140 lines
4.5 KiB
C++
140 lines
4.5 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Method.ccp
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* @author Frank Dellaert
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**/
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#include <iostream>
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#include <fstream>
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#include <boost/foreach.hpp>
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#include "Method.h"
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#include "utilities.h"
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using namespace std;
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/* ************************************************************************* */
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// auxiliary function to wrap an argument into a shared_ptr template
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/* ************************************************************************* */
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string maybe_shared_ptr(bool add, const string& type) {
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string str = add? "shared_ptr<" : "";
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str += type;
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if (add) str += ">";
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return str;
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}
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/* ************************************************************************* */
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string Method::return_type(bool add_ptr, pairing p) {
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if (p==pair && returns_pair) {
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string str = "pair< " +
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maybe_shared_ptr(add_ptr && returns_ptr, returns ) + ", " +
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maybe_shared_ptr(add_ptr && returns_ptr, returns2) + " >";
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return str;
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} else
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return maybe_shared_ptr(add_ptr && returns_ptr, (p==arg2)? returns2 : returns);
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}
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/* ************************************************************************* */
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void Method::matlab_mfile(const string& classPath) {
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// open destination m-file
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string wrapperFile = classPath + "/" + name + ".m";
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ofstream ofs(wrapperFile.c_str());
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if(!ofs) throw CantOpenFile(wrapperFile);
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if(verbose_) cerr << "generating " << wrapperFile << endl;
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// generate code
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emit_header_comment(ofs, "%");
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ofs << "% usage: obj." << name << "(" << args.names() << ")" << endl;
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string returnType = returns_pair? "[first,second]" : "result";
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ofs << "function " << returnType << " = " << name << "(obj";
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if (args.size()) ofs << "," << args.names();
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ofs << ")" << endl;
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ofs << " error('need to compile " << name << ".cpp');" << endl;
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ofs << "end" << endl;
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// close file
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ofs.close();
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}
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/* ************************************************************************* */
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void Method::matlab_wrapper(const string& classPath,
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const string& className,
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const string& nameSpace)
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{
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// open destination wrapperFile
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string wrapperFile = classPath + "/" + name + ".cpp";
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ofstream ofs(wrapperFile.c_str());
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if(!ofs) throw CantOpenFile(wrapperFile);
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if(verbose_) cerr << "generating " << wrapperFile << endl;
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// generate code
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// header
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emit_header_comment(ofs, "//");
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ofs << "#include <wrap/matlab.h>\n";
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ofs << "#include <" << className << ".h>\n";
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if (!nameSpace.empty()) ofs << "using namespace " << nameSpace << ";" << endl;
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// call
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ofs << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
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// start
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ofs << "{\n";
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// check arguments
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// extra argument obj -> nargin-1 is passed !
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// example: checkArguments("equals",nargout,nargin-1,2);
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ofs << " checkArguments(\"" << name << "\",nargout,nargin-1," << args.size() << ");\n";
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// get class pointer
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// example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
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ofs << " shared_ptr<" << className << "> self = unwrap_shared_ptr< " << className
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<< " >(in[0],\"" << className << "\");" << endl;
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// unwrap arguments, see Argument.cpp
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args.matlab_unwrap(ofs,1);
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// call method
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// example: bool result = self->return_field(t);
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ofs << " ";
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if (returns!="void")
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ofs << return_type(true,pair) << " result = ";
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ofs << "self->" << name << "(" << args.names() << ");\n";
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// wrap result
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// example: out[0]=wrap<bool>(result);
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if (returns_pair) {
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if (returns_ptr)
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ofs << " out[0] = wrap_shared_ptr(result.first,\"" << returns << "\");\n";
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else
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ofs << " out[0] = wrap< " << return_type(true,arg1) << " >(result.first);\n";
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if (returns_ptr2)
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ofs << " out[1] = wrap_shared_ptr(result.second,\"" << returns2 << "\");\n";
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else
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ofs << " out[1] = wrap< " << return_type(true,arg2) << " >(result.second);\n";
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}
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else if (returns_ptr)
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ofs << " out[0] = wrap_shared_ptr(result,\"" << returns << "\");\n";
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else if (returns!="void")
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ofs << " out[0] = wrap< " << return_type(true,arg1) << " >(result);\n";
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// finish
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ofs << "}\n";
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// close file
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ofs.close();
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}
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/* ************************************************************************* */
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