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fix white spaces

release/4.3a0
Duy-Nguyen Ta 2016-11-18 11:01:02 -05:00
parent 9f58d21030
commit fe855c9cab
1 changed files with 222 additions and 222 deletions
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444
wrap/Module.cpp
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@ -1,48 +1,48 @@
/* ---------------------------------------------------------------------------- /* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation, * GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415 * Atlanta, Georgia 30332-0415
* All Rights Reserved * All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list) * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information * See LICENSE for the license information
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file Module.ccp * @file Module.ccp
* @author Frank Dellaert * @author Frank Dellaert
* @author Alex Cunningham * @author Alex Cunningham
* @author Andrew Melim * @author Andrew Melim
* @author Richard Roberts * @author Richard Roberts
**/ **/
#include "Module.h" #include "Module.h"
#include "FileWriter.h" #include "FileWriter.h"
#include "TypeAttributesTable.h" #include "TypeAttributesTable.h"
#include "utilities.h" #include "utilities.h"
#include <boost/filesystem.hpp> #include <boost/filesystem.hpp>
#include <boost/lexical_cast.hpp> #include <boost/lexical_cast.hpp>
#include <iostream> #include <iostream>
#include <algorithm> #include <algorithm>
using namespace std; using namespace std;
using namespace wrap; using namespace wrap;
using namespace BOOST_SPIRIT_CLASSIC_NS; using namespace BOOST_SPIRIT_CLASSIC_NS;
namespace bl = boost::lambda; namespace bl = boost::lambda;
namespace fs = boost::filesystem; namespace fs = boost::filesystem;
/* ************************************************************************* */ /* ************************************************************************* */
// We parse an interface file into a Module object. // We parse an interface file into a Module object.
// The grammar is defined using the boost/spirit combinatorial parser. // The grammar is defined using the boost/spirit combinatorial parser.
// For example, str_p("const") parses the string "const", and the >> // For example, str_p("const") parses the string "const", and the >>
// operator creates a sequence parser. The grammar below, composed of rules // operator creates a sequence parser. The grammar below, composed of rules
// and with start rule [class_p], doubles as the specs for our interface files. // and with start rule [class_p], doubles as the specs for our interface files.
/* ************************************************************************* */ /* ************************************************************************* */
/* ************************************************************************* */ /* ************************************************************************* */
// If a number of template arguments were given, generate a number of expanded // If a number of template arguments were given, generate a number of expanded
// class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes // class names, e.g., PriorFactor -> PriorFactorPose2, and add those classes
static void handle_possible_template(vector<Class>& classes, static void handle_possible_template(vector<Class>& classes,
@ -77,11 +77,11 @@ Module::Module(const std::string& moduleName, bool enable_verbose)
{ {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Module::Module(const string& interfacePath, Module::Module(const string& interfacePath,
const string& moduleName, bool enable_verbose) const string& moduleName, bool enable_verbose)
: name(moduleName), verbose(enable_verbose) : name(moduleName), verbose(enable_verbose)
{ {
// read interface file // read interface file
string interfaceFile = interfacePath + "/" + moduleName + ".h"; string interfaceFile = interfacePath + "/" + moduleName + ".h";
string contents = file_contents(interfaceFile); string contents = file_contents(interfaceFile);
@ -93,17 +93,17 @@ Module::Module(const string& interfacePath,
/* ************************************************************************* */ /* ************************************************************************* */
void Module::parseMarkup(const std::string& data) { void Module::parseMarkup(const std::string& data) {
// The parse imperatively :-( updates variables gradually during parse // The parse imperatively :-( updates variables gradually during parse
// The one with postfix 0 are used to reset the variables after parse. // The one with postfix 0 are used to reset the variables after parse.
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
// Grammar with actions that build the Class object. Actions are // Grammar with actions that build the Class object. Actions are
// defined within the square brackets [] and are executed whenever a // defined within the square brackets [] and are executed whenever a
// rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug. // rule is successfully parsed. Define BOOST_SPIRIT_DEBUG to debug.
// The grammar is allows a very restricted C++ header // The grammar is allows a very restricted C++ header
// lexeme_d turns off white space skipping // lexeme_d turns off white space skipping
// http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html // http://www.boost.org/doc/libs/1_37_0/libs/spirit/classic/doc/directives.html
// ---------------------------------------------------------------------------- // ----------------------------------------------------------------------------
// Define Rule and instantiate basic rules // Define Rule and instantiate basic rules
typedef rule<phrase_scanner_t> Rule; typedef rule<phrase_scanner_t> Rule;
BasicRules<phrase_scanner_t> basic; BasicRules<phrase_scanner_t> basic;
@ -126,17 +126,17 @@ void Module::parseMarkup(const std::string& data) {
// parse "gtsam::Pose2" and add to singleInstantiation.typeList // parse "gtsam::Pose2" and add to singleInstantiation.typeList
TemplateInstantiationTypedef singleInstantiation, singleInstantiation0; TemplateInstantiationTypedef singleInstantiation, singleInstantiation0;
TypeListGrammar<'<','>'> typelist_g(singleInstantiation.typeList); TypeListGrammar<'<','>'> typelist_g(singleInstantiation.typeList);
// typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2; // typedef gtsam::RangeFactor<gtsam::Pose2, gtsam::Point2> RangeFactorPosePoint2;
TypeGrammar instantiationClass_g(singleInstantiation.class_); TypeGrammar instantiationClass_g(singleInstantiation.class_);
Rule templateSingleInstantiation_p = Rule templateSingleInstantiation_p =
(str_p("typedef") >> instantiationClass_g >> (str_p("typedef") >> instantiationClass_g >>
typelist_g >> typelist_g >>
basic.className_p[assign_a(singleInstantiation.name_)] >> basic.className_p[assign_a(singleInstantiation.name_)] >>
';') ';')
[assign_a(singleInstantiation.namespaces_, namespaces)] [assign_a(singleInstantiation.namespaces_, namespaces)]
[push_back_a(templateInstantiationTypedefs, singleInstantiation)] [push_back_a(templateInstantiationTypedefs, singleInstantiation)]
[assign_a(singleInstantiation, singleInstantiation0)]; [assign_a(singleInstantiation, singleInstantiation0)];
Qualified oldType, newType; Qualified oldType, newType;
TypeGrammar typedefOldClass_g(oldType), typedefNewClass_g(newType); TypeGrammar typedefOldClass_g(oldType), typedefNewClass_g(newType);
@ -176,20 +176,20 @@ void Module::parseMarkup(const std::string& data) {
// parse forward declaration // parse forward declaration
ForwardDeclaration fwDec0, fwDec; ForwardDeclaration fwDec0, fwDec;
Rule forward_declaration_p = Rule forward_declaration_p =
!(str_p("virtual")[assign_a(fwDec.isVirtual, true)]) !(str_p("virtual")[assign_a(fwDec.isVirtual, true)])
>> str_p("class") >> str_p("class")
>> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)] >> (*(basic.namespace_p >> str_p("::")) >> basic.className_p)[assign_a(fwDec.name)]
>> ch_p(';') >> ch_p(';')
[push_back_a(forward_declarations, fwDec)] [push_back_a(forward_declarations, fwDec)]
[assign_a(cls,cls0)] // also clear class to avoid partial parse [assign_a(cls,cls0)] // also clear class to avoid partial parse
[assign_a(fwDec, fwDec0)]; [assign_a(fwDec, fwDec0)];
Rule module_content_p = basic.comments_p | include_p | class_p Rule module_content_p = basic.comments_p | include_p | class_p
| templateSingleInstantiation_p | forward_declaration_p | templateSingleInstantiation_p | forward_declaration_p
| global_function_g | namespace_def_p; | global_function_g | namespace_def_p;
Rule module_p = *module_content_p >> !end_p; Rule module_p = *module_content_p >> !end_p;
// and parse contents // and parse contents
parse_info<const char*> info = parse(data.c_str(), module_p, space_p); parse_info<const char*> info = parse(data.c_str(), module_p, space_p);
if(!info.full) { if(!info.full) {
@ -214,10 +214,10 @@ void Module::parseMarkup(const std::string& data) {
// - Only inherited nontemplateMethods_ in uninstantiatedClasses need to be removed // - Only inherited nontemplateMethods_ in uninstantiatedClasses need to be removed
// because that what we serialized to the pxd. // because that what we serialized to the pxd.
// - However, we check against the class parent's *methods_* to avoid looking into // - However, we check against the class parent's *methods_* to avoid looking into
// its grand parent and grand-grand parent, etc., because all those are already // its grand parent and grand-grand parent, etc., because all those are already
// added in its direct parent. // added in its direct parent.
// - So this must be called *after* the above code appendInheritedMethods!! // - So this must be called *after* the above code appendInheritedMethods!!
for(Class& cls: uninstantiatedClasses) for(Class& cls: uninstantiatedClasses)
cls.removeInheritedNontemplateMethods(uninstantiatedClasses); cls.removeInheritedNontemplateMethods(uninstantiatedClasses);
// Expand templates - This is done first so that template instantiations are // Expand templates - This is done first so that template instantiations are
@ -247,9 +247,9 @@ void Module::parseMarkup(const std::string& data) {
eigen.push_back(ForwardDeclaration("Matrix")); eigen.push_back(ForwardDeclaration("Matrix"));
typeAttributes.addForwardDeclarations(eigen); typeAttributes.addForwardDeclarations(eigen);
typeAttributes.checkValidity(expandedClasses); typeAttributes.checkValidity(expandedClasses);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::matlab_code(const string& toolboxPath) const { void Module::matlab_code(const string& toolboxPath) const {
fs::create_directories(toolboxPath); fs::create_directories(toolboxPath);
@ -310,7 +310,7 @@ void Module::matlab_code(const string& toolboxPath) const {
wrapperFile.emit(true); wrapperFile.emit(true);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::cython_wrapper(const string& toolboxPath) const { void Module::cython_wrapper(const string& toolboxPath) const {
fs::create_directories(toolboxPath); fs::create_directories(toolboxPath);
string pxdFileName = toolboxPath + "/" + name + "_wrapper" + ".pxd"; string pxdFileName = toolboxPath + "/" + name + "_wrapper" + ".pxd";
@ -321,7 +321,7 @@ void Module::cython_wrapper(const string& toolboxPath) const {
emit_cython_pyx(pyxFile); emit_cython_pyx(pyxFile);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::emit_cython_pxd(FileWriter& pxdFile) const { void Module::emit_cython_pxd(FileWriter& pxdFile) const {
// headers // headers
pxdFile.oss << "from eigency.core cimport *\n" pxdFile.oss << "from eigency.core cimport *\n"
@ -348,7 +348,7 @@ void Module::emit_cython_pxd(FileWriter& pxdFile) const {
for (const Class& cls : uninstantiatedClasses) { for (const Class& cls : uninstantiatedClasses) {
cls.emit_cython_pxd(pxdFile, uninstantiatedClasses); cls.emit_cython_pxd(pxdFile, uninstantiatedClasses);
pxdFile.oss << "\n"; pxdFile.oss << "\n";
//... ctypedef for template instantiations //... ctypedef for template instantiations
for (const Class& expCls : expandedClasses) { for (const Class& expCls : expandedClasses) {
if (!expCls.templateClass || expCls.templateClass->name_ != cls.name_) if (!expCls.templateClass || expCls.templateClass->name_ != cls.name_)
@ -390,7 +390,7 @@ void Module::emit_cython_pyx(FileWriter& pyxFile) const {
pyxFile.emit(true); pyxFile.emit(true);
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::generateIncludes(FileWriter& file) const { void Module::generateIncludes(FileWriter& file) const {
// collect includes // collect includes
@ -408,160 +408,160 @@ void Module::generateIncludes(FileWriter& file) const {
/* ************************************************************************* */ /* ************************************************************************* */
void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const { void Module::finish_wrapper(FileWriter& file, const std::vector<std::string>& functionNames) const {
file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n"; file.oss << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
file.oss << "{\n"; file.oss << "{\n";
file.oss << " mstream mout;\n"; // Send stdout to MATLAB console file.oss << " mstream mout;\n"; // Send stdout to MATLAB console
file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"; file.oss << " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n";
file.oss << " _" << name << "_RTTIRegister();\n\n"; file.oss << " _" << name << "_RTTIRegister();\n\n";
file.oss << " int id = unwrap<int>(in[0]);\n\n"; file.oss << " int id = unwrap<int>(in[0]);\n\n";
file.oss << " try {\n"; file.oss << " try {\n";
file.oss << " switch(id) {\n"; file.oss << " switch(id) {\n";
for(size_t id = 0; id < functionNames.size(); ++id) { for(size_t id = 0; id < functionNames.size(); ++id) {
file.oss << " case " << id << ":\n"; file.oss << " case " << id << ":\n";
file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n"; file.oss << " " << functionNames[id] << "(nargout, out, nargin-1, in+1);\n";
file.oss << " break;\n"; file.oss << " break;\n";
} }
file.oss << " }\n"; file.oss << " }\n";
file.oss << " } catch(const std::exception& e) {\n"; file.oss << " } catch(const std::exception& e) {\n";
file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n"; file.oss << " mexErrMsgTxt((\"Exception from gtsam:\\n\" + std::string(e.what()) + \"\\n\").c_str());\n";
file.oss << " }\n"; file.oss << " }\n";
file.oss << "\n"; file.oss << "\n";
file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout file.oss << " std::cout.rdbuf(outbuf);\n"; // Restore cout
file.oss << "}\n"; file.oss << "}\n";
} }
/* ************************************************************************* */
vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
vector<Class> expandedClasses = classes;
for(const TemplateInstantiationTypedef& inst: instantiations) {
// Add the new class to the list
expandedClasses.push_back(inst.findAndExpand(classes));
}
// Remove all template classes
for(size_t i = 0; i < expandedClasses.size(); ++i)
if(!expandedClasses[i].templateArgs.empty()) {
expandedClasses.erase(expandedClasses.begin() + size_t(i));
-- i;
}
return expandedClasses; /* ************************************************************************* */
} vector<Class> Module::ExpandTypedefInstantiations(const vector<Class>& classes, const vector<TemplateInstantiationTypedef> instantiations) {
/* ************************************************************************* */ vector<Class> expandedClasses = classes;
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration>& forwardDeclarations, const vector<TypedefPair>& typedefs) {
vector<string> validTypes; for(const TemplateInstantiationTypedef& inst: instantiations) {
// Add the new class to the list
expandedClasses.push_back(inst.findAndExpand(classes));
}
// Remove all template classes
for(size_t i = 0; i < expandedClasses.size(); ++i)
if(!expandedClasses[i].templateArgs.empty()) {
expandedClasses.erase(expandedClasses.begin() + size_t(i));
-- i;
}
return expandedClasses;
}
/* ************************************************************************* */
vector<string> Module::GenerateValidTypes(const vector<Class>& classes, const vector<ForwardDeclaration>& forwardDeclarations, const vector<TypedefPair>& typedefs) {
vector<string> validTypes;
for(const ForwardDeclaration& fwDec: forwardDeclarations) { for(const ForwardDeclaration& fwDec: forwardDeclarations) {
validTypes.push_back(fwDec.name); validTypes.push_back(fwDec.name);
} }
validTypes.push_back("void"); validTypes.push_back("void");
validTypes.push_back("string"); validTypes.push_back("string");
validTypes.push_back("int"); validTypes.push_back("int");
validTypes.push_back("bool"); validTypes.push_back("bool");
validTypes.push_back("char"); validTypes.push_back("char");
validTypes.push_back("unsigned char"); validTypes.push_back("unsigned char");
validTypes.push_back("size_t"); validTypes.push_back("size_t");
validTypes.push_back("double"); validTypes.push_back("double");
validTypes.push_back("Vector"); validTypes.push_back("Vector");
validTypes.push_back("Matrix"); validTypes.push_back("Matrix");
//Create a list of parsed classes for dependency checking //Create a list of parsed classes for dependency checking
for(const Class& cls: classes) { for(const Class& cls: classes) {
validTypes.push_back(cls.qualifiedName("::")); validTypes.push_back(cls.qualifiedName("::"));
} }
for(const TypedefPair& p: typedefs) { for(const TypedefPair& p: typedefs) {
validTypes.push_back(p.newType.qualifiedName("::")); validTypes.push_back(p.newType.qualifiedName("::"));
} }
return validTypes; return validTypes;
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) { void Module::WriteCollectorsAndCleanupFcn(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
// Generate all collectors // Generate all collectors
for(const Class& cls: classes) { for(const Class& cls: classes) {
const string matlabUniqueName = cls.qualifiedName(), const string matlabUniqueName = cls.qualifiedName(),
cppName = cls.qualifiedName("::"); cppName = cls.qualifiedName("::");
wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> " wrapperFile.oss << "typedef std::set<boost::shared_ptr<" << cppName << ">*> "
<< "Collector_" << matlabUniqueName << ";\n"; << "Collector_" << matlabUniqueName << ";\n";
wrapperFile.oss << "static Collector_" << matlabUniqueName << wrapperFile.oss << "static Collector_" << matlabUniqueName <<
" collector_" << matlabUniqueName << ";\n"; " collector_" << matlabUniqueName << ";\n";
} }
// generate mexAtExit cleanup function // generate mexAtExit cleanup function
wrapperFile.oss << wrapperFile.oss <<
"\nvoid _deleteAllObjects()\n" "\nvoid _deleteAllObjects()\n"
"{\n" "{\n"
" mstream mout;\n" // Send stdout to MATLAB console " mstream mout;\n" // Send stdout to MATLAB console
" std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n" " std::streambuf *outbuf = std::cout.rdbuf(&mout);\n\n"
" bool anyDeleted = false;\n"; " bool anyDeleted = false;\n";
for(const Class& cls: classes) { for(const Class& cls: classes) {
const string matlabUniqueName = cls.qualifiedName(); const string matlabUniqueName = cls.qualifiedName();
const string cppName = cls.qualifiedName("::"); const string cppName = cls.qualifiedName("::");
const string collectorType = "Collector_" + matlabUniqueName; const string collectorType = "Collector_" + matlabUniqueName;
const string collectorName = "collector_" + matlabUniqueName; const string collectorName = "collector_" + matlabUniqueName;
// The extra curly-braces around the for loops work around a limitation in MSVC (existing // The extra curly-braces around the for loops work around a limitation in MSVC (existing
// since 2005!) preventing more than 248 blocks. // since 2005!) preventing more than 248 blocks.
wrapperFile.oss << wrapperFile.oss <<
" { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n" " { for(" << collectorType << "::iterator iter = " << collectorName << ".begin();\n"
" iter != " << collectorName << ".end(); ) {\n" " iter != " << collectorName << ".end(); ) {\n"
" delete *iter;\n" " delete *iter;\n"
" " << collectorName << ".erase(iter++);\n" " " << collectorName << ".erase(iter++);\n"
" anyDeleted = true;\n" " anyDeleted = true;\n"
" } }\n"; " } }\n";
} }
wrapperFile.oss << wrapperFile.oss <<
" if(anyDeleted)\n" " if(anyDeleted)\n"
" cout <<\n" " cout <<\n"
" \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n" " \"WARNING: Wrap modules with variables in the workspace have been reloaded due to\\n\"\n"
" \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n" " \"calling destructors, call 'clear all' again if you plan to now recompile a wrap\\n\"\n"
" \"module, so that your recompiled module is used instead of the old one.\" << endl;\n" " \"module, so that your recompiled module is used instead of the old one.\" << endl;\n"
" std::cout.rdbuf(outbuf);\n" // Restore cout " std::cout.rdbuf(outbuf);\n" // Restore cout
"}\n\n"; "}\n\n";
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) { void Module::WriteRTTIRegistry(FileWriter& wrapperFile, const std::string& moduleName, const std::vector<Class>& classes) {
wrapperFile.oss << wrapperFile.oss <<
"void _" << moduleName << "_RTTIRegister() {\n" "void _" << moduleName << "_RTTIRegister() {\n"
" const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n" " const mxArray *alreadyCreated = mexGetVariablePtr(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\");\n"
" if(!alreadyCreated) {\n" " if(!alreadyCreated) {\n"
" std::map<std::string, std::string> types;\n"; " std::map<std::string, std::string> types;\n";
for(const Class& cls: classes) { for(const Class& cls: classes) {
if(cls.isVirtual) if(cls.isVirtual)
wrapperFile.oss << wrapperFile.oss <<
" types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n"; " types.insert(std::make_pair(typeid(" << cls.qualifiedName("::") << ").name(), \"" << cls.qualifiedName(".") << "\"));\n";
} }
wrapperFile.oss << "\n"; wrapperFile.oss << "\n";
wrapperFile.oss << wrapperFile.oss <<
" mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n" " mxArray *registry = mexGetVariable(\"global\", \"gtsamwrap_rttiRegistry\");\n"
" if(!registry)\n" " if(!registry)\n"
" registry = mxCreateStructMatrix(1, 1, 0, NULL);\n" " registry = mxCreateStructMatrix(1, 1, 0, NULL);\n"
" typedef std::pair<std::string, std::string> StringPair;\n" " typedef std::pair<std::string, std::string> StringPair;\n"
" for(const StringPair& rtti_matlab: types) {\n" " for(const StringPair& rtti_matlab: types) {\n"
" int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n" " int fieldId = mxAddField(registry, rtti_matlab.first.c_str());\n"
" if(fieldId < 0)\n" " if(fieldId < 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n" " mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());\n"
" mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n" " mxSetFieldByNumber(registry, 0, fieldId, matlabName);\n"
" }\n" " }\n"
" if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n" " if(mexPutVariable(\"global\", \"gtsamwrap_rttiRegistry\", registry) != 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxDestroyArray(registry);\n" " mxDestroyArray(registry);\n"
" \n" " \n"
" mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n" " mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);\n"
" if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n" " if(mexPutVariable(\"global\", \"gtsam_" + moduleName + "_rttiRegistry_created\", newAlreadyCreated) != 0)\n"
" mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n" " mexErrMsgTxt(\"gtsam wrap: Error indexing RTTI types, inheritance will not work correctly\");\n"
" mxDestroyArray(newAlreadyCreated);\n" " mxDestroyArray(newAlreadyCreated);\n"
" }\n" " }\n"
"}\n" "}\n"
"\n"; "\n";
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Module::python_wrapper(const string& toolboxPath) const { void Module::python_wrapper(const string& toolboxPath) const {
fs::create_directories(toolboxPath); fs::create_directories(toolboxPath);