gtsam/wrap
Richard Roberts 55a153ebc6 Wrapped Cal3DS2, RangeFactor, BearingFactor, and GenericProjectionFactor 2012-07-12 02:11:32 +00:00
..
tests Fixed include sorting bug in wrap 2012-07-11 15:58:01 +00:00
Argument.cpp wrap_mods_inheritance branch: in progress with inheritance in matlab wrapper 2012-07-08 12:27:39 +00:00
Argument.h new wrap! :) 2012-06-26 18:52:27 +00:00
CMakeLists.txt Added wrap target to exported/installed targets 2012-07-09 17:14:21 +00:00
Class.cpp Added support for multi-argument templates that are then instantiated with typedefs in wrap interface header. 2012-07-12 02:11:29 +00:00
Class.h Added support for multi-argument templates that are then instantiated with typedefs in wrap interface header. 2012-07-12 02:11:29 +00:00
Constructor.cpp wrap_mods_inheritance branch - Can now pass derived classes in as base class arguments (i.e. pass gtsamPose2 where gtsamValues.insert expects gtsamValue) 2012-07-09 00:02:43 +00:00
Constructor.h wrap_mods_inheritance branch - Can now pass derived classes in as base class arguments (i.e. pass gtsamPose2 where gtsamValues.insert expects gtsamValue) 2012-07-09 00:02:43 +00:00
Deconstructor.cpp wrap_mods_inheritance branch - Can now pass derived classes in as base class arguments (i.e. pass gtsamPose2 where gtsamValues.insert expects gtsamValue) 2012-07-09 00:02:43 +00:00
Deconstructor.h Removed unused argument list member from Deconstructor 2012-07-11 21:43:13 +00:00
FileWriter.cpp Added minimal output to wrap generation 2012-07-01 18:00:35 +00:00
FileWriter.h Fixed emit of comment string 2012-06-06 04:28:50 +00:00
Method.cpp Can return abstract base classes from functions in matlab wrapper, i.e. Values::at 2012-07-09 20:19:37 +00:00
Method.h Fixed testWrap so that it passes, fixed dependency checking in codegen, fixed warnings 2012-07-10 14:21:58 +00:00
Module.cpp Wrapped Cal3DS2, RangeFactor, BearingFactor, and GenericProjectionFactor 2012-07-12 02:11:32 +00:00
Module.h Added support for multi-argument templates that are then instantiated with typedefs in wrap interface header. 2012-07-12 02:11:29 +00:00
README Fixed handling of char in wrap, updated README 2012-06-04 19:45:32 +00:00
ReturnValue.cpp Automatic returning of derived-most type in matlab wrapper working but not yet well-tested 2012-07-11 15:44:04 +00:00
ReturnValue.h Can return abstract base classes from functions in matlab wrapper, i.e. Values::at 2012-07-09 20:19:37 +00:00
StaticMethod.cpp Can return abstract base classes from functions in matlab wrapper, i.e. Values::at 2012-07-09 20:19:37 +00:00
StaticMethod.h Can return abstract base classes from functions in matlab wrapper, i.e. Values::at 2012-07-09 20:19:37 +00:00
matlab.h Automatic returning of derived-most type in matlab wrapper working but not yet well-tested 2012-07-11 15:44:04 +00:00
spirit_actors.h Parser now handles both namespace and class headers 2011-12-15 19:39:11 +00:00
utilities.cpp Small change to wrap to avoid redundant includes in cpp file 2012-07-11 14:54:13 +00:00
utilities.h Merged from branch 'branches/wrap_mods_inheritance' into branch 'branches/wrap_mods' 2012-07-11 15:45:45 +00:00
wrap.cpp Removed obsolete code for generating matlab wrapper makefiles and build script 2012-07-05 14:04:51 +00:00

README

Frank Dellaert
October 2011

The wrap library wraps the GTSAM library into a MATLAB toolbox. 

It was designed to be more general than just wrapping GTSAM, but a small amount of 
GTSAM specific code exists in matlab.h, the include file that is included by the
mex files. The GTSAM-specific functionality consists primarily of handling of
Eigen Matrix and Vector classes.  

For notes on creating a wrap interface, see gtsam.h for what features can be 
wrapped into a toolbox, as well as the current state of the toolbox for gtsam.
For more technical details on the interface, please read comments in matlab.h

Some good things to know:

OBJECT CREATION
- Classes are created by special constructors, e.g., new_GaussianFactorGraph_.cpp.
	These constructors are called from the MATLAB class @GaussianFactorGraph.
	new_GaussianFactorGraph_ calls wrap_constructed in matlab.h, see documentation there
	
METHOD (AND CONSTRUCTOR) ARGUMENTS
- Simple argument types of methods, such as "double", will be converted in the
  mex wrappers by calling unwrap<double>, defined in matlab.h
- Vector and Matrix arguments are normally passed by reference in GTSAM, but
  in gtsam.h you need to pretend they are passed by value, to trigger the 
  generation of the correct conversion routines unwrap<Vector> and unwrap<Matrix>
- passing classes as arguments works, provided they are passed by reference.
	This triggers a call to unwrap_shared_ptr