More flexible handling of includes in wrap - can now use multiple includes both at the namespace and class levels, and namespace includes do not override the default class-name includes of their enclosed classes.
Richard Roberts
parent
6eb9d3246f
commit
e9f710a1ac
25
gtsam.h
25
gtsam.h
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@ -771,11 +771,12 @@ class VariableIndex {
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// linear
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//*************************************************************************
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#include <gtsam/linear/NoiseModel.h>
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namespace noiseModel {
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#include <gtsam/linear/NoiseModel.h>
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virtual class Base {
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};
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#include <gtsam/linear/NoiseModel.h>
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virtual class Gaussian : gtsam::noiseModel::Base {
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static gtsam::noiseModel::Gaussian* SqrtInformation(Matrix R);
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static gtsam::noiseModel::Gaussian* Covariance(Matrix R);
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@ -783,6 +784,7 @@ virtual class Gaussian : gtsam::noiseModel::Base {
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void print(string s) const;
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};
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#include <gtsam/linear/NoiseModel.h>
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virtual class Diagonal : gtsam::noiseModel::Gaussian {
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static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
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static gtsam::noiseModel::Diagonal* Variances(Vector variances);
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@ -791,6 +793,7 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
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void print(string s) const;
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};
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#include <gtsam/linear/NoiseModel.h>
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virtual class Isotropic : gtsam::noiseModel::Diagonal {
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static gtsam::noiseModel::Isotropic* Sigma(size_t dim, double sigma);
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static gtsam::noiseModel::Isotropic* Variance(size_t dim, double varianace);
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@ -798,6 +801,7 @@ virtual class Isotropic : gtsam::noiseModel::Diagonal {
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void print(string s) const;
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};
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#include <gtsam/linear/NoiseModel.h>
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virtual class Unit : gtsam::noiseModel::Isotropic {
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static gtsam::noiseModel::Unit* Create(size_t dim);
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void print(string s) const;
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@ -1216,9 +1220,9 @@ typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3D
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// Pose2SLAM
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//*************************************************************************
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#include <gtsam/slam/pose2SLAM.h>
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namespace pose2SLAM {
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#include <gtsam/slam/pose2SLAM.h>
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class Values {
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Values();
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Values(const pose2SLAM::Values& values);
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@ -1234,6 +1238,7 @@ class Values {
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Matrix poses() const;
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};
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#include <gtsam/slam/pose2SLAM.h>
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class Graph {
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Graph();
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Graph(const gtsam::NonlinearFactorGraph& graph);
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@ -1270,9 +1275,9 @@ class Graph {
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// Pose3SLAM
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//*************************************************************************
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#include <gtsam/slam/pose3SLAM.h>
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namespace pose3SLAM {
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#include <gtsam/slam/pose3SLAM.h>
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class Values {
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Values();
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Values(const pose3SLAM::Values& values);
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@ -1288,6 +1293,7 @@ class Values {
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Matrix translations() const;
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};
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#include <gtsam/slam/pose3SLAM.h>
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class Graph {
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Graph();
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Graph(const gtsam::NonlinearFactorGraph& graph);
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@ -1324,9 +1330,9 @@ class Graph {
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// planarSLAM
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//*************************************************************************
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#include <gtsam/slam/planarSLAM.h>
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namespace planarSLAM {
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#include <gtsam/slam/planarSLAM.h>
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class Values {
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Values();
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Values(const planarSLAM::Values& values);
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@ -1358,6 +1364,7 @@ class Values {
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Matrix points() const;
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};
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#include <gtsam/slam/planarSLAM.h>
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class Graph {
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Graph();
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Graph(const gtsam::NonlinearFactorGraph& graph);
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@ -1396,6 +1403,7 @@ class Graph {
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void addBearingRange(size_t poseKey, size_t pointKey, const gtsam::Rot2& bearing,double range, const gtsam::noiseModel::Base* noiseModel);
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};
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#include <gtsam/slam/planarSLAM.h>
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class Odometry {
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Odometry(size_t key1, size_t key2, const gtsam::Pose2& measured,
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const gtsam::noiseModel::Base* model);
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@ -1410,9 +1418,9 @@ class Odometry {
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// VisualSLAM
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//*************************************************************************
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#include <gtsam/slam/visualSLAM.h>
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namespace visualSLAM {
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#include <gtsam/slam/visualSLAM.h>
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class Values {
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Values();
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Values(const visualSLAM::Values& values);
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@ -1446,6 +1454,7 @@ class Values {
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Matrix points() const;
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};
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#include <gtsam/slam/visualSLAM.h>
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class Graph {
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Graph();
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Graph(const gtsam::NonlinearFactorGraph& graph);
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@ -1494,6 +1503,7 @@ class Graph {
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};
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#include <gtsam/slam/visualSLAM.h>
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class ISAM {
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ISAM();
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ISAM(int reorderInterval);
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@ -1516,6 +1526,7 @@ class ISAM {
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gtsam::NonlinearFactorGraph getFactorsUnsafe() const;
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};
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#include <gtsam/slam/visualSLAM.h>
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class LevenbergMarquardtOptimizer {
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double lambda() const;
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void iterate();
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@ -1532,9 +1543,9 @@ class LevenbergMarquardtOptimizer {
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// sparse BA
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//************************************************************************
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#include <gtsam/slam/sparseBA.h>
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namespace sparseBA {
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#include <gtsam/slam/sparseBA.h>
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class Values {
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Values();
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Values(const sparseBA::Values& values);
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@ -1561,6 +1572,7 @@ class Values {
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Matrix points() const;
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};
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#include <gtsam/slam/sparseBA.h>
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class Graph {
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Graph();
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Graph(const gtsam::NonlinearFactorGraph& graph);
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@ -1596,6 +1608,7 @@ class Graph {
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void addSimpleCameraMeasurement(const gtsam::Point2 &z, gtsam::noiseModel::Base* model, size_t cameraKey, size_t pointKey);
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};
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#include <gtsam/slam/sparseBA.h>
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class LevenbergMarquardtOptimizer {
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double lambda() const;
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void iterate();
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@ -171,9 +171,9 @@ virtual class DGroundConstraint : gtsam::NonlinearFactor {
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}///\namespace gtsam
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#include <gtsam_unstable/dynamics/imuSystem.h>
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namespace imu {
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#include <gtsam_unstable/dynamics/imuSystem.h>
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class Values {
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Values();
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void print(string s) const;
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@ -182,6 +182,7 @@ class Values {
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gtsam::PoseRTV pose(size_t key) const;
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};
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#include <gtsam_unstable/dynamics/imuSystem.h>
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class Graph {
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Graph();
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void print(string s) const;
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@ -84,7 +84,6 @@ Module::Module(const string& interfacePath,
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Class cls0(enable_verbose),cls(enable_verbose);
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ForwardDeclaration fwDec0, fwDec;
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vector<string> namespaces, /// current namespace tag
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namespace_includes, /// current set of includes
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namespaces_return, /// namespace for current return type
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using_namespace_current; /// All namespaces from "using" declarations
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string templateArgument;
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@ -256,10 +255,11 @@ Module::Module(const string& interfacePath,
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Rule include_p = str_p("#include") >> ch_p('<') >> (*(anychar_p - '>'))[assign_a(include_path)] >> ch_p('>');
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Rule class_p =
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(!*include_p
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(str_p("")[assign_a(cls,cls0)])
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>> (*(include_p[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)])
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>> !(templateInstantiations_p | templateList_p)
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>> !(str_p("virtual")[assign_a(cls.isVirtual, true)])
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>> str_p("class")[push_back_a(cls.includes, include_path)][assign_a(include_path, null_str)]
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>> str_p("class")
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>> className_p[assign_a(cls.name)]
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>> ((':' >> classParent_p >> '{') | '{')
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>> *(functions_p | comments_p)
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@ -268,7 +268,6 @@ Module::Module(const string& interfacePath,
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[assign_a(cls.constructor, constructor)]
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[assign_a(cls.namespaces, namespaces)]
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[assign_a(cls.using_namespaces, using_namespace_current)]
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[append_a(cls.includes, namespace_includes)]
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[assign_a(deconstructor.name,cls.name)]
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[assign_a(cls.deconstructor, deconstructor)]
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[bl::bind(&handle_possible_template, bl::var(classes), bl::var(cls), bl::var(templateArgument), bl::var(templateInstantiations))]
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@ -279,15 +278,14 @@ Module::Module(const string& interfacePath,
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[clear_a(templateInstantiations)];
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Rule namespace_def_p =
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(!*include_p
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>> str_p("namespace")[push_back_a(namespace_includes, include_path)][assign_a(include_path, null_str)]
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(*(include_p[push_back_a(includes, include_path)][assign_a(include_path, null_str)])
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>> str_p("namespace")
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>> namespace_name_p[push_back_a(namespaces)]
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>> ch_p('{')
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>> *(class_p | templateSingleInstantiation_p | namespace_def_p | comments_p)
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>> str_p("}///\\namespace") // end namespace, avoid confusion with classes
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>> !namespace_name_p)
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[pop_a(namespaces)]
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[pop_a(namespace_includes)];
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[pop_a(namespaces)];
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Rule using_namespace_p =
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str_p("using") >> str_p("namespace")
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@ -390,6 +388,12 @@ void Module::generateIncludes(FileWriter& file) const {
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all_includes.push_back(cls.name + ".h");
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}
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// Add namespace includes
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BOOST_FOREACH(const string& s, includes) {
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if(!s.empty())
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all_includes.push_back(s);
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}
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// sort and remove duplicates
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sort(all_includes.begin(), all_includes.end());
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vector<string>::const_iterator last_include = unique(all_includes.begin(), all_includes.end());
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@ -39,6 +39,7 @@ struct Module {
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bool verbose; ///< verbose flag
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// std::vector<std::string> using_namespaces; ///< all default namespaces
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std::vector<ForwardDeclaration> forward_declarations;
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std::vector<std::string> includes; ///< header include overrides
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/// constructor that parses interface file
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Module(const std::string& interfacePath,
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