR, TEMPLATE, TYPEDEF, INCLUDE = map(
Keyword,
[
"const",
"virtual",
"class",
"static",
"pair",
"template",
"typedef",
"#include",
],
)
NAMESPACE = Keyword("namespace")
BASIS_TYPES = map(
Keyword,
[
"void",
"bool",
"unsigned char",
"char",
"int",
"size_t",
"double",
"float",
],
)

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"""
GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
See LICENSE for the license information
Define the parser rules and classes for various C++ types.
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
# pylint: disable=unnecessary-lambda, expression-not-assigned
from typing import Iterable, Union
from pyparsing import Forward, Optional, Or, ParseResults, delimitedList
from .tokens import (BASIS_TYPES, CONST, IDENT, LOPBRACK, RAW_POINTER, REF,
ROPBRACK, SHARED_POINTER)
class Typename:
"""
Generic type which can be either a basic type or a class type,
similar to C++'s `typename` aka a qualified dependent type.
Contains type name with full namespace and template arguments.
E.g.
```
gtsam::PinholeCamera<gtsam::Cal3S2>
```
will give the name as `PinholeCamera`, namespace as `gtsam`,
and template instantiations as `[gtsam::Cal3S2]`.
Args:
namespaces_and_name: A list representing the namespaces of the type
with the type being the last element.
instantiations: Template parameters to the type.
"""
namespaces_name_rule = delimitedList(IDENT, "::")
instantiation_name_rule = delimitedList(IDENT, "::")
rule = Forward()
rule << (
namespaces_name_rule("namespaces_and_name") #
+ Optional(
(LOPBRACK + delimitedList(rule, ",")
("instantiations") + ROPBRACK))).setParseAction(
lambda t: Typename(t.namespaces_and_name, t.instantiations))
def __init__(self,
namespaces_and_name: ParseResults,
instantiations: Union[tuple, list, str, ParseResults] = ()):
self.name = namespaces_and_name[
-1] # the name is the last element in this list
self.namespaces = namespaces_and_name[:-1]
if instantiations:
if isinstance(instantiations, Iterable):
self.instantiations = instantiations # type: ignore
else:
self.instantiations = instantiations.asList()
else:
self.instantiations = []
if self.name in ["Matrix", "Vector"] and not self.namespaces:
self.namespaces = ["gtsam"]
@staticmethod
def from_parse_result(parse_result: Union[str, list]):
"""Unpack the parsed result to get the Typename instance."""
return parse_result[0]
def __repr__(self) -> str:
return self.to_cpp()
def instantiated_name(self) -> str:
"""Get the instantiated name of the type."""
res = self.name
for instantiation in self.instantiations:
res += instantiation.instantiated_name()
return res
def to_cpp(self) -> str:
"""Generate the C++ code for wrapping."""
idx = 1 if self.namespaces and not self.namespaces[0] else 0
if self.instantiations:
cpp_name = self.name + "<{}>".format(", ".join(
[inst.to_cpp() for inst in self.instantiations]))
else:
cpp_name = self.name
return '{}{}{}'.format(
"::".join(self.namespaces[idx:]),
"::" if self.namespaces[idx:] else "",
cpp_name,
)
def __eq__(self, other) -> bool:
if isinstance(other, Typename):
return str(self) == str(other)
else:
return False
def __ne__(self, other) -> bool:
res = self.__eq__(other)
return not res
class QualifiedType:
"""Type with qualifiers, such as `const`."""
rule = (
Typename.rule("typename") #
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref"))).setParseAction(lambda t: QualifiedType(t))
def __init__(self, t: ParseResults):
self.typename = Typename.from_parse_result(t.typename)
self.is_shared_ptr = t.is_shared_ptr
self.is_ptr = t.is_ptr
self.is_ref = t.is_ref
class BasisType:
"""
Basis types are the built-in types in C++ such as double, int, char, etc.
When using templates, the basis type will take on the same form as the template.
E.g.
```
template<T = {double}>
void func(const T& x);
```
will give
```
m_.def("CoolFunctionDoubleDouble",[](const double& s) {
return wrap_example::CoolFunction<double,double>(s);
}, py::arg("s"));
```
"""
rule = (
Or(BASIS_TYPES)("typename") #
+ Optional(
SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
| REF("is_ref")) #
).setParseAction(lambda t: BasisType(t))
def __init__(self, t: ParseResults):
self.typename = Typename([t.typename])
self.is_ptr = t.is_ptr
self.is_shared_ptr = t.is_shared_ptr
self.is_ref = t.is_ref
class Type:
"""The type value that is parsed, e.g. void, string, size_t."""
rule = (
Optional(CONST("is_const")) #
+ (BasisType.rule("basis") | QualifiedType.rule("qualified")) # BR
).setParseAction(lambda t: Type.from_parse_result(t))
def __init__(self, typename: Typename, is_const: str, is_shared_ptr: str,
is_ptr: str, is_ref: str, is_basis: bool):
self.typename = typename
self.is_const = is_const
self.is_shared_ptr = is_shared_ptr
self.is_ptr = is_ptr
self.is_ref = is_ref
self.is_basis = is_basis
@staticmethod
def from_parse_result(t: ParseResults):
"""Return the resulting Type from parsing the source."""
if t.basis:
return Type(
typename=t.basis.typename,
is_const=t.is_const,
is_shared_ptr=t.basis.is_shared_ptr,
is_ptr=t.basis.is_ptr,
is_ref=t.basis.is_ref,
is_basis=True,
)
elif t.qualified:
return Type(
typename=t.qualified.typename,
is_const=t.is_const,
is_shared_ptr=t.qualified.is_shared_ptr,
is_ptr=t.qualified.is_ptr,
is_ref=t.qualified.is_ref,
is_basis=False,
)
else:
raise ValueError("Parse result is not a Type")
def __repr__(self) -> str:
return "{self.typename} " \
"{self.is_const}{self.is_shared_ptr}{self.is_ptr}{self.is_ref}".format(
self=self)
def to_cpp(self, use_boost: bool) -> str:
"""
Generate the C++ code for wrapping.
Treat all pointers as "const shared_ptr<T>&"
Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp.
"""
shared_ptr_ns = "boost" if use_boost else "std"
if self.is_shared_ptr:
# always pass by reference: https://stackoverflow.com/a/8741626/1236990
typename = "{ns}::shared_ptr<{typename}>&".format(
ns=shared_ptr_ns, typename=self.typename.to_cpp())
elif self.is_ptr:
typename = "{typename}*".format(typename=self.typename.to_cpp())
elif self.is_ref or self.typename.name in ["Matrix", "Vector"]:
typename = typename = "{typename}&".format(
typename=self.typename.to_cpp())
else:
typename = self.typename.to_cpp()
return ("{const}{typename}".format(
const="const " if
(self.is_const
or self.typename.name in ["Matrix", "Vector"]) else "",
typename=typename))

906
wrap/gtwrap/matlab_wrapper.py
View File

File diff suppressed because it is too large Load Diff

58
wrap/gtwrap/pybind_wrapper.py
View File

@ -10,10 +10,9 @@ Code generator for wrapping a C++ module with Pybind11
Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
"""
# pylint: disable=too-many-arguments, too-many-instance-attributes, no-self-use, no-else-return, too-many-arguments, unused-format-string-argument
# pylint: disable=too-many-arguments, too-many-instance-attributes, no-self-use, no-else-return, too-many-arguments, unused-format-string-argument, line-too-long
import re
import textwrap
import gtwrap.interface_parser as parser
import gtwrap.template_instantiator as instantiator
@ -39,6 +38,9 @@ class PybindWrapper:
self.module_template = module_template
self.python_keywords = ['print', 'lambda']
# amount of indentation to add before each function/method declaration.
self.method_indent = '\n' + (' ' * 8)
def _py_args_names(self, args_list):
"""Set the argument names in Pybind11 format."""
names = args_list.args_names()
@ -54,13 +56,13 @@ class PybindWrapper:
names = args_list.args_names()
types_names = ["{} {}".format(ctype, name) for ctype, name in zip(cpp_types, names)]
return ','.join(types_names)
return ', '.join(types_names)
def wrap_ctors(self, my_class):
"""Wrap the constructors."""
res = ""
for ctor in my_class.ctors:
res += ('\n' + ' ' * 8 + '.def(py::init<{args_cpp_types}>()'
res += (self.method_indent + '.def(py::init<{args_cpp_types}>()'
'{py_args_names})'.format(
args_cpp_types=", ".join(ctor.args.to_cpp(self.use_boost)),
py_args_names=self._py_args_names(ctor.args),
@ -74,32 +76,19 @@ class PybindWrapper:
if cpp_method in ["serialize", "serializable"]:
if not cpp_class in self._serializing_classes:
self._serializing_classes.append(cpp_class)
return textwrap.dedent('''
.def("serialize",
[]({class_inst} self){{
return gtsam::serialize(*self);
}}
)
.def("deserialize",
[]({class_inst} self, string serialized){{
gtsam::deserialize(serialized, *self);
}}, py::arg("serialized"))
'''.format(class_inst=cpp_class + '*'))
serialize_method = self.method_indent + \
".def(\"serialize\", []({class_inst} self){{ return gtsam::serialize(*self); }})".format(class_inst=cpp_class + '*')
deserialize_method = self.method_indent + \
".def(\"deserialize\", []({class_inst} self, string serialized){{ gtsam::deserialize(serialized, *self); }}, py::arg(\"serialized\"))" \
.format(class_inst=cpp_class + '*')
return serialize_method + deserialize_method
if cpp_method == "pickle":
if not cpp_class in self._serializing_classes:
raise ValueError("Cannot pickle a class which is not serializable")
return textwrap.dedent('''
.def(py::pickle(
[](const {cpp_class} &a){{ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
}},
[](py::tuple t){{ // __setstate__
{cpp_class} obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}}))
'''.format(cpp_class=cpp_class))
pickle_method = self.method_indent + \
".def(py::pickle({indent} [](const {cpp_class} &a){{ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }},{indent} [](py::tuple t){{ /* __setstate__ */ {cpp_class} obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }}))"
return pickle_method.format(cpp_class=cpp_class, indent=self.method_indent)
is_method = isinstance(method, instantiator.InstantiatedMethod)
is_static = isinstance(method, parser.StaticMethod)
@ -128,14 +117,13 @@ class PybindWrapper:
else py_method + "_",
opt_self="{cpp_class}* self".format(
cpp_class=cpp_class) if is_method else "",
cpp_class=cpp_class,
cpp_method=cpp_method,
opt_comma=',' if is_method and args_names else '',
opt_comma=', ' if is_method and args_names else '',
args_signature_with_names=args_signature_with_names,
function_call=function_call,
py_args_names=py_args_names,
suffix=suffix,
))
if method.name == 'print':
type_list = method.args.to_cpp(self.use_boost)
if len(type_list) > 0 and type_list[0].strip() == 'string':
@ -163,7 +151,11 @@ class PybindWrapper:
return ret
def wrap_methods(self, methods, cpp_class, prefix='\n' + ' ' * 8, suffix=''):
"""Wrap all the methods in the `cpp_class`."""
"""
Wrap all the methods in the `cpp_class`.
This function is also used to wrap global functions.
"""
res = ""
for method in methods:
@ -185,6 +177,7 @@ class PybindWrapper:
prefix=prefix,
suffix=suffix,
)
return res
def wrap_properties(self, properties, cpp_class, prefix='\n' + ' ' * 8):
@ -325,7 +318,8 @@ class PybindWrapper:
# Global functions.
all_funcs = [
func for func in namespace.content
if isinstance(func, parser.GlobalFunction)
if isinstance(func, (parser.GlobalFunction,
instantiator.InstantiatedGlobalFunction))
]
wrapped += self.wrap_methods(
all_funcs,

315
wrap/gtwrap/template_instantiator.py
View File

@ -45,6 +45,7 @@ def instantiate_type(ctype: parser.Type,
return parser.Type(
typename=instantiations[idx],
is_const=ctype.is_const,
is_shared_ptr=ctype.is_shared_ptr,
is_ptr=ctype.is_ptr,
is_ref=ctype.is_ref,
is_basis=ctype.is_basis,
@ -60,9 +61,11 @@ def instantiate_type(ctype: parser.Type,
cpp_typename = parser.Typename(
namespaces_name,
instantiations=instantiated_class.instantiations)
return parser.Type(
typename=cpp_typename,
is_const=ctype.is_const,
is_shared_ptr=ctype.is_shared_ptr,
is_ptr=ctype.is_ptr,
is_ref=ctype.is_ref,
is_basis=ctype.is_basis,
@ -90,15 +93,18 @@ def instantiate_args_list(args_list, template_typenames, instantiations,
"""
instantiated_args = []
for arg in args_list:
new_type = instantiate_type(
arg.ctype, template_typenames, instantiations, cpp_typename)
instantiated_args.append(
parser.Argument(name=arg.name, ctype=new_type))
new_type = instantiate_type(arg.ctype, template_typenames,
instantiations, cpp_typename)
instantiated_args.append(parser.Argument(name=arg.name,
ctype=new_type))
return instantiated_args
def instantiate_return_type(return_type, template_typenames, instantiations,
cpp_typename, instantiated_class=None):
def instantiate_return_type(return_type,
template_typenames,
instantiations,
cpp_typename,
instantiated_class=None):
"""Instantiate the return type."""
new_type1 = instantiate_type(return_type.type1,
template_typenames,
@ -128,22 +134,24 @@ def instantiate_name(original_name, instantiations):
for inst in instantiations:
# Ensure the first character of the type is capitalized
name = inst.instantiated_name()
# Using `capitalize` on the complete causes other caps to be lower case
# Using `capitalize` on the complete name causes other caps to be lower case
instantiated_names.append(name.replace(name[0], name[0].capitalize()))
return "{}{}".format(original_name, "".join(instantiated_names))
class InstantiatedMethod(parser.Method):
"""
We can only instantiate template methods with a single template parameter.
class InstantiatedGlobalFunction(parser.GlobalFunction):
"""
Instantiate global functions.
def __init__(self, original, instantiation=''):
E.g.
template<T = {double}>
T add(const T& x, const T& y);
"""
def __init__(self, original, instantiations=(), new_name=''):
self.original = original
self.instantiation = instantiation
self.instantiations = instantiations
self.template = ''
self.is_const = original.is_const
self.parent = original.parent
if not original.template:
@ -151,29 +159,83 @@ class InstantiatedMethod(parser.Method):
self.return_type = original.return_type
self.args = original.args
else:
#TODO(Varun) enable multiple templates for methods
if len(self.original.template.typenames) > 1:
raise ValueError("Can only instantiate template method with "
"single template parameter.")
self.name = instantiate_name(original.name, [self.instantiation])
self.name = instantiate_name(
original.name, instantiations) if not new_name else new_name
self.return_type = instantiate_return_type(
original.return_type,
[self.original.template.typenames[0]],
[self.instantiation],
self.original.template.typenames,
self.instantiations,
# Keyword type name `This` should already be replaced in the
# previous class template instantiation round.
cpp_typename='',
)
instantiated_args = instantiate_args_list(
original.args.args_list,
[self.original.template.typenames[0]],
[self.instantiation],
self.original.template.typenames,
self.instantiations,
# Keyword type name `This` should already be replaced in the
# previous class template instantiation round.
cpp_typename='',
)
self.args = parser.ArgumentList(instantiated_args)
super().__init__(self.name,
self.return_type,
self.args,
self.template,
parent=self.parent)
def to_cpp(self):
"""Generate the C++ code for wrapping."""
if self.original.template:
instantiated_names = [
inst.instantiated_name() for inst in self.instantiations
]
ret = "{}<{}>".format(self.original.name,
",".join(instantiated_names))
else:
ret = self.original.name
return ret
def __repr__(self):
return "Instantiated {}".format(
super(InstantiatedGlobalFunction, self).__repr__())
class InstantiatedMethod(parser.Method):
"""
We can only instantiate template methods with a single template parameter.
"""
def __init__(self, original, instantiations: List[parser.Typename]=''):
self.original = original
self.instantiations = instantiations
self.template = ''
self.is_const = original.is_const
self.parent = original.parent
# Check for typenames if templated.
# This way, we can gracefully handle bot templated and non-templated methois.
typenames = self.original.template.typenames if self.original.template else []
self.name = instantiate_name(original.name, self.instantiations)
self.return_type = instantiate_return_type(
original.return_type,
typenames,
self.instantiations,
# Keyword type name `This` should already be replaced in the
# previous class template instantiation round.
cpp_typename='',
)
instantiated_args = instantiate_args_list(
original.args.args_list,
typenames,
self.instantiations,
# Keyword type name `This` should already be replaced in the
# previous class template instantiation round.
cpp_typename='',
)
self.args = parser.ArgumentList(instantiated_args)
super().__init__(self.template,
self.name,
self.return_type,
@ -184,15 +246,18 @@ class InstantiatedMethod(parser.Method):
def to_cpp(self):
"""Generate the C++ code for wrapping."""
if self.original.template:
ret = "{}<{}>".format(self.original.name, self.instantiation)
# to_cpp will handle all the namespacing and templating
instantiation_list = [x.to_cpp() for x in self.instantiations]
# now can simply combine the instantiations, separated by commas
ret = "{}<{}>".format(self.original.name,
",".join(instantiation_list))
else:
ret = self.original.name
return ret
def __repr__(self):
return "Instantiated {}".format(
super(InstantiatedMethod, self).__repr__()
)
super(InstantiatedMethod, self).__repr__())
class InstantiatedClass(parser.Class):
@ -212,36 +277,42 @@ class InstantiatedClass(parser.Class):
self.parent_class = original.parent_class
self.parent = original.parent
if not original.template:
self.name = original.name
self.ctors = list(original.ctors)
self.static_methods = list(original.static_methods)
class_instantiated_methods = list(original.methods)
self.properties = list(original.properties)
else:
# Check conditions.
# If the class is templated, check if the number of provided instantiations
# match the number of templates, else it's only a partial instantiation which is bad.
if original.template:
assert len(original.template.typenames) == len(
instantiations), "Typenames and instantiations mismatch!"
self.name = instantiate_name(
original.name, instantiations) if not new_name else new_name
self.ctors = self.instantiate_ctors()
self.static_methods = self.instantiate_static_methods()
class_instantiated_methods = \
self.instantiate_class_templates_in_methods()
self.properties = self.instantiate_properties()
# Get the instantiated name of the class. E.g. FuncDouble
self.name = instantiate_name(
original.name, instantiations) if not new_name else new_name
# Second instantiation round to instantiate template methods.
# Check for typenames if templated.
# By passing in typenames, we can gracefully handle both templated and non-templated classes
# This will allow the `This` keyword to be used in both templated and non-templated classes.
typenames = self.original.template.typenames if self.original.template else []
# Instantiate the constructors, static methods, properties
# and instance methods, respectively.
self.ctors = self.instantiate_ctors(typenames)
self.static_methods = self.instantiate_static_methods(typenames)
self.properties = self.instantiate_properties(typenames)
instantiated_methods = \
self.instantiate_class_templates_in_methods(typenames)
# Second instantiation round to instantiate templated methods.
# This is done in case both the class and the method are templated.
self.methods = []
for method in class_instantiated_methods:
for method in instantiated_methods:
if not method.template:
self.methods.append(InstantiatedMethod(method, ''))
else:
assert len(
method.template.typenames) == 1, ""\
"Can only instantiate single template methods"
for inst in method.template.instantiations[0]:
self.methods.append(InstantiatedMethod(method, inst))
instantiations = []
# Get all combinations of template parameters
for instantiations in itertools.product(
*method.template.instantiations):
self.methods.append(
InstantiatedMethod(method, instantiations))
super().__init__(
self.template,
@ -268,83 +339,114 @@ class InstantiatedClass(parser.Class):
for m in self.static_methods]),
)
def instantiate_ctors(self):
"""Instantiate the class constructors."""
def instantiate_ctors(self, typenames):
"""
Instantiate the class constructors.
Args:
typenames: List of template types to instantiate.
Return: List of constructors instantiated with provided template args.
"""
instantiated_ctors = []
for ctor in self.original.ctors:
instantiated_args = instantiate_args_list(
ctor.args.args_list,
self.original.template.typenames,
typenames,
self.instantiations,
self.cpp_typename(),
)
instantiated_ctors.append(parser.Constructor(
name=self.name,
args=parser.ArgumentList(instantiated_args),
parent=self,
))
instantiated_ctors.append(
parser.Constructor(
name=self.name,
args=parser.ArgumentList(instantiated_args),
parent=self,
))
return instantiated_ctors
def instantiate_static_methods(self):
"""Instantiate static methods in the class."""
def instantiate_static_methods(self, typenames):
"""
Instantiate static methods in the class.
Args:
typenames: List of template types to instantiate.
Return: List of static methods instantiated with provided template args.
"""
instantiated_static_methods = []
for static_method in self.original.static_methods:
instantiated_args = instantiate_args_list(
static_method.args.args_list,
self.original.template.typenames,
self.instantiations,
self.cpp_typename()
)
static_method.args.args_list, typenames, self.instantiations,
self.cpp_typename())
instantiated_static_methods.append(
parser.StaticMethod(
name=static_method.name,
return_type=instantiate_return_type(
static_method.return_type,
self.original.template.typenames,
typenames,
self.instantiations,
self.cpp_typename(),
instantiated_class=self
),
instantiated_class=self),
args=parser.ArgumentList(instantiated_args),
parent=self,
)
)
))
return instantiated_static_methods
def instantiate_class_templates_in_methods(self):
def instantiate_class_templates_in_methods(self, typenames):
"""
This function only instantiates class templates in the methods.
This function only instantiates the class-level templates in the methods.
Template methods are instantiated in InstantiatedMethod in the second
round.
E.g.
```
template<T={string}>
class Greeter{
void sayHello(T& name);
};
Args:
typenames: List of template types to instantiate.
Return: List of methods instantiated with provided template args on the class.
"""
class_instantiated_methods = []
for method in self.original.methods:
instantiated_args = instantiate_args_list(
method.args.args_list,
self.original.template.typenames,
typenames,
self.instantiations,
self.cpp_typename(),
)
class_instantiated_methods.append(parser.Method(
template=method.template,
name=method.name,
return_type=instantiate_return_type(
method.return_type,
self.original.template.typenames,
self.instantiations,
self.cpp_typename(),
),
args=parser.ArgumentList(instantiated_args),
is_const=method.is_const,
parent=self,
))
class_instantiated_methods.append(
parser.Method(
template=method.template,
name=method.name,
return_type=instantiate_return_type(
method.return_type,
typenames,
self.instantiations,
self.cpp_typename(),
),
args=parser.ArgumentList(instantiated_args),
is_const=method.is_const,
parent=self,
))
return class_instantiated_methods
def instantiate_properties(self):
"""Instantiate the class properties."""
def instantiate_properties(self, typenames):
"""
Instantiate the class properties.
Args:
typenames: List of template types to instantiate.
Return: List of properties instantiated with provided template args.
"""
instantiated_properties = instantiate_args_list(
self.original.properties,
self.original.template.typenames,
typenames,
self.instantiations,
self.cpp_typename(),
)
@ -388,6 +490,8 @@ def instantiate_namespace_inplace(namespace):
instantiated_content.append(
InstantiatedClass(original_class, []))
else:
# This case is for when the templates have enumerated instantiations.
# Use itertools to get all possible combinations of instantiations
# Works even if one template does not have an instantiation list
for instantiations in itertools.product(
@ -396,17 +500,40 @@ def instantiate_namespace_inplace(namespace):
InstantiatedClass(original_class,
list(instantiations)))
elif isinstance(element, parser.GlobalFunction):
original_func = element
if not original_func.template:
instantiated_content.append(
InstantiatedGlobalFunction(original_func, []))
else:
# Use itertools to get all possible combinations of instantiations
# Works even if one template does not have an instantiation list
for instantiations in itertools.product(
*original_func.template.instantiations):
instantiated_content.append(
InstantiatedGlobalFunction(original_func,
list(instantiations)))
elif isinstance(element, parser.TypedefTemplateInstantiation):
# This is for the case where `typedef` statements are used
# to specify the template parameters.
typedef_inst = element
original_class = namespace.top_level().find_class(
top_level = namespace.top_level()
original_element = top_level.find_class_or_function(
typedef_inst.typename)
typedef_content.append(
InstantiatedClass(
original_class,
typedef_inst.typename.instantiations,
typedef_inst.new_name
)
)
# Check if element is a typedef'd class or function.
if isinstance(original_element, parser.Class):
typedef_content.append(
InstantiatedClass(original_element,
typedef_inst.typename.instantiations,
typedef_inst.new_name))
elif isinstance(original_element, parser.GlobalFunction):
typedef_content.append(
InstantiatedGlobalFunction(
original_element, typedef_inst.typename.instantiations,
typedef_inst.new_name))
elif isinstance(element, parser.Namespace):
instantiate_namespace_inplace(element)
instantiated_content.append(element)

2
wrap/requirements.txt
View File

@ -1 +1,3 @@
pyparsing
pytest
loguru

2
wrap/templates/matlab_wrapper.tpl.in Normal file
View File

@ -0,0 +1,2 @@
#include <${GTWRAP_INCLUDE_NAME}/matlab.h>
#include <map>

0
wrap/pybind_wrapper.tpl.example → wrap/templates/pybind_wrapper.tpl.example
View File

4
wrap/tests/.gitignore vendored
View File

@ -1,3 +1 @@
actual-python/
actual-matlab/
actual-xml-generation/
actual/**

54
wrap/tests/expected-matlab/PrimitiveRef.m
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@ -1,54 +0,0 @@
%class PrimitiveRef, see Doxygen page for details
%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
%
%-------Constructors-------
%PrimitiveRef()
%
%-------Static Methods-------
%Brutal(double t) : returns This
%
%-------Serialization Interface-------
%string_serialize() : returns string
%string_deserialize(string serialized) : returns PrimitiveRef
%
classdef PrimitiveRef < handle
properties
ptr_PrimitiveRef = 0
end
methods
function obj = PrimitiveRef(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(78, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(79);
else
error('Arguments do not match any overload of PrimitiveRef constructor');
end
obj.ptr_PrimitiveRef = my_ptr;
end
function delete(obj)
geometry_wrapper(80, obj.ptr_PrimitiveRef);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
function varargout = Brutal(varargin)
% BRUTAL usage: Brutal(double t) : returns This
% Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(81, varargin{:});
return
end
error('Arguments do not match any overload of function PrimitiveRef.Brutal');
end
end
end

1495
wrap/tests/expected-matlab/geometry_wrapper.cpp
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180
wrap/tests/expected-python/geometry_pybind.cpp
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@ -1,180 +0,0 @@
#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "gtsam/geometry/Point2.h"
#include "gtsam/geometry/Point3.h"
#include "folder/path/to/Test.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT(gtsam::Point2)
BOOST_CLASS_EXPORT(gtsam::Point3)
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(geometry_py, m_) {
m_.doc() = "pybind11 wrapper of geometry_py";
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
py::class_<gtsam::Point2, std::shared_ptr<gtsam::Point2>>(m_gtsam, "Point2")
.def(py::init<>())
.def(py::init< double, double>(), py::arg("x"), py::arg("y"))
.def("x",[](gtsam::Point2* self){return self->x();})
.def("y",[](gtsam::Point2* self){return self->y();})
.def("dim",[](gtsam::Point2* self){return self->dim();})
.def("returnChar",[](gtsam::Point2* self){return self->returnChar();})
.def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a"))
.def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a"))
.def("eigenArguments",[](gtsam::Point2* self,const gtsam::Vector& v,const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m"))
.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
.def("serialize",
[](gtsam::Point2* self){
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point2* self, string serialized){
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point2 &a){ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
},
[](py::tuple t){ // __setstate__
gtsam::Point2 obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}))
;
py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
.def(py::init< double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z"))
.def("norm",[](gtsam::Point3* self){return self->norm();})
.def("serialize",
[](gtsam::Point3* self){
return gtsam::serialize(*self);
}
)
.def("deserialize",
[](gtsam::Point3* self, string serialized){
gtsam::deserialize(serialized, *self);
}, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point3 &a){ // __getstate__
/* Returns a string that encodes the state of the object */
return py::make_tuple(gtsam::serialize(a));
},
[](py::tuple t){ // __setstate__
gtsam::Point3 obj;
gtsam::deserialize(t[0].cast<std::string>(), obj);
return obj;
}))
.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
.def_static("StaticFunctionRet",[]( double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));
py::class_<Test, std::shared_ptr<Test>>(m_, "Test")
.def(py::init<>())
.def(py::init< double, const gtsam::Matrix&>(), py::arg("a"), py::arg("b"))
.def("return_pair",[](Test* self,const gtsam::Vector& v,const gtsam::Matrix& A){return self->return_pair(v, A);}, py::arg("v"), py::arg("A"))
.def("return_pair",[](Test* self,const gtsam::Vector& v){return self->return_pair(v);}, py::arg("v"))
.def("return_bool",[](Test* self, bool value){return self->return_bool(value);}, py::arg("value"))
.def("return_size_t",[](Test* self, size_t value){return self->return_size_t(value);}, py::arg("value"))
.def("return_int",[](Test* self, int value){return self->return_int(value);}, py::arg("value"))
.def("return_double",[](Test* self, double value){return self->return_double(value);}, py::arg("value"))
.def("return_string",[](Test* self, string value){return self->return_string(value);}, py::arg("value"))
.def("return_vector1",[](Test* self,const gtsam::Vector& value){return self->return_vector1(value);}, py::arg("value"))
.def("return_matrix1",[](Test* self,const gtsam::Matrix& value){return self->return_matrix1(value);}, py::arg("value"))
.def("return_vector2",[](Test* self,const gtsam::Vector& value){return self->return_vector2(value);}, py::arg("value"))
.def("return_matrix2",[](Test* self,const gtsam::Matrix& value){return self->return_matrix2(value);}, py::arg("value"))
.def("arg_EigenConstRef",[](Test* self,const gtsam::Matrix& value){ self->arg_EigenConstRef(value);}, py::arg("value"))
.def("return_field",[](Test* self,const Test& t){return self->return_field(t);}, py::arg("t"))
.def("return_TestPtr",[](Test* self,const std::shared_ptr<Test>& value){return self->return_TestPtr(value);}, py::arg("value"))
.def("return_Test",[](Test* self,const std::shared_ptr<Test>& value){return self->return_Test(value);}, py::arg("value"))
.def("return_Point2Ptr",[](Test* self, bool value){return self->return_Point2Ptr(value);}, py::arg("value"))
.def("create_ptrs",[](Test* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](Test* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](Test* self,const std::shared_ptr<Test>& p1,const std::shared_ptr<Test>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("print_",[](Test* self){ self->print();})
.def("__repr__",
[](const Test &a) {
gtsam::RedirectCout redirect;
a.print();
return redirect.str();
})
.def_readwrite("model_ptr", &Test::model_ptr);
py::class_<MyBase, std::shared_ptr<MyBase>>(m_, "MyBase");
py::class_<MyTemplate<gtsam::Point2>, MyBase, std::shared_ptr<MyTemplate<gtsam::Point2>>>(m_, "MyTemplatePoint2")
.def(py::init<>())
.def("templatedMethodPoint2",[](MyTemplate<gtsam::Point2>* self,const gtsam::Point2& t){return self->templatedMethod<gtsam::Point2>(t);}, py::arg("t"))
.def("templatedMethodPoint3",[](MyTemplate<gtsam::Point2>* self,const gtsam::Point3& t){return self->templatedMethod<gtsam::Point3>(t);}, py::arg("t"))
.def("templatedMethodVector",[](MyTemplate<gtsam::Point2>* self,const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Point2>* self,const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Point2>* self,const gtsam::Point2& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Point2>* self,const std::shared_ptr<gtsam::Point2>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Point2>* self,const std::shared_ptr<gtsam::Point2>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Point2>* self,const std::shared_ptr<gtsam::Point2>& value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Point2>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Point2>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Point2>* self,const std::shared_ptr<gtsam::Point2>& p1,const std::shared_ptr<gtsam::Point2>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Point2& K){return MyTemplate<gtsam::Point2>::Level(K);}, py::arg("K"));
py::class_<MyTemplate<gtsam::Matrix>, MyBase, std::shared_ptr<MyTemplate<gtsam::Matrix>>>(m_, "MyTemplateMatrix")
.def(py::init<>())
.def("templatedMethodPoint2",[](MyTemplate<gtsam::Matrix>* self,const gtsam::Point2& t){return self->templatedMethod<gtsam::Point2>(t);}, py::arg("t"))
.def("templatedMethodPoint3",[](MyTemplate<gtsam::Matrix>* self,const gtsam::Point3& t){return self->templatedMethod<gtsam::Point3>(t);}, py::arg("t"))
.def("templatedMethodVector",[](MyTemplate<gtsam::Matrix>* self,const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Matrix>* self,const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Matrix>* self,const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self,const std::shared_ptr<gtsam::Matrix>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self,const std::shared_ptr<gtsam::Matrix>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Matrix>* self,const std::shared_ptr<gtsam::Matrix>& value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self,const std::shared_ptr<gtsam::Matrix>& p1,const std::shared_ptr<gtsam::Matrix>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Matrix& K){return MyTemplate<gtsam::Matrix>::Level(K);}, py::arg("K"));
py::class_<PrimitiveRef<double>, std::shared_ptr<PrimitiveRef<double>>>(m_, "PrimitiveRefDouble")
.def(py::init<>())
.def_static("Brutal",[](const double& t){return PrimitiveRef<double>::Brutal(t);}, py::arg("t"));
py::class_<MyVector<3>, std::shared_ptr<MyVector<3>>>(m_, "MyVector3")
.def(py::init<>());
py::class_<MyVector<12>, std::shared_ptr<MyVector<12>>>(m_, "MyVector12")
.def(py::init<>());
py::class_<MultipleTemplates<int, double>, std::shared_ptr<MultipleTemplates<int, double>>>(m_, "MultipleTemplatesIntDouble");
py::class_<MultipleTemplates<int, float>, std::shared_ptr<MultipleTemplates<int, float>>>(m_, "MultipleTemplatesIntFloat");
py::class_<MyFactor<gtsam::Pose2, gtsam::Matrix>, std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>>(m_, "MyFactorPosePoint2")
.def(py::init< size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>&>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"));
m_.def("load2D",[]( string filename,const std::shared_ptr<Test>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[]( string filename,const std::shared_ptr<gtsam::noiseModel::Diagonal>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[]( string filename,const std::shared_ptr<gtsam::noiseModel::Diagonal>& model){return ::load2D(filename, model);}, py::arg("filename"), py::arg("model"));
m_.def("aGlobalFunction",[](){return ::aGlobalFunction();});
m_.def("overloadedGlobalFunction",[]( int a){return ::overloadedGlobalFunction(a);}, py::arg("a"));
m_.def("overloadedGlobalFunction",[]( int a, double b){return ::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b"));
#include "python/specializations.h"
}

44
wrap/tests/expected/matlab/+gtsam/NonlinearFactorGraph.m Normal file
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@ -0,0 +1,44 @@
%class NonlinearFactorGraph, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Methods-------
%addPriorPinholeCameraCal3Bundler(size_t key, PinholeCamera<Cal3Bundler> prior, Base noiseModel) : returns void
%
classdef NonlinearFactorGraph < handle
properties
ptr_gtsamNonlinearFactorGraph = 0
end
methods
function obj = NonlinearFactorGraph(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
special_cases_wrapper(0, my_ptr);
else
error('Arguments do not match any overload of gtsam.NonlinearFactorGraph constructor');
end
obj.ptr_gtsamNonlinearFactorGraph = my_ptr;
end
function delete(obj)
special_cases_wrapper(1, obj.ptr_gtsamNonlinearFactorGraph);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = addPriorPinholeCameraCal3Bundler(this, varargin)
% ADDPRIORPINHOLECAMERACAL3BUNDLER usage: addPriorPinholeCameraCal3Bundler(size_t key, PinholeCamera<Cal3Bundler> prior, Base noiseModel) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 3 && isa(varargin{1},'numeric') && isa(varargin{2},'gtsam.PinholeCameraCal3Bundler') && isa(varargin{3},'gtsam.noiseModel.Base')
special_cases_wrapper(2, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.NonlinearFactorGraph.addPriorPinholeCameraCal3Bundler');
end
end
methods(Static = true)
end
end

31
wrap/tests/expected/matlab/+gtsam/PinholeCameraCal3Bundler.m Normal file
View File

@ -0,0 +1,31 @@
%class PinholeCameraCal3Bundler, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
classdef PinholeCameraCal3Bundler < handle
properties
ptr_gtsamPinholeCameraCal3Bundler = 0
end
methods
function obj = PinholeCameraCal3Bundler(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
special_cases_wrapper(3, my_ptr);
else
error('Arguments do not match any overload of gtsam.PinholeCameraCal3Bundler constructor');
end
obj.ptr_gtsamPinholeCameraCal3Bundler = my_ptr;
end
function delete(obj)
special_cases_wrapper(4, obj.ptr_gtsamPinholeCameraCal3Bundler);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

56
wrap/tests/expected-matlab/+gtsam/Point2.m → wrap/tests/expected/matlab/+gtsam/Point2.m
View File

@ -7,6 +7,12 @@
%
%-------Methods-------
%argChar(char a) : returns void
%argChar(char a) : returns void
%argChar(char a) : returns void
%argChar(char a) : returns void
%argChar(char a) : returns void
%argChar(char a) : returns void
%argChar(char a) : returns void
%argUChar(unsigned char a) : returns void
%dim() : returns int
%eigenArguments(Vector v, Matrix m) : returns void
@ -49,6 +55,42 @@ classdef Point2 < handle
geometry_wrapper(4, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(5, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(6, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(7, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(8, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(9, this, varargin{:});
return
end
% ARGCHAR usage: argChar(char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
geometry_wrapper(10, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.argChar');
end
@ -56,7 +98,7 @@ classdef Point2 < handle
% ARGUCHAR usage: argUChar(unsigned char a) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'unsigned char')
geometry_wrapper(5, this, varargin{:});
geometry_wrapper(11, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.argUChar');
@ -66,7 +108,7 @@ classdef Point2 < handle
% DIM usage: dim() : returns int
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(6, this, varargin{:});
varargout{1} = geometry_wrapper(12, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.dim');
@ -76,7 +118,7 @@ classdef Point2 < handle
% EIGENARGUMENTS usage: eigenArguments(Vector v, Matrix m) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},2)==1 && isa(varargin{2},'double')
geometry_wrapper(7, this, varargin{:});
geometry_wrapper(13, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.eigenArguments');
@ -86,7 +128,7 @@ classdef Point2 < handle
% RETURNCHAR usage: returnChar() : returns char
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(8, this, varargin{:});
varargout{1} = geometry_wrapper(14, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.returnChar');
@ -96,7 +138,7 @@ classdef Point2 < handle
% VECTORCONFUSION usage: vectorConfusion() : returns VectorNotEigen
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(9, this, varargin{:});
varargout{1} = geometry_wrapper(15, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.vectorConfusion');
@ -106,7 +148,7 @@ classdef Point2 < handle
% X usage: x() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(10, this, varargin{:});
varargout{1} = geometry_wrapper(16, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.x');
@ -116,7 +158,7 @@ classdef Point2 < handle
% Y usage: y() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(11, this, varargin{:});
varargout{1} = geometry_wrapper(17, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point2.y');

16
wrap/tests/expected-matlab/+gtsam/Point3.m → wrap/tests/expected/matlab/+gtsam/Point3.m
View File

@ -23,9 +23,9 @@ classdef Point3 < handle
function obj = Point3(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(12, my_ptr);
geometry_wrapper(18, my_ptr);
elseif nargin == 3 && isa(varargin{1},'double') && isa(varargin{2},'double') && isa(varargin{3},'double')
my_ptr = geometry_wrapper(13, varargin{1}, varargin{2}, varargin{3});
my_ptr = geometry_wrapper(19, varargin{1}, varargin{2}, varargin{3});
else
error('Arguments do not match any overload of gtsam.Point3 constructor');
end
@ -33,7 +33,7 @@ classdef Point3 < handle
end
function delete(obj)
geometry_wrapper(14, obj.ptr_gtsamPoint3);
geometry_wrapper(20, obj.ptr_gtsamPoint3);
end
function display(obj), obj.print(''); end
@ -44,7 +44,7 @@ classdef Point3 < handle
% NORM usage: norm() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(15, this, varargin{:});
varargout{1} = geometry_wrapper(21, this, varargin{:});
return
end
error('Arguments do not match any overload of function gtsam.Point3.norm');
@ -54,7 +54,7 @@ classdef Point3 < handle
% STRING_SERIALIZE usage: string_serialize() : returns string
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(16, this, varargin{:});
varargout{1} = geometry_wrapper(22, this, varargin{:});
else
error('Arguments do not match any overload of function gtsam.Point3.string_serialize');
end
@ -71,7 +71,7 @@ classdef Point3 < handle
% STATICFUNCTIONRET usage: StaticFunctionRet(double z) : returns Point3
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(17, varargin{:});
varargout{1} = geometry_wrapper(23, varargin{:});
return
end
@ -82,7 +82,7 @@ classdef Point3 < handle
% STATICFUNCTION usage: staticFunction() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = geometry_wrapper(18, varargin{:});
varargout{1} = geometry_wrapper(24, varargin{:});
return
end
@ -93,7 +93,7 @@ classdef Point3 < handle
% STRING_DESERIALIZE usage: string_deserialize() : returns gtsam.Point3
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1
varargout{1} = geometry_wrapper(19, varargin{:});
varargout{1} = geometry_wrapper(25, varargin{:});
else
error('Arguments do not match any overload of function gtsam.Point3.string_deserialize');
end

36
wrap/tests/expected/matlab/+ns1/ClassA.m Normal file
View File

@ -0,0 +1,36 @@
%class ClassA, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassA()
%
classdef ClassA < handle
properties
ptr_ns1ClassA = 0
end
methods
function obj = ClassA(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(0, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(1);
else
error('Arguments do not match any overload of ns1.ClassA constructor');
end
obj.ptr_ns1ClassA = my_ptr;
end
function delete(obj)
namespaces_wrapper(2, obj.ptr_ns1ClassA);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

36
wrap/tests/expected/matlab/+ns1/ClassB.m Normal file
View File

@ -0,0 +1,36 @@
%class ClassB, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassB()
%
classdef ClassB < handle
properties
ptr_ns1ClassB = 0
end
methods
function obj = ClassB(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(3, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(4);
else
error('Arguments do not match any overload of ns1.ClassB constructor');
end
obj.ptr_ns1ClassB = my_ptr;
end
function delete(obj)
namespaces_wrapper(5, obj.ptr_ns1ClassB);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

6
wrap/tests/expected/matlab/+ns1/aGlobalFunction.m Normal file
View File

@ -0,0 +1,6 @@
function varargout = aGlobalFunction(varargin)
if length(varargin) == 0
varargout{1} = namespaces_wrapper(6, varargin{:});
else
error('Arguments do not match any overload of function aGlobalFunction');
end

36
wrap/tests/expected/matlab/+ns2/+ns3/ClassB.m Normal file
View File

@ -0,0 +1,36 @@
%class ClassB, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassB()
%
classdef ClassB < handle
properties
ptr_ns2ns3ClassB = 0
end
methods
function obj = ClassB(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(14, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(15);
else
error('Arguments do not match any overload of ns2.ns3.ClassB constructor');
end
obj.ptr_ns2ns3ClassB = my_ptr;
end
function delete(obj)
namespaces_wrapper(16, obj.ptr_ns2ns3ClassB);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

89
wrap/tests/expected/matlab/+ns2/ClassA.m Normal file
View File

@ -0,0 +1,89 @@
%class ClassA, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassA()
%
%-------Methods-------
%memberFunction() : returns double
%nsArg(ClassB arg) : returns int
%nsReturn(double q) : returns ns2::ns3::ClassB
%
%-------Static Methods-------
%afunction() : returns double
%
%-------Serialization Interface-------
%string_serialize() : returns string
%string_deserialize(string serialized) : returns ClassA
%
classdef ClassA < handle
properties
ptr_ns2ClassA = 0
end
methods
function obj = ClassA(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(7, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(8);
else
error('Arguments do not match any overload of ns2.ClassA constructor');
end
obj.ptr_ns2ClassA = my_ptr;
end
function delete(obj)
namespaces_wrapper(9, obj.ptr_ns2ClassA);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = memberFunction(this, varargin)
% MEMBERFUNCTION usage: memberFunction() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = namespaces_wrapper(10, this, varargin{:});
return
end
error('Arguments do not match any overload of function ns2.ClassA.memberFunction');
end
function varargout = nsArg(this, varargin)
% NSARG usage: nsArg(ClassB arg) : returns int
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'ns1.ClassB')
varargout{1} = namespaces_wrapper(11, this, varargin{:});
return
end
error('Arguments do not match any overload of function ns2.ClassA.nsArg');
end
function varargout = nsReturn(this, varargin)
% NSRETURN usage: nsReturn(double q) : returns ns2.ns3.ClassB
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = namespaces_wrapper(12, this, varargin{:});
return
end
error('Arguments do not match any overload of function ns2.ClassA.nsReturn');
end
end
methods(Static = true)
function varargout = Afunction(varargin)
% AFUNCTION usage: afunction() : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = namespaces_wrapper(13, varargin{:});
return
end
error('Arguments do not match any overload of function ClassA.afunction');
end
end
end

36
wrap/tests/expected/matlab/+ns2/ClassC.m Normal file
View File

@ -0,0 +1,36 @@
%class ClassC, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassC()
%
classdef ClassC < handle
properties
ptr_ns2ClassC = 0
end
methods
function obj = ClassC(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(17, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(18);
else
error('Arguments do not match any overload of ns2.ClassC constructor');
end
obj.ptr_ns2ClassC = my_ptr;
end
function delete(obj)
namespaces_wrapper(19, obj.ptr_ns2ClassC);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

6
wrap/tests/expected/matlab/+ns2/aGlobalFunction.m Normal file
View File

@ -0,0 +1,6 @@
function varargout = aGlobalFunction(varargin)
if length(varargin) == 0
varargout{1} = namespaces_wrapper(20, varargin{:});
else
error('Arguments do not match any overload of function aGlobalFunction');
end

8
wrap/tests/expected/matlab/+ns2/overloadedGlobalFunction.m Normal file
View File

@ -0,0 +1,8 @@
function varargout = overloadedGlobalFunction(varargin)
if length(varargin) == 1 && isa(varargin{1},'ns1.ClassA')
varargout{1} = namespaces_wrapper(21, varargin{:});
elseif length(varargin) == 2 && isa(varargin{1},'ns1.ClassA') && isa(varargin{2},'double')
varargout{1} = namespaces_wrapper(22, varargin{:});
else
error('Arguments do not match any overload of function overloadedGlobalFunction');
end

36
wrap/tests/expected/matlab/ClassD.m Normal file
View File

@ -0,0 +1,36 @@
%class ClassD, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%ClassD()
%
classdef ClassD < handle
properties
ptr_ClassD = 0
end
methods
function obj = ClassD(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
namespaces_wrapper(23, my_ptr);
elseif nargin == 0
my_ptr = namespaces_wrapper(24);
else
error('Arguments do not match any overload of ClassD constructor');
end
obj.ptr_ClassD = my_ptr;
end
function delete(obj)
namespaces_wrapper(25, obj.ptr_ClassD);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
end
methods(Static = true)
end
end

73
wrap/tests/expected/matlab/FunDouble.m Normal file
View File

@ -0,0 +1,73 @@
%class FunDouble, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Methods-------
%multiTemplatedMethodStringSize_t(double d, string t, size_t u) : returns Fun<double>
%templatedMethodString(double d, string t) : returns Fun<double>
%
%-------Static Methods-------
%staticMethodWithThis() : returns Fun<double>
%
%-------Serialization Interface-------
%string_serialize() : returns string
%string_deserialize(string serialized) : returns FunDouble
%
classdef FunDouble < handle
properties
ptr_FunDouble = 0
end
methods
function obj = FunDouble(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(5, my_ptr);
else
error('Arguments do not match any overload of FunDouble constructor');
end
obj.ptr_FunDouble = my_ptr;
end
function delete(obj)
class_wrapper(6, obj.ptr_FunDouble);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = multiTemplatedMethodStringSize_t(this, varargin)
% MULTITEMPLATEDMETHODSTRINGSIZE_T usage: multiTemplatedMethodStringSize_t(double d, string t, size_t u) : returns Fun<double>
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 3 && isa(varargin{1},'double') && isa(varargin{2},'char') && isa(varargin{3},'numeric')
varargout{1} = class_wrapper(7, this, varargin{:});
return
end
error('Arguments do not match any overload of function FunDouble.multiTemplatedMethodStringSize_t');
end
function varargout = templatedMethodString(this, varargin)
% TEMPLATEDMETHODSTRING usage: templatedMethodString(double d, string t) : returns Fun<double>
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'char')
varargout{1} = class_wrapper(8, this, varargin{:});
return
end
error('Arguments do not match any overload of function FunDouble.templatedMethodString');
end
end
methods(Static = true)
function varargout = StaticMethodWithThis(varargin)
% STATICMETHODWITHTHIS usage: staticMethodWithThis() : returns Fundouble
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = class_wrapper(9, varargin{:});
return
end
error('Arguments do not match any overload of function FunDouble.staticMethodWithThis');
end
end
end

67
wrap/tests/expected/matlab/FunRange.m Normal file
View File

@ -0,0 +1,67 @@
%class FunRange, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%FunRange()
%
%-------Methods-------
%range(double d) : returns FunRange
%
%-------Static Methods-------
%create() : returns FunRange
%
%-------Serialization Interface-------
%string_serialize() : returns string
%string_deserialize(string serialized) : returns FunRange
%
classdef FunRange < handle
properties
ptr_FunRange = 0
end
methods
function obj = FunRange(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(0, my_ptr);
elseif nargin == 0
my_ptr = class_wrapper(1);
else
error('Arguments do not match any overload of FunRange constructor');
end
obj.ptr_FunRange = my_ptr;
end
function delete(obj)
class_wrapper(2, obj.ptr_FunRange);
end
function display(obj), obj.print(''); end
%DISPLAY Calls print on the object
function disp(obj), obj.display; end
%DISP Calls print on the object
function varargout = range(this, varargin)
% RANGE usage: range(double d) : returns FunRange
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = class_wrapper(3, this, varargin{:});
return
end
error('Arguments do not match any overload of function FunRange.range');
end
end
methods(Static = true)
function varargout = Create(varargin)
% CREATE usage: create() : returns FunRange
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
varargout{1} = class_wrapper(4, varargin{:});
return
end
error('Arguments do not match any overload of function FunRange.create');
end
end
end

6
wrap/tests/expected/matlab/MultiTemplatedFunctionDoubleSize_tDouble.m Normal file
View File

@ -0,0 +1,6 @@
function varargout = MultiTemplatedFunctionDoubleSize_tDouble(varargin)
if length(varargin) == 2 && isa(varargin{1},'T') && isa(varargin{2},'numeric')
varargout{1} = functions_wrapper(7, varargin{:});
else
error('Arguments do not match any overload of function MultiTemplatedFunctionDoubleSize_tDouble');
end

6
wrap/tests/expected/matlab/MultiTemplatedFunctionStringSize_tDouble.m Normal file
View File

@ -0,0 +1,6 @@
function varargout = MultiTemplatedFunctionStringSize_tDouble(varargin)
if length(varargin) == 2 && isa(varargin{1},'T') && isa(varargin{2},'numeric')
varargout{1} = functions_wrapper(6, varargin{:});
else
error('Arguments do not match any overload of function MultiTemplatedFunctionStringSize_tDouble');
end

4
wrap/tests/expected-matlab/MultipleTemplatesIntDouble.m → wrap/tests/expected/matlab/MultipleTemplatesIntDouble.m
View File

@ -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};
geometry_wrapper(89, my_ptr);
class_wrapper(44, 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)
geometry_wrapper(90, obj.ptr_MultipleTemplatesIntDouble);
class_wrapper(45, obj.ptr_MultipleTemplatesIntDouble);
end
function display(obj), obj.print(''); end

4
wrap/tests/expected-matlab/MultipleTemplatesIntFloat.m → wrap/tests/expected/matlab/MultipleTemplatesIntFloat.m
View File

@ -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};
geometry_wrapper(91, my_ptr);
class_wrapper(46, 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)
geometry_wrapper(92, obj.ptr_MultipleTemplatesIntFloat);
class_wrapper(47, obj.ptr_MultipleTemplatesIntFloat);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected-matlab/MyBase.m → wrap/tests/expected/matlab/MyBase.m
View File

@ -11,9 +11,9 @@ classdef MyBase < handle
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(45, varargin{2});
my_ptr = inheritance_wrapper(1, varargin{2});
end
geometry_wrapper(44, my_ptr);
inheritance_wrapper(0, my_ptr);
else
error('Arguments do not match any overload of MyBase constructor');
end
@ -21,7 +21,7 @@ classdef MyBase < handle
end
function delete(obj)
geometry_wrapper(46, obj.ptr_MyBase);
inheritance_wrapper(2, obj.ptr_MyBase);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected-matlab/MyFactorPosePoint2.m → wrap/tests/expected/matlab/MyFactorPosePoint2.m
View File

@ -12,9 +12,9 @@ classdef MyFactorPosePoint2 < handle
function obj = MyFactorPosePoint2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(93, my_ptr);
class_wrapper(48, 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 = geometry_wrapper(94, varargin{1}, varargin{2}, varargin{3}, varargin{4});
my_ptr = class_wrapper(49, varargin{1}, varargin{2}, varargin{3}, varargin{4});
else
error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
end
@ -22,7 +22,7 @@ classdef MyFactorPosePoint2 < handle
end
function delete(obj)
geometry_wrapper(95, obj.ptr_MyFactorPosePoint2);
class_wrapper(50, obj.ptr_MyFactorPosePoint2);
end
function display(obj), obj.print(''); end

32
wrap/tests/expected-matlab/MyTemplateMatrix.m → wrap/tests/expected/matlab/MyTemplateMatrix.m
View File

@ -34,11 +34,11 @@ classdef MyTemplateMatrix < MyBase
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(64, varargin{2});
my_ptr = inheritance_wrapper(20, varargin{2});
end
base_ptr = geometry_wrapper(63, my_ptr);
base_ptr = inheritance_wrapper(19, my_ptr);
elseif nargin == 0
[ my_ptr, base_ptr ] = geometry_wrapper(65);
[ my_ptr, base_ptr ] = inheritance_wrapper(21);
else
error('Arguments do not match any overload of MyTemplateMatrix constructor');
end
@ -47,7 +47,7 @@ classdef MyTemplateMatrix < MyBase
end
function delete(obj)
geometry_wrapper(66, obj.ptr_MyTemplateMatrix);
inheritance_wrapper(22, obj.ptr_MyTemplateMatrix);
end
function display(obj), obj.print(''); end
@ -58,7 +58,7 @@ classdef MyTemplateMatrix < MyBase
% ACCEPT_T usage: accept_T(Matrix value) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
geometry_wrapper(67, this, varargin{:});
inheritance_wrapper(23, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.accept_T');
@ -68,7 +68,7 @@ classdef MyTemplateMatrix < MyBase
% ACCEPT_TPTR usage: accept_Tptr(Matrix value) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
geometry_wrapper(68, this, varargin{:});
inheritance_wrapper(24, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.accept_Tptr');
@ -78,7 +78,7 @@ classdef MyTemplateMatrix < MyBase
% CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Matrix, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(69, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(25, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.create_MixedPtrs');
@ -88,7 +88,7 @@ classdef MyTemplateMatrix < MyBase
% CREATE_PTRS usage: create_ptrs() : returns pair< Matrix, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(70, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(26, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.create_ptrs');
@ -98,7 +98,7 @@ classdef MyTemplateMatrix < MyBase
% RETURN_T usage: return_T(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(71, this, varargin{:});
varargout{1} = inheritance_wrapper(27, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.return_T');
@ -108,7 +108,7 @@ classdef MyTemplateMatrix < MyBase
% RETURN_TPTR usage: return_Tptr(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(72, this, varargin{:});
varargout{1} = inheritance_wrapper(28, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.return_Tptr');
@ -118,7 +118,7 @@ classdef MyTemplateMatrix < MyBase
% RETURN_PTRS usage: return_ptrs(Matrix p1, Matrix p2) : returns pair< Matrix, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')
[ varargout{1} varargout{2} ] = geometry_wrapper(73, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(29, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.return_ptrs');
@ -128,7 +128,7 @@ classdef MyTemplateMatrix < MyBase
% TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(74, this, varargin{:});
varargout{1} = inheritance_wrapper(30, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodMatrix');
@ -138,7 +138,7 @@ classdef MyTemplateMatrix < MyBase
% TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(75, this, varargin{:});
varargout{1} = inheritance_wrapper(31, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodPoint2');
@ -148,7 +148,7 @@ classdef MyTemplateMatrix < MyBase
% TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns Point3
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==3 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(76, this, varargin{:});
varargout{1} = inheritance_wrapper(32, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodPoint3');
@ -158,7 +158,7 @@ classdef MyTemplateMatrix < MyBase
% TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(77, this, varargin{:});
varargout{1} = inheritance_wrapper(33, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplateMatrix.templatedMethodVector');
@ -171,7 +171,7 @@ classdef MyTemplateMatrix < MyBase
% LEVEL usage: Level(Matrix K) : returns MyTemplateMatrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(78, varargin{:});
varargout{1} = inheritance_wrapper(34, varargin{:});
return
end

32
wrap/tests/expected-matlab/MyTemplatePoint2.m → wrap/tests/expected/matlab/MyTemplatePoint2.m
View File

@ -34,11 +34,11 @@ classdef MyTemplatePoint2 < MyBase
if nargin == 2
my_ptr = varargin{2};
else
my_ptr = geometry_wrapper(48, varargin{2});
my_ptr = inheritance_wrapper(4, varargin{2});
end
base_ptr = geometry_wrapper(47, my_ptr);
base_ptr = inheritance_wrapper(3, my_ptr);
elseif nargin == 0
[ my_ptr, base_ptr ] = geometry_wrapper(49);
[ my_ptr, base_ptr ] = inheritance_wrapper(5);
else
error('Arguments do not match any overload of MyTemplatePoint2 constructor');
end
@ -47,7 +47,7 @@ classdef MyTemplatePoint2 < MyBase
end
function delete(obj)
geometry_wrapper(50, obj.ptr_MyTemplatePoint2);
inheritance_wrapper(6, obj.ptr_MyTemplatePoint2);
end
function display(obj), obj.print(''); end
@ -58,7 +58,7 @@ classdef MyTemplatePoint2 < MyBase
% ACCEPT_T usage: accept_T(Point2 value) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
geometry_wrapper(51, this, varargin{:});
inheritance_wrapper(7, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.accept_T');
@ -68,7 +68,7 @@ classdef MyTemplatePoint2 < MyBase
% ACCEPT_TPTR usage: accept_Tptr(Point2 value) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
geometry_wrapper(52, this, varargin{:});
inheritance_wrapper(8, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.accept_Tptr');
@ -78,7 +78,7 @@ classdef MyTemplatePoint2 < MyBase
% CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Point2, Point2 >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(53, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(9, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.create_MixedPtrs');
@ -88,7 +88,7 @@ classdef MyTemplatePoint2 < MyBase
% CREATE_PTRS usage: create_ptrs() : returns pair< Point2, Point2 >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(54, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(10, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.create_ptrs');
@ -98,7 +98,7 @@ classdef MyTemplatePoint2 < MyBase
% RETURN_T usage: return_T(Point2 value) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(55, this, varargin{:});
varargout{1} = inheritance_wrapper(11, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.return_T');
@ -108,7 +108,7 @@ classdef MyTemplatePoint2 < MyBase
% RETURN_TPTR usage: return_Tptr(Point2 value) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(56, this, varargin{:});
varargout{1} = inheritance_wrapper(12, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.return_Tptr');
@ -118,7 +118,7 @@ classdef MyTemplatePoint2 < MyBase
% RETURN_PTRS usage: return_ptrs(Point2 p1, Point2 p2) : returns pair< Point2, Point2 >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1 && isa(varargin{2},'double') && size(varargin{2},1)==2 && size(varargin{2},2)==1
[ varargout{1} varargout{2} ] = geometry_wrapper(57, this, varargin{:});
[ varargout{1} varargout{2} ] = inheritance_wrapper(13, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.return_ptrs');
@ -128,7 +128,7 @@ classdef MyTemplatePoint2 < MyBase
% TEMPLATEDMETHODMATRIX usage: templatedMethodMatrix(Matrix t) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(58, this, varargin{:});
varargout{1} = inheritance_wrapper(14, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodMatrix');
@ -138,7 +138,7 @@ classdef MyTemplatePoint2 < MyBase
% TEMPLATEDMETHODPOINT2 usage: templatedMethodPoint2(Point2 t) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(59, this, varargin{:});
varargout{1} = inheritance_wrapper(15, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodPoint2');
@ -148,7 +148,7 @@ classdef MyTemplatePoint2 < MyBase
% TEMPLATEDMETHODPOINT3 usage: templatedMethodPoint3(Point3 t) : returns Point3
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==3 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(60, this, varargin{:});
varargout{1} = inheritance_wrapper(16, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodPoint3');
@ -158,7 +158,7 @@ classdef MyTemplatePoint2 < MyBase
% TEMPLATEDMETHODVECTOR usage: templatedMethodVector(Vector t) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(61, this, varargin{:});
varargout{1} = inheritance_wrapper(17, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyTemplatePoint2.templatedMethodVector');
@ -171,7 +171,7 @@ classdef MyTemplatePoint2 < MyBase
% LEVEL usage: Level(Point2 K) : returns MyTemplatePoint2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},1)==2 && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(62, varargin{:});
varargout{1} = inheritance_wrapper(18, varargin{:});
return
end

6
wrap/tests/expected-matlab/MyVector12.m → wrap/tests/expected/matlab/MyVector12.m
View File

@ -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};
geometry_wrapper(86, my_ptr);
class_wrapper(41, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(87);
my_ptr = class_wrapper(42);
else
error('Arguments do not match any overload of MyVector12 constructor');
end
@ -22,7 +22,7 @@ classdef MyVector12 < handle
end
function delete(obj)
geometry_wrapper(88, obj.ptr_MyVector12);
class_wrapper(43, obj.ptr_MyVector12);
end
function display(obj), obj.print(''); end

6
wrap/tests/expected-matlab/MyVector3.m → wrap/tests/expected/matlab/MyVector3.m
View File

@ -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};
geometry_wrapper(83, my_ptr);
class_wrapper(38, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(84);
my_ptr = class_wrapper(39);
else
error('Arguments do not match any overload of MyVector3 constructor');
end
@ -22,7 +22,7 @@ classdef MyVector3 < handle
end
function delete(obj)
geometry_wrapper(85, obj.ptr_MyVector3);
class_wrapper(40, obj.ptr_MyVector3);
end
function display(obj), obj.print(''); end

26
wrap/tests/expected-matlab/PrimitiveRefdouble.m → wrap/tests/expected/matlab/PrimitiveRefDouble.m
View File

@ -1,35 +1,35 @@
%class PrimitiveRefdouble, see Doxygen page for details
%class PrimitiveRefDouble, see Doxygen page for details
%at https://gtsam.org/doxygen/
%
%-------Constructors-------
%PrimitiveRefdouble()
%PrimitiveRefDouble()
%
%-------Static Methods-------
%Brutal(double t) : returns PrimitiveRef<double>
%
%-------Serialization Interface-------
%string_serialize() : returns string
%string_deserialize(string serialized) : returns PrimitiveRefdouble
%string_deserialize(string serialized) : returns PrimitiveRefDouble
%
classdef PrimitiveRefdouble < handle
classdef PrimitiveRefDouble < handle
properties
ptr_PrimitiveRefdouble = 0
ptr_PrimitiveRefDouble = 0
end
methods
function obj = PrimitiveRefdouble(varargin)
function obj = PrimitiveRefDouble(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(79, my_ptr);
class_wrapper(34, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(80);
my_ptr = class_wrapper(35);
else
error('Arguments do not match any overload of PrimitiveRefdouble constructor');
error('Arguments do not match any overload of PrimitiveRefDouble constructor');
end
obj.ptr_PrimitiveRefdouble = my_ptr;
obj.ptr_PrimitiveRefDouble = my_ptr;
end
function delete(obj)
geometry_wrapper(81, obj.ptr_PrimitiveRefdouble);
class_wrapper(36, obj.ptr_PrimitiveRefDouble);
end
function display(obj), obj.print(''); end
@ -43,11 +43,11 @@ 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} = geometry_wrapper(82, varargin{:});
varargout{1} = class_wrapper(37, varargin{:});
return
end
error('Arguments do not match any overload of function PrimitiveRefdouble.Brutal');
error('Arguments do not match any overload of function PrimitiveRefDouble.Brutal');
end
end

6
wrap/tests/expected/matlab/TemplatedFunctionRot3.m Normal file
View File

@ -0,0 +1,6 @@
function varargout = TemplatedFunctionRot3(varargin)
if length(varargin) == 1 && isa(varargin{1},'gtsam.Rot3')
functions_wrapper(8, varargin{:});
else
error('Arguments do not match any overload of function TemplatedFunctionRot3');
end

48
wrap/tests/expected-matlab/Test.m → wrap/tests/expected/matlab/Test.m
View File

@ -35,11 +35,11 @@ classdef Test < handle
function obj = Test(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
geometry_wrapper(20, my_ptr);
class_wrapper(10, my_ptr);
elseif nargin == 0
my_ptr = geometry_wrapper(21);
my_ptr = class_wrapper(11);
elseif nargin == 2 && isa(varargin{1},'double') && isa(varargin{2},'double')
my_ptr = geometry_wrapper(22, varargin{1}, varargin{2});
my_ptr = class_wrapper(12, varargin{1}, varargin{2});
else
error('Arguments do not match any overload of Test constructor');
end
@ -47,7 +47,7 @@ classdef Test < handle
end
function delete(obj)
geometry_wrapper(23, obj.ptr_Test);
class_wrapper(13, obj.ptr_Test);
end
function display(obj), obj.print(''); end
@ -58,7 +58,7 @@ classdef Test < handle
% ARG_EIGENCONSTREF usage: arg_EigenConstRef(Matrix value) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
geometry_wrapper(24, this, varargin{:});
class_wrapper(14, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.arg_EigenConstRef');
@ -68,7 +68,7 @@ classdef Test < handle
% CREATE_MIXEDPTRS usage: create_MixedPtrs() : returns pair< Test, Test >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(25, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(15, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.create_MixedPtrs');
@ -78,7 +78,7 @@ classdef Test < handle
% CREATE_PTRS usage: create_ptrs() : returns pair< Test, Test >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
[ varargout{1} varargout{2} ] = geometry_wrapper(26, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(16, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.create_ptrs');
@ -88,7 +88,7 @@ classdef Test < handle
% PRINT usage: print() : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
geometry_wrapper(27, this, varargin{:});
class_wrapper(17, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.print');
@ -98,7 +98,7 @@ classdef Test < handle
% RETURN_POINT2PTR usage: return_Point2Ptr(bool value) : returns Point2
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'logical')
varargout{1} = geometry_wrapper(28, this, varargin{:});
varargout{1} = class_wrapper(18, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_Point2Ptr');
@ -108,7 +108,7 @@ classdef Test < handle
% RETURN_TEST usage: return_Test(Test value) : returns Test
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = geometry_wrapper(29, this, varargin{:});
varargout{1} = class_wrapper(19, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_Test');
@ -118,7 +118,7 @@ classdef Test < handle
% RETURN_TESTPTR usage: return_TestPtr(Test value) : returns Test
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = geometry_wrapper(30, this, varargin{:});
varargout{1} = class_wrapper(20, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_TestPtr');
@ -128,7 +128,7 @@ classdef Test < handle
% RETURN_BOOL usage: return_bool(bool value) : returns bool
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'logical')
varargout{1} = geometry_wrapper(31, this, varargin{:});
varargout{1} = class_wrapper(21, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_bool');
@ -138,7 +138,7 @@ classdef Test < handle
% RETURN_DOUBLE usage: return_double(double value) : returns double
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(32, this, varargin{:});
varargout{1} = class_wrapper(22, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_double');
@ -148,7 +148,7 @@ classdef Test < handle
% RETURN_FIELD usage: return_field(Test t) : returns bool
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'Test')
varargout{1} = geometry_wrapper(33, this, varargin{:});
varargout{1} = class_wrapper(23, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_field');
@ -158,7 +158,7 @@ classdef Test < handle
% RETURN_INT usage: return_int(int value) : returns int
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = geometry_wrapper(34, this, varargin{:});
varargout{1} = class_wrapper(24, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_int');
@ -168,7 +168,7 @@ classdef Test < handle
% RETURN_MATRIX1 usage: return_matrix1(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(35, this, varargin{:});
varargout{1} = class_wrapper(25, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_matrix1');
@ -178,7 +178,7 @@ classdef Test < handle
% RETURN_MATRIX2 usage: return_matrix2(Matrix value) : returns Matrix
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double')
varargout{1} = geometry_wrapper(36, this, varargin{:});
varargout{1} = class_wrapper(26, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_matrix2');
@ -188,13 +188,13 @@ classdef Test < handle
% RETURN_PAIR usage: return_pair(Vector v, Matrix A) : returns pair< Vector, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'double') && size(varargin{1},2)==1 && isa(varargin{2},'double')
[ varargout{1} varargout{2} ] = geometry_wrapper(37, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(27, this, varargin{:});
return
end
% RETURN_PAIR usage: return_pair(Vector v) : returns pair< Vector, Matrix >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
[ varargout{1} varargout{2} ] = geometry_wrapper(38, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(28, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_pair');
@ -204,7 +204,7 @@ classdef Test < handle
% RETURN_PTRS usage: return_ptrs(Test p1, Test p2) : returns pair< Test, Test >
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'Test') && isa(varargin{2},'Test')
[ varargout{1} varargout{2} ] = geometry_wrapper(39, this, varargin{:});
[ varargout{1} varargout{2} ] = class_wrapper(29, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_ptrs');
@ -214,7 +214,7 @@ classdef Test < handle
% RETURN_SIZE_T usage: return_size_t(size_t value) : returns size_t
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = geometry_wrapper(40, this, varargin{:});
varargout{1} = class_wrapper(30, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_size_t');
@ -224,7 +224,7 @@ classdef Test < handle
% RETURN_STRING usage: return_string(string value) : returns string
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
varargout{1} = geometry_wrapper(41, this, varargin{:});
varargout{1} = class_wrapper(31, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_string');
@ -234,7 +234,7 @@ classdef Test < handle
% RETURN_VECTOR1 usage: return_vector1(Vector value) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(42, this, varargin{:});
varargout{1} = class_wrapper(32, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_vector1');
@ -244,7 +244,7 @@ classdef Test < handle
% RETURN_VECTOR2 usage: return_vector2(Vector value) : returns Vector
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'double') && size(varargin{1},2)==1
varargout{1} = geometry_wrapper(43, this, varargin{:});
varargout{1} = class_wrapper(33, this, varargin{:});
return
end
error('Arguments do not match any overload of function Test.return_vector2');

2
wrap/tests/expected-matlab/aGlobalFunction.m → wrap/tests/expected/matlab/aGlobalFunction.m
View File

@ -1,6 +1,6 @@
function varargout = aGlobalFunction(varargin)
if length(varargin) == 0
varargout{1} = geometry_wrapper(99, varargin{:});
varargout{1} = functions_wrapper(3, varargin{:});
else
error('Arguments do not match any overload of function aGlobalFunction');
end

804
wrap/tests/expected/matlab/class_wrapper.cpp Normal file
View File

@ -0,0 +1,804 @@
#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _class_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_class_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void FunRange_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<FunRange> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_FunRange.insert(self);
}
void FunRange_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<FunRange> Shared;
Shared *self = new Shared(new FunRange());
collector_FunRange.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void FunRange_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<FunRange> Shared;
checkArguments("delete_FunRange",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_FunRange::iterator item;
item = collector_FunRange.find(self);
if(item != collector_FunRange.end()) {
delete self;
collector_FunRange.erase(item);
}
}
void FunRange_range_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("range",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<FunRange>(in[0], "ptr_FunRange");
double d = unwrap< double >(in[1]);
out[0] = wrap_shared_ptr(boost::make_shared<FunRange>(obj->range(d)),"FunRange", false);
}
void FunRange_create_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("FunRange.create",nargout,nargin,0);
out[0] = wrap_shared_ptr(boost::make_shared<FunRange>(FunRange::create()),"FunRange", false);
}
void FunDouble_collectorInsertAndMakeBase_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<Fun<double>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_FunDouble.insert(self);
}
void FunDouble_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<Fun<double>> Shared;
checkArguments("delete_FunDouble",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_FunDouble::iterator item;
item = collector_FunDouble.find(self);
if(item != collector_FunDouble.end()) {
delete self;
collector_FunDouble.erase(item);
}
}
void FunDouble_multiTemplatedMethod_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("multiTemplatedMethodStringSize_t",nargout,nargin-1,3);
auto obj = unwrap_shared_ptr<Fun<double>>(in[0], "ptr_FunDouble");
double d = unwrap< double >(in[1]);
string t = unwrap< string >(in[2]);
size_t u = unwrap< size_t >(in[3]);
out[0] = wrap_shared_ptr(boost::make_shared<Fun<double>>(obj->multiTemplatedMethod<string,size_t>(d,t,u)),"Fun<double>", false);
}
void FunDouble_templatedMethod_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodString",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<Fun<double>>(in[0], "ptr_FunDouble");
double d = unwrap< double >(in[1]);
string t = unwrap< string >(in[2]);
out[0] = wrap_shared_ptr(boost::make_shared<Fun<double>>(obj->templatedMethod<string>(d,t)),"Fun<double>", false);
}
void FunDouble_staticMethodWithThis_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("FunDouble.staticMethodWithThis",nargout,nargin,0);
out[0] = wrap_shared_ptr(boost::make_shared<Fun<double>>(Fun<double>::staticMethodWithThis()),"Fundouble", false);
}
void Test_collectorInsertAndMakeBase_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<Test> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_Test.insert(self);
}
void Test_constructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<Test> Shared;
Shared *self = new Shared(new Test());
collector_Test.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void Test_constructor_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<Test> Shared;
double a = unwrap< double >(in[0]);
Matrix b = unwrap< Matrix >(in[1]);
Shared *self = new Shared(new Test(a,b));
collector_Test.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void Test_deconstructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<Test> Shared;
checkArguments("delete_Test",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_Test::iterator item;
item = collector_Test.find(self);
if(item != collector_Test.end()) {
delete self;
collector_Test.erase(item);
}
}
void Test_arg_EigenConstRef_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("arg_EigenConstRef",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Matrix value = unwrap< Matrix >(in[1]);
obj->arg_EigenConstRef(value);
}
void Test_create_MixedPtrs_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_MixedPtrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
auto pairResult = obj->create_MixedPtrs();
out[0] = wrap_shared_ptr(boost::make_shared<Test>(pairResult.first),"Test", false);
out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
}
void Test_create_ptrs_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_ptrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
auto pairResult = obj->create_ptrs();
out[0] = wrap_shared_ptr(pairResult.first,"Test", false);
out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
}
void Test_print_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
obj->print();
}
void Test_return_Point2Ptr_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Point2Ptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
bool value = unwrap< bool >(in[1]);
{
boost::shared_ptr<Point2> shared(obj->return_Point2Ptr(value));
out[0] = wrap_shared_ptr(shared,"Point2");
}
}
void Test_return_Test_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Test",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<Test> value = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
out[0] = wrap_shared_ptr(boost::make_shared<Test>(obj->return_Test(value)),"Test", false);
}
void Test_return_TestPtr_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_TestPtr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<Test> value = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
out[0] = wrap_shared_ptr(obj->return_TestPtr(value),"Test", false);
}
void Test_return_bool_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_bool",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
bool value = unwrap< bool >(in[1]);
out[0] = wrap< bool >(obj->return_bool(value));
}
void Test_return_double_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_double",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
double value = unwrap< double >(in[1]);
out[0] = wrap< double >(obj->return_double(value));
}
void Test_return_field_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_field",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Test& t = *unwrap_shared_ptr< Test >(in[1], "ptr_Test");
out[0] = wrap< bool >(obj->return_field(t));
}
void Test_return_int_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_int",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
int value = unwrap< int >(in[1]);
out[0] = wrap< int >(obj->return_int(value));
}
void Test_return_matrix1_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_matrix1",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Matrix value = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->return_matrix1(value));
}
void Test_return_matrix2_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_matrix2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Matrix value = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->return_matrix2(value));
}
void Test_return_pair_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_pair",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Vector v = unwrap< Vector >(in[1]);
Matrix A = unwrap< Matrix >(in[2]);
auto pairResult = obj->return_pair(v,A);
out[0] = wrap< Vector >(pairResult.first);
out[1] = wrap< Matrix >(pairResult.second);
}
void Test_return_pair_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_pair",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Vector v = unwrap< Vector >(in[1]);
auto pairResult = obj->return_pair(v);
out[0] = wrap< Vector >(pairResult.first);
out[1] = wrap< Matrix >(pairResult.second);
}
void Test_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_ptrs",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
boost::shared_ptr<Test> p1 = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
boost::shared_ptr<Test> p2 = unwrap_shared_ptr< Test >(in[2], "ptr_Test");
auto pairResult = obj->return_ptrs(p1,p2);
out[0] = wrap_shared_ptr(pairResult.first,"Test", false);
out[1] = wrap_shared_ptr(pairResult.second,"Test", false);
}
void Test_return_size_t_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_size_t",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
size_t value = unwrap< size_t >(in[1]);
out[0] = wrap< size_t >(obj->return_size_t(value));
}
void Test_return_string_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_string",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
string value = unwrap< string >(in[1]);
out[0] = wrap< string >(obj->return_string(value));
}
void Test_return_vector1_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_vector1",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Vector value = unwrap< Vector >(in[1]);
out[0] = wrap< Vector >(obj->return_vector1(value));
}
void Test_return_vector2_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_vector2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
Vector value = unwrap< Vector >(in[1]);
out[0] = wrap< Vector >(obj->return_vector2(value));
}
void PrimitiveRefDouble_collectorInsertAndMakeBase_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_PrimitiveRefDouble.insert(self);
}
void PrimitiveRefDouble_constructor_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
Shared *self = new Shared(new PrimitiveRef<double>());
collector_PrimitiveRefDouble.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void PrimitiveRefDouble_deconstructor_36(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<PrimitiveRef<double>> Shared;
checkArguments("delete_PrimitiveRefDouble",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_PrimitiveRefDouble::iterator item;
item = collector_PrimitiveRefDouble.find(self);
if(item != collector_PrimitiveRefDouble.end()) {
delete self;
collector_PrimitiveRefDouble.erase(item);
}
}
void PrimitiveRefDouble_Brutal_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("PrimitiveRefDouble.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_38(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<3>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyVector3.insert(self);
}
void MyVector3_constructor_39(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<3>> Shared;
Shared *self = new Shared(new MyVector<3>());
collector_MyVector3.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyVector3_deconstructor_40(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyVector<3>> Shared;
checkArguments("delete_MyVector3",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyVector3::iterator item;
item = collector_MyVector3.find(self);
if(item != collector_MyVector3.end()) {
delete self;
collector_MyVector3.erase(item);
}
}
void MyVector12_collectorInsertAndMakeBase_41(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<12>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyVector12.insert(self);
}
void MyVector12_constructor_42(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyVector<12>> Shared;
Shared *self = new Shared(new MyVector<12>());
collector_MyVector12.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyVector12_deconstructor_43(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyVector<12>> Shared;
checkArguments("delete_MyVector12",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyVector12::iterator item;
item = collector_MyVector12.find(self);
if(item != collector_MyVector12.end()) {
delete self;
collector_MyVector12.erase(item);
}
}
void MultipleTemplatesIntDouble_collectorInsertAndMakeBase_44(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MultipleTemplatesIntDouble.insert(self);
}
void MultipleTemplatesIntDouble_deconstructor_45(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MultipleTemplates<int, double>> Shared;
checkArguments("delete_MultipleTemplatesIntDouble",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MultipleTemplatesIntDouble::iterator item;
item = collector_MultipleTemplatesIntDouble.find(self);
if(item != collector_MultipleTemplatesIntDouble.end()) {
delete self;
collector_MultipleTemplatesIntDouble.erase(item);
}
}
void MultipleTemplatesIntFloat_collectorInsertAndMakeBase_46(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MultipleTemplatesIntFloat.insert(self);
}
void MultipleTemplatesIntFloat_deconstructor_47(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MultipleTemplates<int, float>> Shared;
checkArguments("delete_MultipleTemplatesIntFloat",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MultipleTemplatesIntFloat::iterator item;
item = collector_MultipleTemplatesIntFloat.find(self);
if(item != collector_MultipleTemplatesIntFloat.end()) {
delete self;
collector_MultipleTemplatesIntFloat.erase(item);
}
}
void MyFactorPosePoint2_collectorInsertAndMakeBase_48(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyFactorPosePoint2.insert(self);
}
void MyFactorPosePoint2_constructor_49(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
size_t key1 = unwrap< size_t >(in[0]);
size_t key2 = unwrap< size_t >(in[1]);
double measured = unwrap< double >(in[2]);
boost::shared_ptr<gtsam::noiseModel::Base> noiseModel = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[3], "ptr_gtsamnoiseModelBase");
Shared *self = new Shared(new MyFactor<gtsam::Pose2, gtsam::Matrix>(key1,key2,measured,noiseModel));
collector_MyFactorPosePoint2.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyFactorPosePoint2_deconstructor_50(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);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyFactorPosePoint2::iterator item;
item = collector_MyFactorPosePoint2.find(self);
if(item != collector_MyFactorPosePoint2.end()) {
delete self;
collector_MyFactorPosePoint2.erase(item);
}
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_class_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
FunRange_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 1:
FunRange_constructor_1(nargout, out, nargin-1, in+1);
break;
case 2:
FunRange_deconstructor_2(nargout, out, nargin-1, in+1);
break;
case 3:
FunRange_range_3(nargout, out, nargin-1, in+1);
break;
case 4:
FunRange_create_4(nargout, out, nargin-1, in+1);
break;
case 5:
FunDouble_collectorInsertAndMakeBase_5(nargout, out, nargin-1, in+1);
break;
case 6:
FunDouble_deconstructor_6(nargout, out, nargin-1, in+1);
break;
case 7:
FunDouble_multiTemplatedMethod_7(nargout, out, nargin-1, in+1);
break;
case 8:
FunDouble_templatedMethod_8(nargout, out, nargin-1, in+1);
break;
case 9:
FunDouble_staticMethodWithThis_9(nargout, out, nargin-1, in+1);
break;
case 10:
Test_collectorInsertAndMakeBase_10(nargout, out, nargin-1, in+1);
break;
case 11:
Test_constructor_11(nargout, out, nargin-1, in+1);
break;
case 12:
Test_constructor_12(nargout, out, nargin-1, in+1);
break;
case 13:
Test_deconstructor_13(nargout, out, nargin-1, in+1);
break;
case 14:
Test_arg_EigenConstRef_14(nargout, out, nargin-1, in+1);
break;
case 15:
Test_create_MixedPtrs_15(nargout, out, nargin-1, in+1);
break;
case 16:
Test_create_ptrs_16(nargout, out, nargin-1, in+1);
break;
case 17:
Test_print_17(nargout, out, nargin-1, in+1);
break;
case 18:
Test_return_Point2Ptr_18(nargout, out, nargin-1, in+1);
break;
case 19:
Test_return_Test_19(nargout, out, nargin-1, in+1);
break;
case 20:
Test_return_TestPtr_20(nargout, out, nargin-1, in+1);
break;
case 21:
Test_return_bool_21(nargout, out, nargin-1, in+1);
break;
case 22:
Test_return_double_22(nargout, out, nargin-1, in+1);
break;
case 23:
Test_return_field_23(nargout, out, nargin-1, in+1);
break;
case 24:
Test_return_int_24(nargout, out, nargin-1, in+1);
break;
case 25:
Test_return_matrix1_25(nargout, out, nargin-1, in+1);
break;
case 26:
Test_return_matrix2_26(nargout, out, nargin-1, in+1);
break;
case 27:
Test_return_pair_27(nargout, out, nargin-1, in+1);
break;
case 28:
Test_return_pair_28(nargout, out, nargin-1, in+1);
break;
case 29:
Test_return_ptrs_29(nargout, out, nargin-1, in+1);
break;
case 30:
Test_return_size_t_30(nargout, out, nargin-1, in+1);
break;
case 31:
Test_return_string_31(nargout, out, nargin-1, in+1);
break;
case 32:
Test_return_vector1_32(nargout, out, nargin-1, in+1);
break;
case 33:
Test_return_vector2_33(nargout, out, nargin-1, in+1);
break;
case 34:
PrimitiveRefDouble_collectorInsertAndMakeBase_34(nargout, out, nargin-1, in+1);
break;
case 35:
PrimitiveRefDouble_constructor_35(nargout, out, nargin-1, in+1);
break;
case 36:
PrimitiveRefDouble_deconstructor_36(nargout, out, nargin-1, in+1);
break;
case 37:
PrimitiveRefDouble_Brutal_37(nargout, out, nargin-1, in+1);
break;
case 38:
MyVector3_collectorInsertAndMakeBase_38(nargout, out, nargin-1, in+1);
break;
case 39:
MyVector3_constructor_39(nargout, out, nargin-1, in+1);
break;
case 40:
MyVector3_deconstructor_40(nargout, out, nargin-1, in+1);
break;
case 41:
MyVector12_collectorInsertAndMakeBase_41(nargout, out, nargin-1, in+1);
break;
case 42:
MyVector12_constructor_42(nargout, out, nargin-1, in+1);
break;
case 43:
MyVector12_deconstructor_43(nargout, out, nargin-1, in+1);
break;
case 44:
MultipleTemplatesIntDouble_collectorInsertAndMakeBase_44(nargout, out, nargin-1, in+1);
break;
case 45:
MultipleTemplatesIntDouble_deconstructor_45(nargout, out, nargin-1, in+1);
break;
case 46:
MultipleTemplatesIntFloat_collectorInsertAndMakeBase_46(nargout, out, nargin-1, in+1);
break;
case 47:
MultipleTemplatesIntFloat_deconstructor_47(nargout, out, nargin-1, in+1);
break;
case 48:
MyFactorPosePoint2_collectorInsertAndMakeBase_48(nargout, out, nargin-1, in+1);
break;
case 49:
MyFactorPosePoint2_constructor_49(nargout, out, nargin-1, in+1);
break;
case 50:
MyFactorPosePoint2_deconstructor_50(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

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#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _functions_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_functions_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void load2D_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("load2D",nargout,nargin,5);
string filename = unwrap< string >(in[0]);
boost::shared_ptr<Test> model = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
int maxID = unwrap< int >(in[2]);
bool addNoise = unwrap< bool >(in[3]);
bool smart = unwrap< bool >(in[4]);
auto pairResult = load2D(filename,model,maxID,addNoise,smart);
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
}
void load2D_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("load2D",nargout,nargin,5);
string filename = unwrap< string >(in[0]);
boost::shared_ptr<gtsam::noiseModel::Diagonal> model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
int maxID = unwrap< int >(in[2]);
bool addNoise = unwrap< bool >(in[3]);
bool smart = unwrap< bool >(in[4]);
auto pairResult = load2D(filename,model,maxID,addNoise,smart);
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
}
void load2D_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("load2D",nargout,nargin,2);
string filename = unwrap< string >(in[0]);
boost::shared_ptr<gtsam::noiseModel::Diagonal> model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
auto pairResult = load2D(filename,model);
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
}
void aGlobalFunction_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("aGlobalFunction",nargout,nargin,0);
out[0] = wrap< Vector >(aGlobalFunction());
}
void overloadedGlobalFunction_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,1);
int a = unwrap< int >(in[0]);
out[0] = wrap< Vector >(overloadedGlobalFunction(a));
}
void overloadedGlobalFunction_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,2);
int a = unwrap< int >(in[0]);
double b = unwrap< double >(in[1]);
out[0] = wrap< Vector >(overloadedGlobalFunction(a,b));
}
void MultiTemplatedFunctionStringSize_tDouble_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("MultiTemplatedFunctionStringSize_tDouble",nargout,nargin,2);
T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T");
size_t y = unwrap< size_t >(in[1]);
out[0] = wrap< double >(MultiTemplatedFunctionStringSize_tDouble(x,y));
}
void MultiTemplatedFunctionDoubleSize_tDouble_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("MultiTemplatedFunctionDoubleSize_tDouble",nargout,nargin,2);
T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T");
size_t y = unwrap< size_t >(in[1]);
out[0] = wrap< double >(MultiTemplatedFunctionDoubleSize_tDouble(x,y));
}
void TemplatedFunctionRot3_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("TemplatedFunctionRot3",nargout,nargin,1);
gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3");
TemplatedFunctionRot3(t);
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_functions_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
load2D_0(nargout, out, nargin-1, in+1);
break;
case 1:
load2D_1(nargout, out, nargin-1, in+1);
break;
case 2:
load2D_2(nargout, out, nargin-1, in+1);
break;
case 3:
aGlobalFunction_3(nargout, out, nargin-1, in+1);
break;
case 4:
overloadedGlobalFunction_4(nargout, out, nargin-1, in+1);
break;
case 5:
overloadedGlobalFunction_5(nargout, out, nargin-1, in+1);
break;
case 6:
MultiTemplatedFunctionStringSize_tDouble_6(nargout, out, nargin-1, in+1);
break;
case 7:
MultiTemplatedFunctionDoubleSize_tDouble_7(nargout, out, nargin-1, in+1);
break;
case 8:
TemplatedFunctionRot3_8(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

480
wrap/tests/expected/matlab/geometry_wrapper.cpp Normal file
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#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<gtsam::Point2>*> Collector_gtsamPoint2;
static Collector_gtsamPoint2 collector_gtsamPoint2;
typedef std::set<boost::shared_ptr<gtsam::Point3>*> Collector_gtsamPoint3;
static Collector_gtsamPoint3 collector_gtsamPoint3;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin();
iter != collector_gtsamPoint2.end(); ) {
delete *iter;
collector_gtsamPoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin();
iter != collector_gtsamPoint3.end(); ) {
delete *iter;
collector_gtsamPoint3.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _geometry_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_geometry_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void gtsamPoint2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point2> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamPoint2.insert(self);
}
void gtsamPoint2_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point2> Shared;
Shared *self = new Shared(new gtsam::Point2());
collector_gtsamPoint2.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void gtsamPoint2_constructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point2> Shared;
double x = unwrap< double >(in[0]);
double y = unwrap< double >(in[1]);
Shared *self = new Shared(new gtsam::Point2(x,y));
collector_gtsamPoint2.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::Point2> Shared;
checkArguments("delete_gtsamPoint2",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamPoint2::iterator item;
item = collector_gtsamPoint2.find(self);
if(item != collector_gtsamPoint2.end()) {
delete self;
collector_gtsamPoint2.erase(item);
}
}
void gtsamPoint2_argChar_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
char a = unwrap< char >(in[1]);
obj->argChar(a);
}
void gtsamPoint2_argChar_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}
void gtsamPoint2_argChar_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
char a = unwrap< char >(in[1]);
obj->argChar(a);
}
void gtsamPoint2_argChar_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}
void gtsamPoint2_argChar_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}
void gtsamPoint2_argChar_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
char a = unwrap< char >(in[1]);
obj->argChar(a);
}
void gtsamPoint2_argChar_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
boost::shared_ptr<char> a = unwrap_shared_ptr< char >(in[1], "ptr_char");
obj->argChar(a);
}
void gtsamPoint2_argUChar_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("argUChar",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
unsigned char a = unwrap< unsigned char >(in[1]);
obj->argUChar(a);
}
void gtsamPoint2_dim_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("dim",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
out[0] = wrap< int >(obj->dim());
}
void gtsamPoint2_eigenArguments_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("eigenArguments",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
Vector v = unwrap< Vector >(in[1]);
Matrix m = unwrap< Matrix >(in[2]);
obj->eigenArguments(v,m);
}
void gtsamPoint2_returnChar_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("returnChar",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
out[0] = wrap< char >(obj->returnChar());
}
void gtsamPoint2_vectorConfusion_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("vectorConfusion",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
out[0] = wrap_shared_ptr(boost::make_shared<VectorNotEigen>(obj->vectorConfusion()),"VectorNotEigen", false);
}
void gtsamPoint2_x_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("x",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
out[0] = wrap< double >(obj->x());
}
void gtsamPoint2_y_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("y",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point2>(in[0], "ptr_gtsamPoint2");
out[0] = wrap< double >(obj->y());
}
void gtsamPoint3_collectorInsertAndMakeBase_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point3> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamPoint3.insert(self);
}
void gtsamPoint3_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point3> Shared;
double x = unwrap< double >(in[0]);
double y = unwrap< double >(in[1]);
double z = unwrap< double >(in[2]);
Shared *self = new Shared(new gtsam::Point3(x,y,z));
collector_gtsamPoint3.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void gtsamPoint3_deconstructor_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::Point3> Shared;
checkArguments("delete_gtsamPoint3",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamPoint3::iterator item;
item = collector_gtsamPoint3.find(self);
if(item != collector_gtsamPoint3.end()) {
delete self;
collector_gtsamPoint3.erase(item);
}
}
void gtsamPoint3_norm_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("norm",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<gtsam::Point3>(in[0], "ptr_gtsamPoint3");
out[0] = wrap< double >(obj->norm());
}
void gtsamPoint3_string_serialize_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::Point3> Shared;
checkArguments("string_serialize",nargout,nargin-1,0);
Shared obj = unwrap_shared_ptr<gtsam::Point3>(in[0], "ptr_gtsamPoint3");
ostringstream out_archive_stream;
boost::archive::text_oarchive out_archive(out_archive_stream);
out_archive << *obj;
out[0] = wrap< string >(out_archive_stream.str());
}
void gtsamPoint3_StaticFunctionRet_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("gtsamPoint3.StaticFunctionRet",nargout,nargin,1);
double z = unwrap< double >(in[0]);
out[0] = wrap< Point3 >(gtsam::Point3::StaticFunctionRet(z));
}
void gtsamPoint3_staticFunction_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("gtsamPoint3.staticFunction",nargout,nargin,0);
out[0] = wrap< double >(gtsam::Point3::staticFunction());
}
void gtsamPoint3_string_deserialize_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::Point3> Shared;
checkArguments("gtsamPoint3.string_deserialize",nargout,nargin,1);
string serialized = unwrap< string >(in[0]);
istringstream in_archive_stream(serialized);
boost::archive::text_iarchive in_archive(in_archive_stream);
Shared output(new gtsam::Point3());
in_archive >> *output;
out[0] = wrap_shared_ptr(output,"gtsam.Point3", false);
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_geometry_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
gtsamPoint2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 1:
gtsamPoint2_constructor_1(nargout, out, nargin-1, in+1);
break;
case 2:
gtsamPoint2_constructor_2(nargout, out, nargin-1, in+1);
break;
case 3:
gtsamPoint2_deconstructor_3(nargout, out, nargin-1, in+1);
break;
case 4:
gtsamPoint2_argChar_4(nargout, out, nargin-1, in+1);
break;
case 5:
gtsamPoint2_argChar_5(nargout, out, nargin-1, in+1);
break;
case 6:
gtsamPoint2_argChar_6(nargout, out, nargin-1, in+1);
break;
case 7:
gtsamPoint2_argChar_7(nargout, out, nargin-1, in+1);
break;
case 8:
gtsamPoint2_argChar_8(nargout, out, nargin-1, in+1);
break;
case 9:
gtsamPoint2_argChar_9(nargout, out, nargin-1, in+1);
break;
case 10:
gtsamPoint2_argChar_10(nargout, out, nargin-1, in+1);
break;
case 11:
gtsamPoint2_argUChar_11(nargout, out, nargin-1, in+1);
break;
case 12:
gtsamPoint2_dim_12(nargout, out, nargin-1, in+1);
break;
case 13:
gtsamPoint2_eigenArguments_13(nargout, out, nargin-1, in+1);
break;
case 14:
gtsamPoint2_returnChar_14(nargout, out, nargin-1, in+1);
break;
case 15:
gtsamPoint2_vectorConfusion_15(nargout, out, nargin-1, in+1);
break;
case 16:
gtsamPoint2_x_16(nargout, out, nargin-1, in+1);
break;
case 17:
gtsamPoint2_y_17(nargout, out, nargin-1, in+1);
break;
case 18:
gtsamPoint3_collectorInsertAndMakeBase_18(nargout, out, nargin-1, in+1);
break;
case 19:
gtsamPoint3_constructor_19(nargout, out, nargin-1, in+1);
break;
case 20:
gtsamPoint3_deconstructor_20(nargout, out, nargin-1, in+1);
break;
case 21:
gtsamPoint3_norm_21(nargout, out, nargin-1, in+1);
break;
case 22:
gtsamPoint3_string_serialize_22(nargout, out, nargin-1, in+1);
break;
case 23:
gtsamPoint3_StaticFunctionRet_23(nargout, out, nargin-1, in+1);
break;
case 24:
gtsamPoint3_staticFunction_24(nargout, out, nargin-1, in+1);
break;
case 25:
gtsamPoint3_string_deserialize_25(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

681
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#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<gtsam::Point2>*> Collector_gtsamPoint2;
static Collector_gtsamPoint2 collector_gtsamPoint2;
typedef std::set<boost::shared_ptr<gtsam::Point3>*> Collector_gtsamPoint3;
static Collector_gtsamPoint3 collector_gtsamPoint3;
typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
static Collector_MyBase collector_MyBase;
typedef std::set<boost::shared_ptr<MyTemplatePoint2>*> Collector_MyTemplatePoint2;
static Collector_MyTemplatePoint2 collector_MyTemplatePoint2;
typedef std::set<boost::shared_ptr<MyTemplateMatrix>*> Collector_MyTemplateMatrix;
static Collector_MyTemplateMatrix collector_MyTemplateMatrix;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin();
iter != collector_gtsamPoint2.end(); ) {
delete *iter;
collector_gtsamPoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin();
iter != collector_gtsamPoint3.end(); ) {
delete *iter;
collector_gtsamPoint3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyBase::iterator iter = collector_MyBase.begin();
iter != collector_MyBase.end(); ) {
delete *iter;
collector_MyBase.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin();
iter != collector_MyTemplatePoint2.end(); ) {
delete *iter;
collector_MyTemplatePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin();
iter != collector_MyTemplateMatrix.end(); ) {
delete *iter;
collector_MyTemplateMatrix.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _inheritance_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_inheritance_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
types.insert(std::make_pair(typeid(MyBase).name(), "MyBase"));
types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2"));
types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void gtsamPoint2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point2> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamPoint2.insert(self);
}
void MyBase_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyBase> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyBase.insert(self);
}
void MyBase_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyBase> Shared;
checkArguments("delete_MyBase",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyBase::iterator item;
item = collector_MyBase.find(self);
if(item != collector_MyBase.end()) {
delete self;
collector_MyBase.erase(item);
}
}
void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::Point2> Shared;
checkArguments("delete_gtsamPoint2",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamPoint2::iterator item;
item = collector_gtsamPoint2.find(self);
if(item != collector_gtsamPoint2.end()) {
delete self;
collector_gtsamPoint2.erase(item);
}
}
void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyTemplatePoint2.insert(self);
typedef boost::shared_ptr<MyBase> SharedBase;
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}
void MyTemplatePoint2_constructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
Shared *self = new Shared(new MyTemplate<gtsam::Point2>());
collector_MyTemplatePoint2.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
typedef boost::shared_ptr<MyBase> SharedBase;
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
}
void MyTemplatePoint2_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
checkArguments("delete_MyTemplatePoint2",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyTemplatePoint2::iterator item;
item = collector_MyTemplatePoint2.find(self);
if(item != collector_MyTemplatePoint2.end()) {
delete self;
collector_MyTemplatePoint2.erase(item);
}
}
void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 value = unwrap< Point2 >(in[1]);
obj->accept_T(value);
}
void MyTemplatePoint2_accept_Tptr_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 value = unwrap< Point2 >(in[1]);
obj->accept_Tptr(value);
}
void MyTemplatePoint2_create_MixedPtrs_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_MixedPtrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
auto pairResult = obj->create_MixedPtrs();
out[0] = wrap< Point2 >(pairResult.first);
{
boost::shared_ptr<Point2> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Point2");
}
}
void MyTemplatePoint2_create_ptrs_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_ptrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
auto pairResult = obj->create_ptrs();
{
boost::shared_ptr<Point2> shared(pairResult.first);
out[0] = wrap_shared_ptr(shared,"Point2");
}
{
boost::shared_ptr<Point2> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Point2");
}
}
void MyTemplatePoint2_return_T_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 value = unwrap< Point2 >(in[1]);
out[0] = wrap< Point2 >(obj->return_T(value));
}
void MyTemplatePoint2_return_Tptr_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 value = unwrap< Point2 >(in[1]);
{
boost::shared_ptr<Point2> shared(obj->return_Tptr(value));
out[0] = wrap_shared_ptr(shared,"Point2");
}
}
void MyTemplatePoint2_return_ptrs_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_ptrs",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 p1 = unwrap< Point2 >(in[1]);
Point2 p2 = unwrap< Point2 >(in[2]);
auto pairResult = obj->return_ptrs(p1,p2);
{
boost::shared_ptr<Point2> shared(pairResult.first);
out[0] = wrap_shared_ptr(shared,"Point2");
}
{
boost::shared_ptr<Point2> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Point2");
}
}
void MyTemplatePoint2_templatedMethod_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Matrix t = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->templatedMethod<gtsam::Matrix>(t));
}
void MyTemplatePoint2_templatedMethod_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point2 t = unwrap< Point2 >(in[1]);
out[0] = wrap< Point2 >(obj->templatedMethod<gtsam::Point2>(t));
}
void MyTemplatePoint2_templatedMethod_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Point3 t = unwrap< Point3 >(in[1]);
out[0] = wrap< Point3 >(obj->templatedMethod<gtsam::Point3>(t));
}
void MyTemplatePoint2_templatedMethod_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodVector",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
Vector t = unwrap< Vector >(in[1]);
out[0] = wrap< Vector >(obj->templatedMethod<gtsam::Vector>(t));
}
void MyTemplatePoint2_Level_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("MyTemplatePoint2.Level",nargout,nargin,1);
Point2 K = unwrap< Point2 >(in[0]);
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<Point2>>(MyTemplate<gtsam::Point2>::Level(K)),"MyTemplatePoint2", false);
}
void gtsamPoint3_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::Point3> Shared;
double x = unwrap< double >(in[0]);
double y = unwrap< double >(in[1]);
double z = unwrap< double >(in[2]);
Shared *self = new Shared(new gtsam::Point3(x,y,z));
collector_gtsamPoint3.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void MyTemplateMatrix_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_MyTemplateMatrix.insert(self);
typedef boost::shared_ptr<MyBase> SharedBase;
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}
void MyTemplateMatrix_constructor_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
Shared *self = new Shared(new MyTemplate<gtsam::Matrix>());
collector_MyTemplateMatrix.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
typedef boost::shared_ptr<MyBase> SharedBase;
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
}
void MyTemplateMatrix_deconstructor_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
checkArguments("delete_MyTemplateMatrix",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_MyTemplateMatrix::iterator item;
item = collector_MyTemplateMatrix.find(self);
if(item != collector_MyTemplateMatrix.end()) {
delete self;
collector_MyTemplateMatrix.erase(item);
}
}
void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix value = unwrap< Matrix >(in[1]);
obj->accept_T(value);
}
void MyTemplateMatrix_accept_Tptr_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("accept_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix value = unwrap< Matrix >(in[1]);
obj->accept_Tptr(value);
}
void MyTemplateMatrix_create_MixedPtrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_MixedPtrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
auto pairResult = obj->create_MixedPtrs();
out[0] = wrap< Matrix >(pairResult.first);
{
boost::shared_ptr<Matrix> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Matrix");
}
}
void MyTemplateMatrix_create_ptrs_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("create_ptrs",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
auto pairResult = obj->create_ptrs();
{
boost::shared_ptr<Matrix> shared(pairResult.first);
out[0] = wrap_shared_ptr(shared,"Matrix");
}
{
boost::shared_ptr<Matrix> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Matrix");
}
}
void MyTemplateMatrix_return_T_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_T",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix value = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->return_T(value));
}
void MyTemplateMatrix_return_Tptr_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_Tptr",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix value = unwrap< Matrix >(in[1]);
{
boost::shared_ptr<Matrix> shared(obj->return_Tptr(value));
out[0] = wrap_shared_ptr(shared,"Matrix");
}
}
void MyTemplateMatrix_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("return_ptrs",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix p1 = unwrap< Matrix >(in[1]);
Matrix p2 = unwrap< Matrix >(in[2]);
auto pairResult = obj->return_ptrs(p1,p2);
{
boost::shared_ptr<Matrix> shared(pairResult.first);
out[0] = wrap_shared_ptr(shared,"Matrix");
}
{
boost::shared_ptr<Matrix> shared(pairResult.second);
out[1] = wrap_shared_ptr(shared,"Matrix");
}
}
void MyTemplateMatrix_templatedMethod_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Matrix t = unwrap< Matrix >(in[1]);
out[0] = wrap< Matrix >(obj->templatedMethod<gtsam::Matrix>(t));
}
void MyTemplateMatrix_templatedMethod_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Point2 t = unwrap< Point2 >(in[1]);
out[0] = wrap< Point2 >(obj->templatedMethod<gtsam::Point2>(t));
}
void MyTemplateMatrix_templatedMethod_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Point3 t = unwrap< Point3 >(in[1]);
out[0] = wrap< Point3 >(obj->templatedMethod<gtsam::Point3>(t));
}
void MyTemplateMatrix_templatedMethod_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("templatedMethodVector",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
Vector t = unwrap< Vector >(in[1]);
out[0] = wrap< Vector >(obj->templatedMethod<gtsam::Vector>(t));
}
void MyTemplateMatrix_Level_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("MyTemplateMatrix.Level",nargout,nargin,1);
Matrix K = unwrap< Matrix >(in[0]);
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<Matrix>>(MyTemplate<gtsam::Matrix>::Level(K)),"MyTemplateMatrix", false);
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_inheritance_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
gtsamPoint2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 1:
MyBase_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 2:
MyBase_deconstructor_2(nargout, out, nargin-1, in+1);
break;
case 3:
gtsamPoint2_deconstructor_3(nargout, out, nargin-1, in+1);
break;
case 4:
MyTemplatePoint2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
break;
case 5:
MyTemplatePoint2_constructor_5(nargout, out, nargin-1, in+1);
break;
case 6:
MyTemplatePoint2_deconstructor_6(nargout, out, nargin-1, in+1);
break;
case 7:
MyTemplatePoint2_accept_T_7(nargout, out, nargin-1, in+1);
break;
case 8:
MyTemplatePoint2_accept_Tptr_8(nargout, out, nargin-1, in+1);
break;
case 9:
MyTemplatePoint2_create_MixedPtrs_9(nargout, out, nargin-1, in+1);
break;
case 10:
MyTemplatePoint2_create_ptrs_10(nargout, out, nargin-1, in+1);
break;
case 11:
MyTemplatePoint2_return_T_11(nargout, out, nargin-1, in+1);
break;
case 12:
MyTemplatePoint2_return_Tptr_12(nargout, out, nargin-1, in+1);
break;
case 13:
MyTemplatePoint2_return_ptrs_13(nargout, out, nargin-1, in+1);
break;
case 14:
MyTemplatePoint2_templatedMethod_14(nargout, out, nargin-1, in+1);
break;
case 15:
MyTemplatePoint2_templatedMethod_15(nargout, out, nargin-1, in+1);
break;
case 16:
MyTemplatePoint2_templatedMethod_16(nargout, out, nargin-1, in+1);
break;
case 17:
MyTemplatePoint2_templatedMethod_17(nargout, out, nargin-1, in+1);
break;
case 18:
MyTemplatePoint2_Level_18(nargout, out, nargin-1, in+1);
break;
case 19:
gtsamPoint3_constructor_19(nargout, out, nargin-1, in+1);
break;
case 20:
MyTemplateMatrix_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1);
break;
case 21:
MyTemplateMatrix_constructor_21(nargout, out, nargin-1, in+1);
break;
case 22:
MyTemplateMatrix_deconstructor_22(nargout, out, nargin-1, in+1);
break;
case 23:
MyTemplateMatrix_accept_T_23(nargout, out, nargin-1, in+1);
break;
case 24:
MyTemplateMatrix_accept_Tptr_24(nargout, out, nargin-1, in+1);
break;
case 25:
MyTemplateMatrix_create_MixedPtrs_25(nargout, out, nargin-1, in+1);
break;
case 26:
MyTemplateMatrix_create_ptrs_26(nargout, out, nargin-1, in+1);
break;
case 27:
MyTemplateMatrix_return_T_27(nargout, out, nargin-1, in+1);
break;
case 28:
MyTemplateMatrix_return_Tptr_28(nargout, out, nargin-1, in+1);
break;
case 29:
MyTemplateMatrix_return_ptrs_29(nargout, out, nargin-1, in+1);
break;
case 30:
MyTemplateMatrix_templatedMethod_30(nargout, out, nargin-1, in+1);
break;
case 31:
MyTemplateMatrix_templatedMethod_31(nargout, out, nargin-1, in+1);
break;
case 32:
MyTemplateMatrix_templatedMethod_32(nargout, out, nargin-1, in+1);
break;
case 33:
MyTemplateMatrix_templatedMethod_33(nargout, out, nargin-1, in+1);
break;
case 34:
MyTemplateMatrix_Level_34(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

6
wrap/tests/expected-matlab/load2D.m → wrap/tests/expected/matlab/load2D.m
View File

@ -1,10 +1,10 @@
function varargout = load2D(varargin)
if length(varargin) == 5 && isa(varargin{1},'char') && isa(varargin{2},'Test') && isa(varargin{3},'numeric') && isa(varargin{4},'logical') && isa(varargin{5},'logical')
[ varargout{1} varargout{2} ] = geometry_wrapper(96, varargin{:});
[ varargout{1} varargout{2} ] = functions_wrapper(0, varargin{:});
elseif length(varargin) == 5 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.noiseModel.Diagonal') && isa(varargin{3},'numeric') && isa(varargin{4},'logical') && isa(varargin{5},'logical')
[ varargout{1} varargout{2} ] = geometry_wrapper(97, varargin{:});
[ varargout{1} varargout{2} ] = functions_wrapper(1, varargin{:});
elseif length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.noiseModel.Diagonal')
[ varargout{1} varargout{2} ] = geometry_wrapper(98, varargin{:});
[ varargout{1} varargout{2} ] = functions_wrapper(2, varargin{:});
else
error('Arguments do not match any overload of function load2D');
end

581
wrap/tests/expected/matlab/namespaces_wrapper.cpp Normal file
View File

@ -0,0 +1,581 @@
#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <path/to/ns1.h>
#include <path/to/ns1/ClassB.h>
#include <path/to/ns2.h>
#include <path/to/ns2/ClassA.h>
#include <path/to/ns3.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<gtsam::Point2>*> Collector_gtsamPoint2;
static Collector_gtsamPoint2 collector_gtsamPoint2;
typedef std::set<boost::shared_ptr<gtsam::Point3>*> Collector_gtsamPoint3;
static Collector_gtsamPoint3 collector_gtsamPoint3;
typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
static Collector_MyBase collector_MyBase;
typedef std::set<boost::shared_ptr<MyTemplatePoint2>*> Collector_MyTemplatePoint2;
static Collector_MyTemplatePoint2 collector_MyTemplatePoint2;
typedef std::set<boost::shared_ptr<MyTemplateMatrix>*> Collector_MyTemplateMatrix;
static Collector_MyTemplateMatrix collector_MyTemplateMatrix;
typedef std::set<boost::shared_ptr<ns1::ClassA>*> Collector_ns1ClassA;
static Collector_ns1ClassA collector_ns1ClassA;
typedef std::set<boost::shared_ptr<ns1::ClassB>*> Collector_ns1ClassB;
static Collector_ns1ClassB collector_ns1ClassB;
typedef std::set<boost::shared_ptr<ns2::ClassA>*> Collector_ns2ClassA;
static Collector_ns2ClassA collector_ns2ClassA;
typedef std::set<boost::shared_ptr<ns2::ns3::ClassB>*> Collector_ns2ns3ClassB;
static Collector_ns2ns3ClassB collector_ns2ns3ClassB;
typedef std::set<boost::shared_ptr<ns2::ClassC>*> Collector_ns2ClassC;
static Collector_ns2ClassC collector_ns2ClassC;
typedef std::set<boost::shared_ptr<ClassD>*> Collector_ClassD;
static Collector_ClassD collector_ClassD;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin();
iter != collector_gtsamPoint2.end(); ) {
delete *iter;
collector_gtsamPoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin();
iter != collector_gtsamPoint3.end(); ) {
delete *iter;
collector_gtsamPoint3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyBase::iterator iter = collector_MyBase.begin();
iter != collector_MyBase.end(); ) {
delete *iter;
collector_MyBase.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin();
iter != collector_MyTemplatePoint2.end(); ) {
delete *iter;
collector_MyTemplatePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin();
iter != collector_MyTemplateMatrix.end(); ) {
delete *iter;
collector_MyTemplateMatrix.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin();
iter != collector_ns1ClassA.end(); ) {
delete *iter;
collector_ns1ClassA.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns1ClassB::iterator iter = collector_ns1ClassB.begin();
iter != collector_ns1ClassB.end(); ) {
delete *iter;
collector_ns1ClassB.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ClassA::iterator iter = collector_ns2ClassA.begin();
iter != collector_ns2ClassA.end(); ) {
delete *iter;
collector_ns2ClassA.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ns3ClassB::iterator iter = collector_ns2ns3ClassB.begin();
iter != collector_ns2ns3ClassB.end(); ) {
delete *iter;
collector_ns2ns3ClassB.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ClassC::iterator iter = collector_ns2ClassC.begin();
iter != collector_ns2ClassC.end(); ) {
delete *iter;
collector_ns2ClassC.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ClassD::iterator iter = collector_ClassD.begin();
iter != collector_ClassD.end(); ) {
delete *iter;
collector_ClassD.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _namespaces_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_namespaces_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
types.insert(std::make_pair(typeid(MyBase).name(), "MyBase"));
types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2"));
types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void ns1ClassA_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns1::ClassA> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ns1ClassA.insert(self);
}
void ns1ClassA_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns1::ClassA> Shared;
Shared *self = new Shared(new ns1::ClassA());
collector_ns1ClassA.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ns1ClassA_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ns1::ClassA> Shared;
checkArguments("delete_ns1ClassA",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ns1ClassA::iterator item;
item = collector_ns1ClassA.find(self);
if(item != collector_ns1ClassA.end()) {
delete self;
collector_ns1ClassA.erase(item);
}
}
void ns1ClassB_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns1::ClassB> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ns1ClassB.insert(self);
}
void ns1ClassB_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns1::ClassB> Shared;
Shared *self = new Shared(new ns1::ClassB());
collector_ns1ClassB.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ns1ClassB_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ns1::ClassB> Shared;
checkArguments("delete_ns1ClassB",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ns1ClassB::iterator item;
item = collector_ns1ClassB.find(self);
if(item != collector_ns1ClassB.end()) {
delete self;
collector_ns1ClassB.erase(item);
}
}
void aGlobalFunction_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("aGlobalFunction",nargout,nargin,0);
out[0] = wrap< Vector >(ns1::aGlobalFunction());
}
void ns2ClassA_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ClassA> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ns2ClassA.insert(self);
}
void ns2ClassA_constructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ClassA> Shared;
Shared *self = new Shared(new ns2::ClassA());
collector_ns2ClassA.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ns2ClassA_deconstructor_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ns2::ClassA> Shared;
checkArguments("delete_ns2ClassA",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ns2ClassA::iterator item;
item = collector_ns2ClassA.find(self);
if(item != collector_ns2ClassA.end()) {
delete self;
collector_ns2ClassA.erase(item);
}
}
void ns2ClassA_memberFunction_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("memberFunction",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
out[0] = wrap< double >(obj->memberFunction());
}
void ns2ClassA_nsArg_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("nsArg",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ptr_ns1ClassB");
out[0] = wrap< int >(obj->nsArg(arg));
}
void ns2ClassA_nsReturn_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("nsReturn",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
double q = unwrap< double >(in[1]);
out[0] = wrap_shared_ptr(boost::make_shared<ns2::ns3::ClassB>(obj->nsReturn(q)),"ns2.ns3.ClassB", false);
}
void ns2ClassA_afunction_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("ns2ClassA.afunction",nargout,nargin,0);
out[0] = wrap< double >(ns2::ClassA::afunction());
}
void ns2ns3ClassB_collectorInsertAndMakeBase_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ns3::ClassB> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ns2ns3ClassB.insert(self);
}
void ns2ns3ClassB_constructor_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ns3::ClassB> Shared;
Shared *self = new Shared(new ns2::ns3::ClassB());
collector_ns2ns3ClassB.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ns2ns3ClassB_deconstructor_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ns2::ns3::ClassB> Shared;
checkArguments("delete_ns2ns3ClassB",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ns2ns3ClassB::iterator item;
item = collector_ns2ns3ClassB.find(self);
if(item != collector_ns2ns3ClassB.end()) {
delete self;
collector_ns2ns3ClassB.erase(item);
}
}
void ns2ClassC_collectorInsertAndMakeBase_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ClassC> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ns2ClassC.insert(self);
}
void ns2ClassC_constructor_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ns2::ClassC> Shared;
Shared *self = new Shared(new ns2::ClassC());
collector_ns2ClassC.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ns2ClassC_deconstructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ns2::ClassC> Shared;
checkArguments("delete_ns2ClassC",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ns2ClassC::iterator item;
item = collector_ns2ClassC.find(self);
if(item != collector_ns2ClassC.end()) {
delete self;
collector_ns2ClassC.erase(item);
}
}
void aGlobalFunction_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("aGlobalFunction",nargout,nargin,0);
out[0] = wrap< Vector >(ns2::aGlobalFunction());
}
void overloadedGlobalFunction_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,1);
ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a)),"ns1.ClassA", false);
}
void overloadedGlobalFunction_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("overloadedGlobalFunction",nargout,nargin,2);
ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
double b = unwrap< double >(in[1]);
out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a,b)),"ns1.ClassA", false);
}
void ClassD_collectorInsertAndMakeBase_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ClassD> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_ClassD.insert(self);
}
void ClassD_constructor_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<ClassD> Shared;
Shared *self = new Shared(new ClassD());
collector_ClassD.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}
void ClassD_deconstructor_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<ClassD> Shared;
checkArguments("delete_ClassD",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_ClassD::iterator item;
item = collector_ClassD.find(self);
if(item != collector_ClassD.end()) {
delete self;
collector_ClassD.erase(item);
}
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_namespaces_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
ns1ClassA_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 1:
ns1ClassA_constructor_1(nargout, out, nargin-1, in+1);
break;
case 2:
ns1ClassA_deconstructor_2(nargout, out, nargin-1, in+1);
break;
case 3:
ns1ClassB_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
break;
case 4:
ns1ClassB_constructor_4(nargout, out, nargin-1, in+1);
break;
case 5:
ns1ClassB_deconstructor_5(nargout, out, nargin-1, in+1);
break;
case 6:
aGlobalFunction_6(nargout, out, nargin-1, in+1);
break;
case 7:
ns2ClassA_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
break;
case 8:
ns2ClassA_constructor_8(nargout, out, nargin-1, in+1);
break;
case 9:
ns2ClassA_deconstructor_9(nargout, out, nargin-1, in+1);
break;
case 10:
ns2ClassA_memberFunction_10(nargout, out, nargin-1, in+1);
break;
case 11:
ns2ClassA_nsArg_11(nargout, out, nargin-1, in+1);
break;
case 12:
ns2ClassA_nsReturn_12(nargout, out, nargin-1, in+1);
break;
case 13:
ns2ClassA_afunction_13(nargout, out, nargin-1, in+1);
break;
case 14:
ns2ns3ClassB_collectorInsertAndMakeBase_14(nargout, out, nargin-1, in+1);
break;
case 15:
ns2ns3ClassB_constructor_15(nargout, out, nargin-1, in+1);
break;
case 16:
ns2ns3ClassB_deconstructor_16(nargout, out, nargin-1, in+1);
break;
case 17:
ns2ClassC_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1);
break;
case 18:
ns2ClassC_constructor_18(nargout, out, nargin-1, in+1);
break;
case 19:
ns2ClassC_deconstructor_19(nargout, out, nargin-1, in+1);
break;
case 20:
aGlobalFunction_20(nargout, out, nargin-1, in+1);
break;
case 21:
overloadedGlobalFunction_21(nargout, out, nargin-1, in+1);
break;
case 22:
overloadedGlobalFunction_22(nargout, out, nargin-1, in+1);
break;
case 23:
ClassD_collectorInsertAndMakeBase_23(nargout, out, nargin-1, in+1);
break;
case 24:
ClassD_constructor_24(nargout, out, nargin-1, in+1);
break;
case 25:
ClassD_deconstructor_25(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

4
wrap/tests/expected-matlab/overloadedGlobalFunction.m → wrap/tests/expected/matlab/overloadedGlobalFunction.m
View File

@ -1,8 +1,8 @@
function varargout = overloadedGlobalFunction(varargin)
if length(varargin) == 1 && isa(varargin{1},'numeric')
varargout{1} = geometry_wrapper(100, varargin{:});
varargout{1} = functions_wrapper(4, varargin{:});
elseif length(varargin) == 2 && isa(varargin{1},'numeric') && isa(varargin{2},'double')
varargout{1} = geometry_wrapper(101, varargin{:});
varargout{1} = functions_wrapper(5, varargin{:});
else
error('Arguments do not match any overload of function overloadedGlobalFunction');
end

340
wrap/tests/expected/matlab/special_cases_wrapper.cpp Normal file
View File

@ -0,0 +1,340 @@
#include <gtwrap/matlab.h>
#include <map>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/serialization/export.hpp>
#include <folder/path/to/Test.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h>
#include <path/to/ns1.h>
#include <path/to/ns1/ClassB.h>
#include <path/to/ns2.h>
#include <path/to/ns2/ClassA.h>
#include <path/to/ns3.h>
typedef Fun<double> FunDouble;
typedef PrimitiveRef<double> PrimitiveRefDouble;
typedef MyVector<3> MyVector3;
typedef MyVector<12> MyVector12;
typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
static Collector_FunRange collector_FunRange;
typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
static Collector_FunDouble collector_FunDouble;
typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
static Collector_Test collector_Test;
typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
static Collector_MyVector3 collector_MyVector3;
typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
static Collector_MyVector12 collector_MyVector12;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
typedef std::set<boost::shared_ptr<gtsam::Point2>*> Collector_gtsamPoint2;
static Collector_gtsamPoint2 collector_gtsamPoint2;
typedef std::set<boost::shared_ptr<gtsam::Point3>*> Collector_gtsamPoint3;
static Collector_gtsamPoint3 collector_gtsamPoint3;
typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
static Collector_MyBase collector_MyBase;
typedef std::set<boost::shared_ptr<MyTemplatePoint2>*> Collector_MyTemplatePoint2;
static Collector_MyTemplatePoint2 collector_MyTemplatePoint2;
typedef std::set<boost::shared_ptr<MyTemplateMatrix>*> Collector_MyTemplateMatrix;
static Collector_MyTemplateMatrix collector_MyTemplateMatrix;
typedef std::set<boost::shared_ptr<ns1::ClassA>*> Collector_ns1ClassA;
static Collector_ns1ClassA collector_ns1ClassA;
typedef std::set<boost::shared_ptr<ns1::ClassB>*> Collector_ns1ClassB;
static Collector_ns1ClassB collector_ns1ClassB;
typedef std::set<boost::shared_ptr<ns2::ClassA>*> Collector_ns2ClassA;
static Collector_ns2ClassA collector_ns2ClassA;
typedef std::set<boost::shared_ptr<ns2::ns3::ClassB>*> Collector_ns2ns3ClassB;
static Collector_ns2ns3ClassB collector_ns2ns3ClassB;
typedef std::set<boost::shared_ptr<ns2::ClassC>*> Collector_ns2ClassC;
static Collector_ns2ClassC collector_ns2ClassC;
typedef std::set<boost::shared_ptr<ClassD>*> Collector_ClassD;
static Collector_ClassD collector_ClassD;
typedef std::set<boost::shared_ptr<gtsam::NonlinearFactorGraph>*> Collector_gtsamNonlinearFactorGraph;
static Collector_gtsamNonlinearFactorGraph collector_gtsamNonlinearFactorGraph;
typedef std::set<boost::shared_ptr<PinholeCameraCal3Bundler>*> Collector_gtsamPinholeCameraCal3Bundler;
static Collector_gtsamPinholeCameraCal3Bundler collector_gtsamPinholeCameraCal3Bundler;
void _deleteAllObjects()
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
bool anyDeleted = false;
{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
iter != collector_FunRange.end(); ) {
delete *iter;
collector_FunRange.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
iter != collector_FunDouble.end(); ) {
delete *iter;
collector_FunDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_Test::iterator iter = collector_Test.begin();
iter != collector_Test.end(); ) {
delete *iter;
collector_Test.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
iter != collector_PrimitiveRefDouble.end(); ) {
delete *iter;
collector_PrimitiveRefDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
iter != collector_MyVector3.end(); ) {
delete *iter;
collector_MyVector3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
iter != collector_MyVector12.end(); ) {
delete *iter;
collector_MyVector12.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
iter != collector_MultipleTemplatesIntDouble.end(); ) {
delete *iter;
collector_MultipleTemplatesIntDouble.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
iter != collector_MultipleTemplatesIntFloat.end(); ) {
delete *iter;
collector_MultipleTemplatesIntFloat.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
collector_MyFactorPosePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin();
iter != collector_gtsamPoint2.end(); ) {
delete *iter;
collector_gtsamPoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin();
iter != collector_gtsamPoint3.end(); ) {
delete *iter;
collector_gtsamPoint3.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyBase::iterator iter = collector_MyBase.begin();
iter != collector_MyBase.end(); ) {
delete *iter;
collector_MyBase.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin();
iter != collector_MyTemplatePoint2.end(); ) {
delete *iter;
collector_MyTemplatePoint2.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin();
iter != collector_MyTemplateMatrix.end(); ) {
delete *iter;
collector_MyTemplateMatrix.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns1ClassA::iterator iter = collector_ns1ClassA.begin();
iter != collector_ns1ClassA.end(); ) {
delete *iter;
collector_ns1ClassA.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns1ClassB::iterator iter = collector_ns1ClassB.begin();
iter != collector_ns1ClassB.end(); ) {
delete *iter;
collector_ns1ClassB.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ClassA::iterator iter = collector_ns2ClassA.begin();
iter != collector_ns2ClassA.end(); ) {
delete *iter;
collector_ns2ClassA.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ns3ClassB::iterator iter = collector_ns2ns3ClassB.begin();
iter != collector_ns2ns3ClassB.end(); ) {
delete *iter;
collector_ns2ns3ClassB.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ns2ClassC::iterator iter = collector_ns2ClassC.begin();
iter != collector_ns2ClassC.end(); ) {
delete *iter;
collector_ns2ClassC.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_ClassD::iterator iter = collector_ClassD.begin();
iter != collector_ClassD.end(); ) {
delete *iter;
collector_ClassD.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamNonlinearFactorGraph::iterator iter = collector_gtsamNonlinearFactorGraph.begin();
iter != collector_gtsamNonlinearFactorGraph.end(); ) {
delete *iter;
collector_gtsamNonlinearFactorGraph.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_gtsamPinholeCameraCal3Bundler::iterator iter = collector_gtsamPinholeCameraCal3Bundler.begin();
iter != collector_gtsamPinholeCameraCal3Bundler.end(); ) {
delete *iter;
collector_gtsamPinholeCameraCal3Bundler.erase(iter++);
anyDeleted = true;
} }
if(anyDeleted)
cout <<
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
"module, so that your recompiled module is used instead of the old one." << endl;
std::cout.rdbuf(outbuf);
}
void _special_cases_RTTIRegister() {
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_special_cases_rttiRegistry_created");
if(!alreadyCreated) {
std::map<std::string, std::string> types;
types.insert(std::make_pair(typeid(MyBase).name(), "MyBase"));
types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2"));
types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
if(!registry)
registry = mxCreateStructMatrix(1, 1, 0, NULL);
typedef std::pair<std::string, std::string> StringPair;
for(const StringPair& rtti_matlab: types) {
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
if(fieldId < 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
}
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(registry);
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
mxDestroyArray(newAlreadyCreated);
}
}
void gtsamNonlinearFactorGraph_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::NonlinearFactorGraph> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamNonlinearFactorGraph.insert(self);
}
void gtsamNonlinearFactorGraph_deconstructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::NonlinearFactorGraph> Shared;
checkArguments("delete_gtsamNonlinearFactorGraph",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamNonlinearFactorGraph::iterator item;
item = collector_gtsamNonlinearFactorGraph.find(self);
if(item != collector_gtsamNonlinearFactorGraph.end()) {
delete self;
collector_gtsamNonlinearFactorGraph.erase(item);
}
}
void gtsamNonlinearFactorGraph_addPrior_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("addPriorPinholeCameraCal3Bundler",nargout,nargin-1,3);
auto obj = unwrap_shared_ptr<gtsam::NonlinearFactorGraph>(in[0], "ptr_gtsamNonlinearFactorGraph");
size_t key = unwrap< size_t >(in[1]);
gtsam::PinholeCamera<gtsam::Cal3Bundler>& prior = *unwrap_shared_ptr< gtsam::PinholeCamera<gtsam::Cal3Bundler> >(in[2], "ptr_gtsamPinholeCameraCal3Bundler");
boost::shared_ptr<gtsam::noiseModel::Base> noiseModel = unwrap_shared_ptr< gtsam::noiseModel::Base >(in[3], "ptr_gtsamnoiseModelBase");
obj->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key,prior,noiseModel);
}
void gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_gtsamPinholeCameraCal3Bundler.insert(self);
}
void gtsamPinholeCameraCal3Bundler_deconstructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef boost::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>> Shared;
checkArguments("delete_gtsamPinholeCameraCal3Bundler",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_gtsamPinholeCameraCal3Bundler::iterator item;
item = collector_gtsamPinholeCameraCal3Bundler.find(self);
if(item != collector_gtsamPinholeCameraCal3Bundler.end()) {
delete self;
collector_gtsamPinholeCameraCal3Bundler.erase(item);
}
}
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mstream mout;
std::streambuf *outbuf = std::cout.rdbuf(&mout);
_special_cases_RTTIRegister();
int id = unwrap<int>(in[0]);
try {
switch(id) {
case 0:
gtsamNonlinearFactorGraph_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
break;
case 1:
gtsamNonlinearFactorGraph_deconstructor_1(nargout, out, nargin-1, in+1);
break;
case 2:
gtsamNonlinearFactorGraph_addPrior_2(nargout, out, nargin-1, in+1);
break;
case 3:
gtsamPinholeCameraCal3Bundler_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
break;
case 4:
gtsamPinholeCameraCal3Bundler_deconstructor_4(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
}
std::cout.rdbuf(outbuf);
}

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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "folder/path/to/Test.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(class_py, m_) {
m_.doc() = "pybind11 wrapper of class_py";
py::class_<FunRange, std::shared_ptr<FunRange>>(m_, "FunRange")
.def(py::init<>())
.def("range",[](FunRange* self, double d){return self->range(d);}, py::arg("d"))
.def_static("create",[](){return FunRange::create();});
py::class_<Fun<double>, std::shared_ptr<Fun<double>>>(m_, "FunDouble")
.def("templatedMethodString",[](Fun<double>* self, double d, string t){return self->templatedMethod<string>(d, t);}, py::arg("d"), py::arg("t"))
.def("multiTemplatedMethodStringSize_t",[](Fun<double>* self, double d, string t, size_t u){return self->multiTemplatedMethod<string,size_t>(d, t, u);}, py::arg("d"), py::arg("t"), py::arg("u"))
.def_static("staticMethodWithThis",[](){return Fun<double>::staticMethodWithThis();});
py::class_<Test, std::shared_ptr<Test>>(m_, "Test")
.def(py::init<>())
.def(py::init<double, const gtsam::Matrix&>(), py::arg("a"), py::arg("b"))
.def("return_pair",[](Test* self, const gtsam::Vector& v, const gtsam::Matrix& A){return self->return_pair(v, A);}, py::arg("v"), py::arg("A"))
.def("return_pair",[](Test* self, const gtsam::Vector& v){return self->return_pair(v);}, py::arg("v"))
.def("return_bool",[](Test* self, bool value){return self->return_bool(value);}, py::arg("value"))
.def("return_size_t",[](Test* self, size_t value){return self->return_size_t(value);}, py::arg("value"))
.def("return_int",[](Test* self, int value){return self->return_int(value);}, py::arg("value"))
.def("return_double",[](Test* self, double value){return self->return_double(value);}, py::arg("value"))
.def("return_string",[](Test* self, string value){return self->return_string(value);}, py::arg("value"))
.def("return_vector1",[](Test* self, const gtsam::Vector& value){return self->return_vector1(value);}, py::arg("value"))
.def("return_matrix1",[](Test* self, const gtsam::Matrix& value){return self->return_matrix1(value);}, py::arg("value"))
.def("return_vector2",[](Test* self, const gtsam::Vector& value){return self->return_vector2(value);}, py::arg("value"))
.def("return_matrix2",[](Test* self, const gtsam::Matrix& value){return self->return_matrix2(value);}, py::arg("value"))
.def("arg_EigenConstRef",[](Test* self, const gtsam::Matrix& value){ self->arg_EigenConstRef(value);}, py::arg("value"))
.def("return_field",[](Test* self, const Test& t){return self->return_field(t);}, py::arg("t"))
.def("return_TestPtr",[](Test* self, const std::shared_ptr<Test>& value){return self->return_TestPtr(value);}, py::arg("value"))
.def("return_Test",[](Test* self, std::shared_ptr<Test>& value){return self->return_Test(value);}, py::arg("value"))
.def("return_Point2Ptr",[](Test* self, bool value){return self->return_Point2Ptr(value);}, py::arg("value"))
.def("create_ptrs",[](Test* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](Test* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](Test* self, std::shared_ptr<Test>& p1, std::shared_ptr<Test>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("print_",[](Test* self){ self->print();})
.def("__repr__",
[](const Test &a) {
gtsam::RedirectCout redirect;
a.print();
return redirect.str();
})
.def_readwrite("model_ptr", &Test::model_ptr);
py::class_<PrimitiveRef<double>, std::shared_ptr<PrimitiveRef<double>>>(m_, "PrimitiveRefDouble")
.def(py::init<>())
.def_static("Brutal",[](const double& t){return PrimitiveRef<double>::Brutal(t);}, py::arg("t"));
py::class_<MyVector<3>, std::shared_ptr<MyVector<3>>>(m_, "MyVector3")
.def(py::init<>());
py::class_<MyVector<12>, std::shared_ptr<MyVector<12>>>(m_, "MyVector12")
.def(py::init<>());
py::class_<MultipleTemplates<int, double>, std::shared_ptr<MultipleTemplates<int, double>>>(m_, "MultipleTemplatesIntDouble");
py::class_<MultipleTemplates<int, float>, std::shared_ptr<MultipleTemplates<int, float>>>(m_, "MultipleTemplatesIntFloat");
py::class_<MyFactor<gtsam::Pose2, gtsam::Matrix>, std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>>(m_, "MyFactorPosePoint2")
.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>&>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"));
#include "python/specializations.h"
}

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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(functions_py, m_) {
m_.doc() = "pybind11 wrapper of functions_py";
m_.def("load2D",[](string filename, std::shared_ptr<Test>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, const std::shared_ptr<gtsam::noiseModel::Diagonal>& model, int maxID, bool addNoise, bool smart){return ::load2D(filename, model, maxID, addNoise, smart);}, py::arg("filename"), py::arg("model"), py::arg("maxID"), py::arg("addNoise"), py::arg("smart"));
m_.def("load2D",[](string filename, gtsam::noiseModel::Diagonal* model){return ::load2D(filename, model);}, py::arg("filename"), py::arg("model"));
m_.def("aGlobalFunction",[](){return ::aGlobalFunction();});
m_.def("overloadedGlobalFunction",[](int a){return ::overloadedGlobalFunction(a);}, py::arg("a"));
m_.def("overloadedGlobalFunction",[](int a, double b){return ::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b"));
m_.def("MultiTemplatedFunctionStringSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction<string,size_t,double>(x, y);}, py::arg("x"), py::arg("y"));
m_.def("MultiTemplatedFunctionDoubleSize_tDouble",[](const T& x, size_t y){return ::MultiTemplatedFunction<double,size_t,double>(x, y);}, py::arg("x"), py::arg("y"));
m_.def("TemplatedFunctionRot3",[](const gtsam::Rot3& t){ ::TemplatedFunction<Rot3>(t);}, py::arg("t"));
#include "python/specializations.h"
}

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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "gtsam/geometry/Point2.h"
#include "gtsam/geometry/Point3.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT(gtsam::Point2)
BOOST_CLASS_EXPORT(gtsam::Point3)
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(geometry_py, m_) {
m_.doc() = "pybind11 wrapper of geometry_py";
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
py::class_<gtsam::Point2, std::shared_ptr<gtsam::Point2>>(m_gtsam, "Point2")
.def(py::init<>())
.def(py::init<double, double>(), py::arg("x"), py::arg("y"))
.def("x",[](gtsam::Point2* self){return self->x();})
.def("y",[](gtsam::Point2* self){return self->y();})
.def("dim",[](gtsam::Point2* self){return self->dim();})
.def("returnChar",[](gtsam::Point2* self){return self->returnChar();})
.def("argChar",[](gtsam::Point2* self, char a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, std::shared_ptr<char>& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, char& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, char* a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const std::shared_ptr<char>& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const char& a){ self->argChar(a);}, py::arg("a"))
.def("argChar",[](gtsam::Point2* self, const char* a){ self->argChar(a);}, py::arg("a"))
.def("argUChar",[](gtsam::Point2* self, unsigned char a){ self->argUChar(a);}, py::arg("a"))
.def("eigenArguments",[](gtsam::Point2* self, const gtsam::Vector& v, const gtsam::Matrix& m){ self->eigenArguments(v, m);}, py::arg("v"), py::arg("m"))
.def("vectorConfusion",[](gtsam::Point2* self){return self->vectorConfusion();})
.def("serialize", [](gtsam::Point2* self){ return gtsam::serialize(*self); })
.def("deserialize", [](gtsam::Point2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); },
[](py::tuple t){ /* __setstate__ */ gtsam::Point2 obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }));
py::class_<gtsam::Point3, std::shared_ptr<gtsam::Point3>>(m_gtsam, "Point3")
.def(py::init<double, double, double>(), py::arg("x"), py::arg("y"), py::arg("z"))
.def("norm",[](gtsam::Point3* self){return self->norm();})
.def("serialize", [](gtsam::Point3* self){ return gtsam::serialize(*self); })
.def("deserialize", [](gtsam::Point3* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized"))
.def(py::pickle(
[](const gtsam::Point3 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); },
[](py::tuple t){ /* __setstate__ */ gtsam::Point3 obj; gtsam::deserialize(t[0].cast<std::string>(), obj); return obj; }))
.def_static("staticFunction",[](){return gtsam::Point3::staticFunction();})
.def_static("StaticFunctionRet",[](double z){return gtsam::Point3::StaticFunctionRet(z);}, py::arg("z"));
#include "python/specializations.h"
}

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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(inheritance_py, m_) {
m_.doc() = "pybind11 wrapper of inheritance_py";
py::class_<MyBase, std::shared_ptr<MyBase>>(m_, "MyBase");
py::class_<MyTemplate<gtsam::Point2>, MyBase, std::shared_ptr<MyTemplate<gtsam::Point2>>>(m_, "MyTemplatePoint2")
.def(py::init<>())
.def("templatedMethodPoint2",[](MyTemplate<gtsam::Point2>* self, const gtsam::Point2& t){return self->templatedMethod<gtsam::Point2>(t);}, py::arg("t"))
.def("templatedMethodPoint3",[](MyTemplate<gtsam::Point2>* self, const gtsam::Point3& t){return self->templatedMethod<gtsam::Point3>(t);}, py::arg("t"))
.def("templatedMethodVector",[](MyTemplate<gtsam::Point2>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Point2>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Point2>* self, const gtsam::Point2& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Point2>* self, gtsam::Point2* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Point2>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Point2>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Point2>* self, std::shared_ptr<gtsam::Point2>& p1, std::shared_ptr<gtsam::Point2>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Point2& K){return MyTemplate<gtsam::Point2>::Level(K);}, py::arg("K"));
py::class_<MyTemplate<gtsam::Matrix>, MyBase, std::shared_ptr<MyTemplate<gtsam::Matrix>>>(m_, "MyTemplateMatrix")
.def(py::init<>())
.def("templatedMethodPoint2",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Point2& t){return self->templatedMethod<gtsam::Point2>(t);}, py::arg("t"))
.def("templatedMethodPoint3",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Point3& t){return self->templatedMethod<gtsam::Point3>(t);}, py::arg("t"))
.def("templatedMethodVector",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix>& p1, const std::shared_ptr<gtsam::Matrix>& p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Matrix& K){return MyTemplate<gtsam::Matrix>::Level(K);}, py::arg("K"));
#include "python/specializations.h"
}

62
wrap/tests/expected/python/namespaces_pybind.cpp Normal file
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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "path/to/ns1.h"
#include "path/to/ns1/ClassB.h"
#include "path/to/ns2.h"
#include "path/to/ns2/ClassA.h"
#include "path/to/ns3.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(namespaces_py, m_) {
m_.doc() = "pybind11 wrapper of namespaces_py";
pybind11::module m_ns1 = m_.def_submodule("ns1", "ns1 submodule");
py::class_<ns1::ClassA, std::shared_ptr<ns1::ClassA>>(m_ns1, "ClassA")
.def(py::init<>());
py::class_<ns1::ClassB, std::shared_ptr<ns1::ClassB>>(m_ns1, "ClassB")
.def(py::init<>());
m_ns1.def("aGlobalFunction",[](){return ns1::aGlobalFunction();}); pybind11::module m_ns2 = m_.def_submodule("ns2", "ns2 submodule");
py::class_<ns2::ClassA, std::shared_ptr<ns2::ClassA>>(m_ns2, "ClassA")
.def(py::init<>())
.def("memberFunction",[](ns2::ClassA* self){return self->memberFunction();})
.def("nsArg",[](ns2::ClassA* self, const ns1::ClassB& arg){return self->nsArg(arg);}, py::arg("arg"))
.def("nsReturn",[](ns2::ClassA* self, double q){return self->nsReturn(q);}, py::arg("q"))
.def_static("afunction",[](){return ns2::ClassA::afunction();});
pybind11::module m_ns2_ns3 = m_ns2.def_submodule("ns3", "ns3 submodule");
py::class_<ns2::ns3::ClassB, std::shared_ptr<ns2::ns3::ClassB>>(m_ns2_ns3, "ClassB")
.def(py::init<>());
py::class_<ns2::ClassC, std::shared_ptr<ns2::ClassC>>(m_ns2, "ClassC")
.def(py::init<>());
m_ns2.def("aGlobalFunction",[](){return ns2::aGlobalFunction();});
m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a){return ns2::overloadedGlobalFunction(a);}, py::arg("a"));
m_ns2.def("overloadedGlobalFunction",[](const ns1::ClassA& a, double b){return ns2::overloadedGlobalFunction(a, b);}, py::arg("a"), py::arg("b"));
py::class_<ClassD, std::shared_ptr<ClassD>>(m_, "ClassD")
.def(py::init<>());
#include "python/specializations.h"
}

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wrap/tests/expected/python/special_cases_pybind.cpp Normal file
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#include <pybind11/eigen.h>
#include <pybind11/stl_bind.h>
#include <pybind11/pybind11.h>
#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
#include "gtsam/geometry/Cal3Bundler.h"
#include "wrap/serialization.h"
#include <boost/serialization/export.hpp>
using namespace std;
namespace py = pybind11;
PYBIND11_MODULE(special_cases_py, m_) {
m_.doc() = "pybind11 wrapper of special_cases_py";
pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
py::class_<gtsam::NonlinearFactorGraph, std::shared_ptr<gtsam::NonlinearFactorGraph>>(m_gtsam, "NonlinearFactorGraph")
.def("addPriorPinholeCameraCal3Bundler",[](gtsam::NonlinearFactorGraph* self, size_t key, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& prior, const std::shared_ptr<gtsam::noiseModel::Base>& noiseModel){ self->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key, prior, noiseModel);}, py::arg("key"), py::arg("prior"), py::arg("noiseModel"));
py::class_<gtsam::PinholeCamera<gtsam::Cal3Bundler>, std::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(m_gtsam, "PinholeCameraCal3Bundler");
#include "python/specializations.h"
}

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wrap/tests/expected-xml-generation/xml/JacobianFactorQ_8h.xml → wrap/tests/expected/xml/JacobianFactorQ_8h.xml
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wrap/tests/expected-xml-generation/xml/NonlinearFactor_8h.xml → wrap/tests/expected/xml/NonlinearFactor_8h.xml
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0
wrap/tests/expected-xml-generation/xml/classgtsam_1_1JacobianFactorQ.xml → wrap/tests/expected/xml/classgtsam_1_1JacobianFactorQ.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor1.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor1.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor2.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor2.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor3.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor3.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor4.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor4.xml
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wrap/tests/expected-xml-generation/xml/classgtsam_1_1NoiseModelFactor5.xml → wrap/tests/expected/xml/classgtsam_1_1NoiseModelFactor5.xml
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