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gtsam/wrap/Class.cpp

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/* ----------------------------------------------------------------------------
* 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
* -------------------------------------------------------------------------- */
/**
* @file Class.cpp
* @author Frank Dellaert
* @author Andrew Melim
* @author Richard Roberts
**/
#include <vector>
#include <iostream>
#include <fstream>
//#include <cstdint> // on Linux GCC: fails with error regarding needing C++0x std flags
//#include <cinttypes> // same failure as above
#include <stdint.h> // works on Linux GCC
#include <boost/foreach.hpp>
#include <boost/lexical_cast.hpp>
#include "Class.h"
#include "utilities.h"
#include "Argument.h"
using namespace std;
using namespace wrap;
/* ************************************************************************* */
void Class::matlab_proxy(const string& toolboxPath, const string& wrapperName,
const TypeAttributesTable& typeAttributes,
FileWriter& wrapperFile, vector<string>& functionNames) const {
// Create namespace folders
createNamespaceStructure(namespaces, toolboxPath);
// open destination classFile
string classFile = toolboxPath;
if(!namespaces.empty())
classFile += "/+" + wrap::qualifiedName("/+", namespaces);
classFile += "/" + name + ".m";
FileWriter proxyFile(classFile, verbose_, "%");
// get the name of actual matlab object
const string matlabQualName = qualifiedName("."), matlabUniqueName = qualifiedName(), cppName = qualifiedName("::");
const string matlabBaseName = wrap::qualifiedName(".", qualifiedParent);
const string cppBaseName = wrap::qualifiedName("::", qualifiedParent);
// emit class proxy code
// we want our class to inherit the handle class for memory purposes
const string parent = qualifiedParent.empty() ? "handle" : matlabBaseName;
comment_fragment(proxyFile);
proxyFile.oss << "classdef " << name << " < " << parent << endl;
proxyFile.oss << " properties\n";
proxyFile.oss << " ptr_" << matlabUniqueName << " = 0\n";
proxyFile.oss << " end\n";
proxyFile.oss << " methods\n";
// Constructor
proxyFile.oss << " function obj = " << name << "(varargin)\n";
// Special pointer constructors - one in MATLAB to create an object and
// assign a pointer returned from a C++ function. In turn this MATLAB
// constructor calls a special C++ function that just adds the object to
// its collector. This allows wrapped functions to return objects in
// other wrap modules - to add these to their collectors the pointer is
// passed from one C++ module into matlab then back into the other C++
// module.
pointer_constructor_fragments(proxyFile, wrapperFile, wrapperName, functionNames);
wrapperFile.oss << "\n";
// Regular constructors
BOOST_FOREACH(ArgumentList a, constructor.args_list)
{
const int id = (int)functionNames.size();
constructor.proxy_fragment(proxyFile, wrapperName, !qualifiedParent.empty(), id, a);
const string wrapFunctionName = constructor.wrapper_fragment(wrapperFile,
cppName, matlabUniqueName, cppBaseName, id, a);
wrapperFile.oss << "\n";
functionNames.push_back(wrapFunctionName);
}
proxyFile.oss << " else\n";
proxyFile.oss << " error('Arguments do not match any overload of " << matlabQualName << " constructor');\n";
proxyFile.oss << " end\n";
if(!qualifiedParent.empty())
proxyFile.oss << " obj = obj@" << matlabBaseName << "(uint64(" << ptr_constructor_key << "), base_ptr);\n";
proxyFile.oss << " obj.ptr_" << matlabUniqueName << " = my_ptr;\n";
proxyFile.oss << " end\n\n";
// Deconstructor
{
const int id = (int)functionNames.size();
deconstructor.proxy_fragment(proxyFile, wrapperName, matlabUniqueName, id);
proxyFile.oss << "\n";
const string functionName = deconstructor.wrapper_fragment(wrapperFile, cppName, matlabUniqueName, id);
wrapperFile.oss << "\n";
functionNames.push_back(functionName);
}
proxyFile.oss << " function display(obj), obj.print(''); end\n %DISPLAY Calls print on the object\n";
proxyFile.oss << " function disp(obj), obj.display; end\n %DISP Calls print on the object\n";
// Methods
BOOST_FOREACH(const Methods::value_type& name_m, methods) {
const Method& m = name_m.second;
m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames);
proxyFile.oss << "\n";
wrapperFile.oss << "\n";
}
if (hasSerialization)
serialization_fragments(proxyFile, wrapperFile, wrapperName, functionNames);
proxyFile.oss << " end\n";
proxyFile.oss << "\n";
proxyFile.oss << " methods(Static = true)\n";
// Static methods
BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
const StaticMethod& m = name_m.second;
m.proxy_wrapper_fragments(proxyFile, wrapperFile, cppName, matlabQualName, matlabUniqueName, wrapperName, typeAttributes, functionNames);
proxyFile.oss << "\n";
wrapperFile.oss << "\n";
}
if (hasSerialization)
deserialization_fragments(proxyFile, wrapperFile, wrapperName, functionNames);
proxyFile.oss << " end\n";
proxyFile.oss << "end\n";
// Close file
proxyFile.emit(true);
}
/* ************************************************************************* */
string Class::qualifiedName(const string& delim) const {
return ::wrap::qualifiedName(delim, namespaces, name);
}
/* ************************************************************************* */
void Class::pointer_constructor_fragments(FileWriter& proxyFile, FileWriter& wrapperFile, const string& wrapperName, vector<string>& functionNames) const {
const string matlabUniqueName = qualifiedName(), cppName = qualifiedName("::");
const string baseCppName = wrap::qualifiedName("::", qualifiedParent);
const int collectorInsertId = (int)functionNames.size();
const string collectorInsertFunctionName = matlabUniqueName + "_collectorInsertAndMakeBase_" + boost::lexical_cast<string>(collectorInsertId);
functionNames.push_back(collectorInsertFunctionName);
int upcastFromVoidId;
string upcastFromVoidFunctionName;
if(isVirtual) {
upcastFromVoidId = (int)functionNames.size();
upcastFromVoidFunctionName = matlabUniqueName + "_upcastFromVoid_" + boost::lexical_cast<string>(upcastFromVoidId);
functionNames.push_back(upcastFromVoidFunctionName);
}
// MATLAB constructor that assigns pointer to matlab object then calls c++
// function to add the object to the collector.
if(isVirtual) {
proxyFile.oss << " if (nargin == 2 || (nargin == 3 && strcmp(varargin{3}, 'void')))";
} else {
proxyFile.oss << " if nargin == 2";
}
proxyFile.oss << " && isa(varargin{1}, 'uint64') && varargin{1} == uint64(" << ptr_constructor_key << ")\n";
if(isVirtual) {
proxyFile.oss << " if nargin == 2\n";
proxyFile.oss << " my_ptr = varargin{2};\n";
proxyFile.oss << " else\n";
proxyFile.oss << " my_ptr = " << wrapperName << "(" << upcastFromVoidId << ", varargin{2});\n";
proxyFile.oss << " end\n";
} else {
proxyFile.oss << " my_ptr = varargin{2};\n";
}
if(qualifiedParent.empty()) // If this class has a base class, we'll get a base class pointer back
proxyFile.oss << " ";
else
proxyFile.oss << " base_ptr = ";
proxyFile.oss << wrapperName << "(" << collectorInsertId << ", my_ptr);\n"; // Call collector insert and get base class ptr
// C++ function to add pointer from MATLAB to collector. The pointer always
// comes from a C++ return value; this mechanism allows the object to be added
// to a collector in a different wrap module. If this class has a base class,
// a new pointer to the base class is allocated and returned.
wrapperFile.oss << "void " << collectorInsertFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
wrapperFile.oss << "{\n";
wrapperFile.oss << " mexAtExit(&_deleteAllObjects);\n";
// Typedef boost::shared_ptr
wrapperFile.oss << " typedef boost::shared_ptr<" << cppName << "> Shared;\n";
wrapperFile.oss << "\n";
// Get self pointer passed in
wrapperFile.oss << " Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));\n";
// Add to collector
wrapperFile.oss << " collector_" << matlabUniqueName << ".insert(self);\n";
// If we have a base class, return the base class pointer (MATLAB will call the base class collectorInsertAndMakeBase to add this to the collector and recurse the heirarchy)
if(!qualifiedParent.empty()) {
wrapperFile.oss << "\n";
wrapperFile.oss << " typedef boost::shared_ptr<" << baseCppName << "> SharedBase;\n";
wrapperFile.oss << " out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n";
wrapperFile.oss << " *reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);\n";
}
wrapperFile.oss << "}\n";
// If this is a virtual function, C++ function to dynamic upcast it from a
// shared_ptr<void>. This mechanism allows automatic dynamic creation of the
// real underlying derived-most class when a C++ method returns a virtual
// base class.
if(isVirtual)
wrapperFile.oss <<
"\n"
"void " << upcastFromVoidFunctionName << "(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {\n"
" mexAtExit(&_deleteAllObjects);\n"
" typedef boost::shared_ptr<" << cppName << "> Shared;\n"
" boost::shared_ptr<void> *asVoid = *reinterpret_cast<boost::shared_ptr<void>**> (mxGetData(in[0]));\n"
" out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);\n"
" Shared *self = new Shared(boost::static_pointer_cast<" << cppName << ">(*asVoid));\n"
" *reinterpret_cast<Shared**>(mxGetData(out[0])) = self;\n"
"}\n";
}
/* ************************************************************************* */
vector<ArgumentList> expandArgumentListsTemplate(const vector<ArgumentList>& argLists, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) {
vector<ArgumentList> result;
BOOST_FOREACH(const ArgumentList& argList, argLists) {
ArgumentList instArgList;
BOOST_FOREACH(const Argument& arg, argList) {
Argument instArg = arg;
if(arg.type == templateArg) {
instArg.namespaces.assign(instName.begin(), instName.end()-1);
instArg.type = instName.back();
} else if(arg.type == "This") {
instArg.namespaces.assign(expandedClassNamespace.begin(), expandedClassNamespace.end());
instArg.type = expandedClassName;
}
instArgList.push_back(instArg);
}
result.push_back(instArgList);
}
return result;
}
/* ************************************************************************* */
template<class METHOD>
map<string, METHOD> expandMethodTemplate(const map<string, METHOD>& methods, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) {
map<string, METHOD> result;
typedef pair<const string, METHOD> Name_Method;
BOOST_FOREACH(const Name_Method& name_method, methods) {
const METHOD& method = name_method.second;
METHOD instMethod = method;
instMethod.argLists = expandArgumentListsTemplate(method.argLists, templateArg, instName, expandedClassNamespace, expandedClassName);
instMethod.returnVals.clear();
BOOST_FOREACH(const ReturnValue& retVal, method.returnVals) {
ReturnValue instRetVal = retVal;
if(retVal.type1 == templateArg) {
instRetVal.namespaces1.assign(instName.begin(), instName.end()-1);
instRetVal.type1 = instName.back();
} else if(retVal.type1 == "This") {
instRetVal.namespaces1.assign(expandedClassNamespace.begin(), expandedClassNamespace.end());
instRetVal.type1 = expandedClassName;
}
if(retVal.type2 == templateArg) {
instRetVal.namespaces2.assign(instName.begin(), instName.end()-1);
instRetVal.type2 = instName.back();
} else if(retVal.type1 == "This") {
instRetVal.namespaces2.assign(expandedClassNamespace.begin(), expandedClassNamespace.end());
instRetVal.type2 = expandedClassName;
}
instMethod.returnVals.push_back(instRetVal);
}
result.insert(make_pair(name_method.first, instMethod));
}
return result;
}
/* ************************************************************************* */
Class expandClassTemplate(const Class& cls, const string& templateArg, const vector<string>& instName, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) {
Class inst;
inst.name = cls.name;
inst.templateArgs = cls.templateArgs;
inst.typedefName = cls.typedefName;
inst.isVirtual = cls.isVirtual;
inst.isSerializable = cls.isSerializable;
inst.qualifiedParent = cls.qualifiedParent;
inst.methods = expandMethodTemplate(cls.methods, templateArg, instName, expandedClassNamespace, expandedClassName);
inst.static_methods = expandMethodTemplate(cls.static_methods, templateArg, instName, expandedClassNamespace, expandedClassName);
inst.namespaces = cls.namespaces;
inst.constructor = cls.constructor;
inst.constructor.args_list = expandArgumentListsTemplate(cls.constructor.args_list, templateArg, instName, expandedClassNamespace, expandedClassName);
inst.constructor.name = inst.name;
inst.deconstructor = cls.deconstructor;
inst.deconstructor.name = inst.name;
inst.verbose_ = cls.verbose_;
return inst;
}
/* ************************************************************************* */
vector<Class> Class::expandTemplate(const string& templateArg, const vector<vector<string> >& instantiations) const {
vector<Class> result;
BOOST_FOREACH(const vector<string>& instName, instantiations) {
const string expandedName = name + instName.back();
Class inst = expandClassTemplate(*this, templateArg, instName, this->namespaces, expandedName);
inst.name = expandedName;
inst.templateArgs.clear();
inst.typedefName = qualifiedName("::") + "<" + wrap::qualifiedName("::", instName) + ">";
result.push_back(inst);
}
return result;
}
/* ************************************************************************* */
Class Class::expandTemplate(const string& templateArg, const vector<string>& instantiation, const std::vector<string>& expandedClassNamespace, const string& expandedClassName) const {
return expandClassTemplate(*this, templateArg, instantiation, expandedClassNamespace, expandedClassName);
}
/* ************************************************************************* */
std::string Class::getTypedef() const {
string result;
BOOST_FOREACH(const string& namesp, namespaces) {
result += ("namespace " + namesp + " { ");
}
result += ("typedef " + typedefName + " " + name + ";");
for (size_t i = 0; i<namespaces.size(); ++i) {
result += " }";
}
return result;
}
/* ************************************************************************* */
void Class::comment_fragment(FileWriter& proxyFile) const {
proxyFile.oss << "%class " << name
<< ", see Doxygen page for details\n";
proxyFile.oss
<< "%at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
if (!constructor.args_list.empty())
proxyFile.oss << "%\n%-------Constructors-------\n";
BOOST_FOREACH(ArgumentList argList, constructor.args_list) {
string up_name = boost::to_upper_copy(name);
proxyFile.oss << "%" << name << "(";
unsigned int i = 0;
BOOST_FOREACH(const Argument& arg, argList) {
if (i != argList.size() - 1)
proxyFile.oss << arg.type << " " << arg.name << ", ";
else
proxyFile.oss << arg.type << " " << arg.name;
i++;
}
proxyFile.oss << ")\n";
}
if (!methods.empty())
proxyFile.oss << "%\n%-------Methods-------\n";
BOOST_FOREACH(const Methods::value_type& name_m, methods) {
const Method& m = name_m.second;
BOOST_FOREACH(ArgumentList argList, m.argLists) {
string up_name = boost::to_upper_copy(m.name);
proxyFile.oss << "%" << m.name << "(";
unsigned int i = 0;
BOOST_FOREACH(const Argument& arg, argList) {
if (i != argList.size() - 1)
proxyFile.oss << arg.type << " " << arg.name << ", ";
else
proxyFile.oss << arg.type << " " << arg.name;
i++;
}
proxyFile.oss << ") : returns "
<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
}
}
if (!static_methods.empty())
proxyFile.oss << "%\n%-------Static Methods-------\n";
BOOST_FOREACH(const StaticMethods::value_type& name_m, static_methods) {
const StaticMethod& m = name_m.second;
BOOST_FOREACH(ArgumentList argList, m.argLists) {
string up_name = boost::to_upper_copy(m.name);
proxyFile.oss << "%" << m.name << "(";
unsigned int i = 0;
BOOST_FOREACH(const Argument& arg, argList) {
if (i != argList.size() - 1)
proxyFile.oss << arg.type << " " << arg.name << ", ";
else
proxyFile.oss << arg.type << " " << arg.name;
i++;
}
proxyFile.oss << ") : returns "
<< m.returnVals[0].return_type(false, m.returnVals[0].pair) << endl;
}
}
if (hasSerialization) {
proxyFile.oss << "%\n%-------Serialization Interface-------\n";
proxyFile.oss << "%string_serialize() : returns string\n";
proxyFile.oss << "%string_deserialize(string serialized) : returns " << this->name << "\n";
}
proxyFile.oss << "%\n";
}
/* ************************************************************************* */
void Class::serialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& wrapperName, std::vector<std::string>& functionNames) const {
//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
//{
// typedef boost::shared_ptr<Point3> Shared;
// checkArguments("string_serialize",nargout,nargin-1,0);
// Shared obj = unwrap_shared_ptr<Point3>(in[0], "ptr_Point3");
// std::ostringstream out_archive_stream;
// boost::archive::text_oarchive out_archive(out_archive_stream);
// out_archive << *obj;
// out[0] = wrap< string >(out_archive_stream.str());
//}
int serialize_id = functionNames.size();
const string
matlabQualName = qualifiedName("."),
matlabUniqueName = qualifiedName(),
cppClassName = qualifiedName("::");
const string wrapFunctionNameSerialize = matlabUniqueName + "_string_serialize_" + boost::lexical_cast<string>(serialize_id);
functionNames.push_back(wrapFunctionNameSerialize);
// call
//void Point3_string_serialize_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
wrapperFile.oss << "void " << wrapFunctionNameSerialize << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
wrapperFile.oss << "{\n";
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl;
// check arguments - for serialize, no arguments
// example: checkArguments("string_serialize",nargout,nargin-1,0);
wrapperFile.oss << " checkArguments(\"string_serialize\",nargout,nargin-1,0);\n";
// get class pointer
// example: Shared obj = unwrap_shared_ptr<Point3>(in[0], "ptr_Point3");
wrapperFile.oss << " Shared obj = unwrap_shared_ptr<" << cppClassName << ">(in[0], \"ptr_" << matlabUniqueName << "\");" << endl;
// Serialization boilerplate
wrapperFile.oss << " std::ostringstream out_archive_stream;\n";
wrapperFile.oss << " boost::archive::text_oarchive out_archive(out_archive_stream);\n";
wrapperFile.oss << " out_archive << *obj;\n";
wrapperFile.oss << " out[0] = wrap< string >(out_archive_stream.str());\n";
// finish
wrapperFile.oss << "}\n";
// Generate code for matlab function
// function varargout string_serialize(this, varargin)
// % STRING_SERIALIZE usage: string_serialize() : returns string
// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
// if length(varargin) == 0
// varargout{1} = geometry_wrapper(15, this, varargin{:});
// else
// error('Arguments do not match any overload of function Point3.string_serialize');
// end
// end
proxyFile.oss << " function varargout = string_serialize(this, varargin)\n";
proxyFile.oss << " % STRING_SERIALIZE usage: string_serialize() : returns string\n";
proxyFile.oss << " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
proxyFile.oss << " if length(varargin) == 0\n";
proxyFile.oss << " varargout{1} = " << wrapperName << "(" << boost::lexical_cast<string>(serialize_id) << ", this, varargin{:});\n";
proxyFile.oss << " else\n";
proxyFile.oss << " error('Arguments do not match any overload of function " << matlabQualName << ".string_serialize');\n";
proxyFile.oss << " end\n";
proxyFile.oss << " end\n";
}
/* ************************************************************************* */
void Class::deserialization_fragments(FileWriter& proxyFile, FileWriter& wrapperFile,
const std::string& wrapperName, std::vector<std::string>& functionNames) const {
//void Point3_string_deserialize_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
//{
// typedef boost::shared_ptr<Point3> Shared;
// checkArguments("Point3.string_deserialize",nargout,nargin,1);
// string serialized = unwrap< string >(in[0]);
// std::istringstream in_archive_stream(serialized);
// boost::archive::text_iarchive in_archive(in_archive_stream);
// Shared output(new Point3());
// in_archive >> *output;
// out[0] = wrap_shared_ptr(output,"Point3", false);
//}
int deserialize_id = functionNames.size();
const string
matlabQualName = qualifiedName("."),
matlabUniqueName = qualifiedName(),
cppClassName = qualifiedName("::");
const string wrapFunctionNameDeserialize = matlabUniqueName + "_string_deserialize_" + boost::lexical_cast<string>(deserialize_id);
functionNames.push_back(wrapFunctionNameDeserialize);
// call
wrapperFile.oss << "void " << wrapFunctionNameDeserialize << "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
wrapperFile.oss << "{\n";
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName << "> Shared;" << endl;
// check arguments - for deserialize, 1 string argument
wrapperFile.oss << " checkArguments(\"" << matlabUniqueName << ".string_deserialize\",nargout,nargin,1);\n";
// string argument with deserialization boilerplate
wrapperFile.oss << " string serialized = unwrap< string >(in[0]);\n";
wrapperFile.oss << " std::istringstream in_archive_stream(serialized);\n";
wrapperFile.oss << " boost::archive::text_iarchive in_archive(in_archive_stream);\n";
wrapperFile.oss << " Shared output(new " << cppClassName << "());\n";
wrapperFile.oss << " in_archive >> *output;\n";
wrapperFile.oss << " out[0] = wrap_shared_ptr(output,\"" << matlabQualName << "\", false);\n";
wrapperFile.oss << "}\n";
// Generate matlab function
// function varargout = string_deserialize(varargin)
// % STRING_DESERIALIZE usage: string_deserialize() : returns Point3
// % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html
// if length(varargin) == 1
// varargout{1} = geometry_wrapper(18, varargin{:});
// else
// error('Arguments do not match any overload of function Point3.string_deserialize');
// end
// end
proxyFile.oss << " function varargout = string_deserialize(varargin)\n";
proxyFile.oss << " % STRING_DESERIALIZE usage: string_deserialize() : returns " << matlabQualName << "\n";
proxyFile.oss << " % Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html\n";
proxyFile.oss << " if length(varargin) == 1\n";
proxyFile.oss << " varargout{1} = " << wrapperName << "(" << boost::lexical_cast<string>(deserialize_id) << ", varargin{:});\n";
proxyFile.oss << " else\n";
proxyFile.oss << " error('Arguments do not match any overload of function " << matlabQualName << ".string_deserialize');\n";
proxyFile.oss << " end\n";
proxyFile.oss << " end\n\n";
}
/* ************************************************************************* */
std::string Class::getSerializationExport() const {
//BOOST_CLASS_EXPORT_GUID(gtsam::SharedDiagonal, "gtsamSharedDiagonal");
return "BOOST_CLASS_EXPORT_GUID(" + qualifiedName("::") + ", \"" + qualifiedName() + "\");";
}
/* ************************************************************************* */
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