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specialized templates to support noise model class inheritance

release/4.3a0
Duy-Nguyen Ta 2012-06-19 06:06:26 +00:00
parent 350e761ec6
commit f9a8d69a75
1 changed files with 67 additions and 2 deletions
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69
wrap/matlab.h
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@ -21,9 +21,14 @@
#include <gtsam/base/Vector.h> #include <gtsam/base/Vector.h>
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>
#include <gtsam/linear/NoiseModel.h>
using gtsam::Vector; using gtsam::Vector;
using gtsam::Matrix; using gtsam::Matrix;
using gtsam::noiseModel::Gaussian;
using gtsam::noiseModel::Diagonal;
using gtsam::noiseModel::Isotropic;
using gtsam::noiseModel::Unit;
extern "C" { extern "C" {
#include <mex.h> #include <mex.h>
@ -453,8 +458,9 @@ mxArray* wrap_shared_ptr(boost::shared_ptr< Class > shared_ptr, const char *clas
*/ */
template <typename Class> template <typename Class>
boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& className) { boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& className) {
//Why is this here? #ifndef UNSAFE_WRAP
#ifndef UNSAFE_WRAP // Useful code to check argument type
// Problem, does not support inheritance
bool isClass = mxIsClass(obj, className.c_str()); bool isClass = mxIsClass(obj, className.c_str());
if (!isClass) { if (!isClass) {
mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj)); mexPrintf("Expected %s, got %s\n", className.c_str(), mxGetClassName(obj));
@ -467,6 +473,65 @@ boost::shared_ptr<Class> unwrap_shared_ptr(const mxArray* obj, const string& cla
return handle->get_object(); return handle->get_object();
} }
/*
* Specialized template for noise model. Checking their derived types properly
*/
// Isotropic
template <>
boost::shared_ptr<Isotropic> unwrap_shared_ptr(const mxArray* obj, const string& className) {
#ifndef UNSAFE_WRAP
bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic");
bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit");
if (!isIsotropic && !isUnit) {
mexPrintf("Expected Isotropic or derived classes, got %s\n", mxGetClassName(obj));
error("Argument has wrong type.");
}
#endif
mxArray* mxh = mxGetProperty(obj,0,"self");
if (mxh==NULL) error("unwrap_reference: invalid wrap object");
ObjectHandle<Isotropic>* handle = ObjectHandle<Isotropic>::from_mex_handle(mxh);
return handle->get_object();
}
// Diagonal
template <>
boost::shared_ptr<Diagonal> unwrap_shared_ptr(const mxArray* obj, const string& className) {
#ifndef UNSAFE_WRAP
bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal");
bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic");
bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit");
if (!isDiagonal && !isIsotropic && !isUnit ) {
mexPrintf("Expected Diagonal or derived classes, got %s\n", mxGetClassName(obj));
error("Argument has wrong type.");
}
#endif
mxArray* mxh = mxGetProperty(obj,0,"self");
if (mxh==NULL) error("unwrap_reference: invalid wrap object");
ObjectHandle<Isotropic>* handle = ObjectHandle<Isotropic>::from_mex_handle(mxh);
return handle->get_object();
}
// Gaussian
template <>
boost::shared_ptr<Gaussian> unwrap_shared_ptr(const mxArray* obj, const string& className) {
#ifndef UNSAFE_WRAP
bool isGaussian = mxIsClass(obj, "gtsamnoiseModelGaussian");
bool isDiagonal = mxIsClass(obj, "gtsamnoiseModelDiagonal");
bool isIsotropic = mxIsClass(obj, "gtsamnoiseModelIsotropic");
bool isUnit = mxIsClass(obj, "gtsamnoiseModelUnit");
if (!isGaussian && !isDiagonal && !isIsotropic && !isUnit) {
mexPrintf("Expected Gaussian or derived classes, got %s\n", mxGetClassName(obj));
error("Argument has wrong type.");
}
#endif
mxArray* mxh = mxGetProperty(obj,0,"self");
if (mxh==NULL) error("unwrap_reference: invalid wrap object");
ObjectHandle<Isotropic>* handle = ObjectHandle<Isotropic>::from_mex_handle(mxh);
return handle->get_object();
}
//end specialized templates
template <typename Class> template <typename Class>
void delete_shared_ptr(const mxArray* obj, const string& className) { void delete_shared_ptr(const mxArray* obj, const string& className) {
//Why is this here? //Why is this here?