667 lines
26 KiB
Python
667 lines
26 KiB
Python
"""
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GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Tests for interface_parser.
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Author: Varun Agrawal
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"""
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# pylint: disable=import-error,wrong-import-position
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import os
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import sys
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import unittest
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sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
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from gtwrap.interface_parser import (ArgumentList, Class, Constructor, Enum,
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Enumerator, ForwardDeclaration,
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GlobalFunction, Include, Method, Module,
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Namespace, Operator, ReturnType,
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StaticMethod, TemplatedType, Type,
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TypedefTemplateInstantiation, Typename,
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Variable)
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from gtwrap.template_instantiator.classes import InstantiatedClass
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class TestInterfaceParser(unittest.TestCase):
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"""Test driver for all classes in interface_parser.py."""
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def test_typename(self):
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"""Test parsing of Typename."""
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typename = Typename.rule.parseString("size_t")[0]
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self.assertEqual("size_t", typename.name)
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def test_basic_type(self):
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"""Tests for BasicType."""
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# Check basic type
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t = Type.rule.parseString("int x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_basic)
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# Check const
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t = Type.rule.parseString("const int x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_basic)
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self.assertTrue(t.is_const)
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# Check shared pointer
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t = Type.rule.parseString("int* x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_shared_ptr)
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# Check raw pointer
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t = Type.rule.parseString("int@ x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_ptr)
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# Check reference
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t = Type.rule.parseString("int& x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_ref)
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# Check const reference
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t = Type.rule.parseString("const int& x")[0]
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self.assertEqual("int", t.typename.name)
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self.assertTrue(t.is_const)
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self.assertTrue(t.is_ref)
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def test_custom_type(self):
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"""Tests for CustomType."""
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# Check qualified type
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t = Type.rule.parseString("gtsam::Pose3 x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(not t.is_basic)
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# Check const
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t = Type.rule.parseString("const gtsam::Pose3 x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(t.is_const)
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# Check shared pointer
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t = Type.rule.parseString("gtsam::Pose3* x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(t.is_shared_ptr)
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self.assertEqual("std::shared_ptr<gtsam::Pose3>", t.to_cpp())
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# Check raw pointer
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t = Type.rule.parseString("gtsam::Pose3@ x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(t.is_ptr)
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# Check reference
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t = Type.rule.parseString("gtsam::Pose3& x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(t.is_ref)
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# Check const reference
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t = Type.rule.parseString("const gtsam::Pose3& x")[0]
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self.assertEqual("Pose3", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertTrue(t.is_const)
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self.assertTrue(t.is_ref)
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def test_templated_type(self):
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"""Test a templated type."""
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t = TemplatedType.rule.parseString("Eigen::Matrix<double, 3, 4>")[0]
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self.assertEqual("Matrix", t.typename.name)
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self.assertEqual(["Eigen"], t.typename.namespaces)
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self.assertEqual("double", t.typename.instantiations[0].name)
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self.assertEqual("3", t.typename.instantiations[1].name)
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self.assertEqual("4", t.typename.instantiations[2].name)
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t = TemplatedType.rule.parseString(
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"gtsam::PinholeCamera<gtsam::Cal3S2>")[0]
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self.assertEqual("PinholeCamera", t.typename.name)
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self.assertEqual(["gtsam"], t.typename.namespaces)
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self.assertEqual("Cal3S2", t.typename.instantiations[0].name)
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self.assertEqual(["gtsam"], t.typename.instantiations[0].namespaces)
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t = TemplatedType.rule.parseString("PinholeCamera<Cal3S2*>")[0]
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self.assertEqual("PinholeCamera", t.typename.name)
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self.assertEqual("Cal3S2", t.typename.instantiations[0].name)
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self.assertTrue(t.template_params[0].is_shared_ptr)
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def test_empty_arguments(self):
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"""Test no arguments."""
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empty_args = ArgumentList.rule.parseString("")[0]
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self.assertEqual(0, len(empty_args))
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def test_argument_list(self):
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"""Test arguments list for a method/function."""
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arg_string = "int a, C1 c1, C2& c2, C3* c3, "\
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"const C4 c4, const C5& c5,"\
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"const C6* c6"
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args = ArgumentList.rule.parseString(arg_string)[0]
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self.assertEqual(7, len(args.list()))
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self.assertEqual(['a', 'c1', 'c2', 'c3', 'c4', 'c5', 'c6'],
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args.names())
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def test_argument_list_qualifiers(self):
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"""
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Test arguments list where the arguments are qualified with `const`
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and can be either raw pointers, shared pointers or references.
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"""
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arg_string = "double x1, double* x2, double& x3, double@ x4, " \
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"const double x5, const double* x6, const double& x7, const double@ x8"
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args = ArgumentList.rule.parseString(arg_string)[0].list()
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self.assertEqual(8, len(args))
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self.assertFalse(args[1].ctype.is_ptr and args[1].ctype.is_shared_ptr
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and args[1].ctype.is_ref)
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self.assertTrue(args[1].ctype.is_shared_ptr)
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self.assertTrue(args[2].ctype.is_ref)
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self.assertTrue(args[3].ctype.is_ptr)
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self.assertTrue(args[4].ctype.is_const)
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self.assertTrue(args[5].ctype.is_shared_ptr and args[5].ctype.is_const)
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self.assertTrue(args[6].ctype.is_ref and args[6].ctype.is_const)
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self.assertTrue(args[7].ctype.is_ptr and args[7].ctype.is_const)
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def test_argument_list_templated(self):
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"""Test arguments list where the arguments can be templated."""
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arg_string = "std::pair<string, double> steps, vector<T*> vector_of_pointers"
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args = ArgumentList.rule.parseString(arg_string)[0]
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args_list = args.list()
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self.assertEqual(2, len(args_list))
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self.assertEqual("std::pair<string, double>",
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args_list[0].ctype.to_cpp())
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self.assertEqual("vector<std::shared_ptr<T>>",
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args_list[1].ctype.to_cpp())
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def test_default_arguments(self):
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"""Tests any expression that is a valid default argument"""
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args = ArgumentList.rule.parseString("""
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string c = "", int z = 0, double z2 = 0.0, bool f = false,
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string s="hello"+"goodbye", char c='a', int a=3,
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int b, double pi = 3.1415""")[0].list()
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# Test for basic types
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self.assertEqual(args[0].default, '""')
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self.assertEqual(args[1].default, '0')
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self.assertEqual(args[2].default, '0.0')
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self.assertEqual(args[3].default, "false")
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self.assertEqual(args[4].default, '"hello"+"goodbye"')
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self.assertEqual(args[5].default, "'a'")
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self.assertEqual(args[6].default, '3')
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# No default argument should set `default` to None
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self.assertIsNone(args[7].default)
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self.assertEqual(args[8].default, '3.1415')
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arg0 = 'gtsam::DefaultKeyFormatter'
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arg1 = 'std::vector<size_t>()'
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arg2 = '{1, 2}'
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arg3 = '[&c1, &c2](string s=5, int a){return s+"hello"+a+c1+c2;}'
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arg4 = 'gtsam::Pose3()'
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arg5 = 'Factor<gtsam::Pose3, gtsam::Point3>()'
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arg6 = 'gtsam::Point3(1, 2, 3)'
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arg7 = 'ns::Class<T, U>(3, 2, 1, "name")'
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argument_list = """
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gtsam::KeyFormatter kf = {arg0},
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std::vector<size_t> v = {arg1},
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std::vector<size_t> l = {arg2},
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gtsam::KeyFormatter lambda = {arg3},
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gtsam::Pose3 p = {arg4},
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Factor<gtsam::Pose3, gtsam::Point3> x = {arg5},
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gtsam::Point3 x = {arg6},
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ns::Class<T, U> obj = {arg7}
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""".format(arg0=arg0,
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arg1=arg1,
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arg2=arg2,
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arg3=arg3,
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arg4=arg4,
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arg5=arg5,
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arg6=arg6,
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arg7=arg7)
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args = ArgumentList.rule.parseString(argument_list)[0].list()
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# Test non-basic type
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self.assertEqual(args[0].default, arg0)
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# Test templated type
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self.assertEqual(args[1].default, arg1)
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self.assertEqual(args[2].default, arg2)
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self.assertEqual(args[3].default, arg3)
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self.assertEqual(args[4].default, arg4)
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self.assertEqual(args[5].default, arg5)
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self.assertEqual(args[6].default, arg6)
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# Test for default argument with multiple templates and params
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self.assertEqual(args[7].default, arg7)
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def test_return_type(self):
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"""Test ReturnType"""
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# Test void
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return_type = ReturnType.rule.parseString("void")[0]
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self.assertEqual("void", return_type.type1.typename.name)
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self.assertTrue(return_type.type1.is_basic)
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# Test basic type
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return_type = ReturnType.rule.parseString("size_t")[0]
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self.assertEqual("size_t", return_type.type1.typename.name)
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self.assertTrue(not return_type.type2)
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self.assertTrue(return_type.type1.is_basic)
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# Test with qualifiers
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return_type = ReturnType.rule.parseString("int&")[0]
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self.assertEqual("int", return_type.type1.typename.name)
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self.assertTrue(return_type.type1.is_basic
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and return_type.type1.is_ref)
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return_type = ReturnType.rule.parseString("const int")[0]
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self.assertEqual("int", return_type.type1.typename.name)
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self.assertTrue(return_type.type1.is_basic
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and return_type.type1.is_const)
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# Test pair return
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return_type = ReturnType.rule.parseString("pair<char, int>")[0]
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self.assertEqual("char", return_type.type1.typename.name)
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self.assertEqual("int", return_type.type2.typename.name)
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return_type = ReturnType.rule.parseString("pair<Test ,Test*>")[0]
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self.assertEqual("Test", return_type.type1.typename.name)
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self.assertEqual("Test", return_type.type2.typename.name)
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self.assertTrue(return_type.type2.is_shared_ptr)
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def test_method(self):
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"""Test for a class method."""
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ret = Method.rule.parseString("int f();")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(0, len(ret.args))
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self.assertTrue(not ret.is_const)
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ret = Method.rule.parseString("int f() const;")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(0, len(ret.args))
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self.assertTrue(ret.is_const)
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ret = Method.rule.parseString(
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"int f(const int x, const Class& c, Class* t) const;")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(3, len(ret.args))
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ret = Method.rule.parseString(
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"pair<First ,Second*> create_MixedPtrs();")[0]
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self.assertEqual("create_MixedPtrs", ret.name)
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self.assertEqual(0, len(ret.args))
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self.assertEqual("First", ret.return_type.type1.typename.name)
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self.assertEqual("Second", ret.return_type.type2.typename.name)
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def test_static_method(self):
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"""Test for static methods."""
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ret = StaticMethod.rule.parseString("static int f();")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(0, len(ret.args))
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ret = StaticMethod.rule.parseString(
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"static int f(const int x, const Class& c, Class* t);")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(3, len(ret.args))
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def test_constructor(self):
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"""Test for class constructor."""
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ret = Constructor.rule.parseString("f();")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(0, len(ret.args))
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ret = Constructor.rule.parseString(
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"f(const int x, const Class& c, Class* t);")[0]
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self.assertEqual("f", ret.name)
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self.assertEqual(3, len(ret.args))
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ret = Constructor.rule.parseString(
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"""ForwardKinematics(const gtdynamics::Robot& robot,
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const string& start_link_name, const string& end_link_name,
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const gtsam::Values& joint_angles,
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const gtsam::Pose3& l2Tp = gtsam::Pose3());""")[0]
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self.assertEqual("ForwardKinematics", ret.name)
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self.assertEqual(5, len(ret.args))
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self.assertEqual("gtsam::Pose3()", ret.args.list()[4].default)
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def test_constructor_templated(self):
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"""Test for templated class constructor."""
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f = """
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template<T = {double, int}>
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Class();
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"""
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ret = Constructor.rule.parseString(f)[0]
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self.assertEqual("Class", ret.name)
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self.assertEqual(0, len(ret.args))
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f = """
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template<T = {double, int}>
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Class(const T& name);
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"""
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ret = Constructor.rule.parseString(f)[0]
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self.assertEqual("Class", ret.name)
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self.assertEqual(1, len(ret.args))
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self.assertEqual("const T & name", ret.args.args_list[0].to_cpp())
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def test_operator_overload(self):
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"""Test for operator overloading."""
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# Unary operator
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wrap_string = "gtsam::Vector2 operator-() const;"
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ret = Operator.rule.parseString(wrap_string)[0]
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self.assertEqual("operator", ret.name)
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self.assertEqual("-", ret.operator)
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self.assertEqual("Vector2", ret.return_type.type1.typename.name)
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self.assertEqual("gtsam::Vector2",
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ret.return_type.type1.typename.to_cpp())
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self.assertTrue(len(ret.args) == 0)
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self.assertTrue(ret.is_unary)
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# Binary operator
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wrap_string = "gtsam::Vector2 operator*(const gtsam::Vector2 &v) const;"
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ret = Operator.rule.parseString(wrap_string)[0]
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self.assertEqual("operator", ret.name)
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self.assertEqual("*", ret.operator)
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self.assertEqual("Vector2", ret.return_type.type1.typename.name)
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self.assertEqual("gtsam::Vector2",
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ret.return_type.type1.typename.to_cpp())
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self.assertTrue(len(ret.args) == 1)
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self.assertEqual("const gtsam::Vector2 &",
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repr(ret.args.list()[0].ctype))
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self.assertTrue(not ret.is_unary)
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def test_typedef_template_instantiation(self):
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"""Test for typedef'd instantiation of a template."""
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typedef = TypedefTemplateInstantiation.rule.parseString("""
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typedef gtsam::BearingFactor<gtsam::Pose2, gtsam::Point2, gtsam::Rot2>
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BearingFactor2D;
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""")[0]
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self.assertEqual("BearingFactor2D", typedef.new_name)
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self.assertEqual("BearingFactor", typedef.typename.name)
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self.assertEqual(["gtsam"], typedef.typename.namespaces)
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self.assertEqual(3, len(typedef.typename.instantiations))
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def test_base_class(self):
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"""Test a base class."""
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ret = Class.rule.parseString("""
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virtual class Base {
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};
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""")[0]
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self.assertEqual("Base", ret.name)
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self.assertEqual(0, len(ret.ctors))
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self.assertEqual(0, len(ret.methods))
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self.assertEqual(0, len(ret.static_methods))
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self.assertEqual(0, len(ret.properties))
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self.assertTrue(ret.is_virtual)
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def test_empty_class(self):
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"""Test an empty class declaration."""
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ret = Class.rule.parseString("""
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class FactorIndices {};
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""")[0]
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self.assertEqual("FactorIndices", ret.name)
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self.assertEqual(0, len(ret.ctors))
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self.assertEqual(0, len(ret.methods))
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self.assertEqual(0, len(ret.static_methods))
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self.assertEqual(0, len(ret.properties))
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self.assertTrue(not ret.is_virtual)
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def test_class(self):
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"""Test a non-trivial class."""
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ret = Class.rule.parseString("""
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class SymbolicFactorGraph {
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SymbolicFactorGraph();
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SymbolicFactorGraph(const gtsam::SymbolicBayesNet& bayesNet);
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SymbolicFactorGraph(const gtsam::SymbolicBayesTree& bayesTree);
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// Dummy static method
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static gtsam::SymbolidFactorGraph CreateGraph();
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void push_back(gtsam::SymbolicFactor* factor);
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void print(string s) const;
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bool equals(const gtsam::SymbolicFactorGraph& rhs, double tol) const;
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size_t size() const;
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bool exists(size_t idx) const;
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// Standard interface
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gtsam::KeySet keys() const;
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void push_back(const gtsam::SymbolicFactorGraph& graph);
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void push_back(const gtsam::SymbolicBayesNet& bayesNet);
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void push_back(const gtsam::SymbolicBayesTree& bayesTree);
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/* Advanced interface */
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void push_factor(size_t key);
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void push_factor(size_t key1, size_t key2);
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void push_factor(size_t key1, size_t key2, size_t key3);
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void push_factor(size_t key1, size_t key2, size_t key3, size_t key4);
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gtsam::SymbolicBayesNet* eliminateSequential();
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gtsam::SymbolicBayesNet* eliminateSequential(
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const gtsam::Ordering& ordering);
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gtsam::SymbolicBayesTree* eliminateMultifrontal();
|
|
gtsam::SymbolicBayesTree* eliminateMultifrontal(
|
|
const gtsam::Ordering& ordering);
|
|
pair<gtsam::SymbolicBayesNet*, gtsam::SymbolicFactorGraph*>
|
|
eliminatePartialSequential(const gtsam::Ordering& ordering);
|
|
pair<gtsam::SymbolicBayesNet*, gtsam::SymbolicFactorGraph*>
|
|
eliminatePartialSequential(const gtsam::KeyVector& keys);
|
|
pair<gtsam::SymbolicBayesTree*, gtsam::SymbolicFactorGraph*>
|
|
eliminatePartialMultifrontal(const gtsam::Ordering& ordering);
|
|
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(
|
|
const gtsam::Ordering& ordering);
|
|
gtsam::SymbolicBayesNet* marginalMultifrontalBayesNet(
|
|
const gtsam::KeyVector& key_vector,
|
|
const gtsam::Ordering& marginalizedVariableOrdering);
|
|
gtsam::SymbolicFactorGraph* marginal(const gtsam::KeyVector& key_vector);
|
|
};
|
|
""")[0]
|
|
|
|
self.assertEqual("SymbolicFactorGraph", ret.name)
|
|
self.assertEqual(3, len(ret.ctors))
|
|
self.assertEqual(23, len(ret.methods))
|
|
self.assertEqual(1, len(ret.static_methods))
|
|
self.assertEqual(0, len(ret.properties))
|
|
self.assertTrue(not ret.is_virtual)
|
|
|
|
def test_templated_class(self):
|
|
"""Test a templated class."""
|
|
ret = Class.rule.parseString("""
|
|
template<POSE, POINT>
|
|
class MyFactor {};
|
|
""")[0]
|
|
|
|
self.assertEqual("MyFactor", ret.name)
|
|
self.assertEqual("<POSE, POINT>", repr(ret.template))
|
|
|
|
def test_class_inheritance(self):
|
|
"""Test for class inheritance."""
|
|
ret = Class.rule.parseString("""
|
|
virtual class Null: gtsam::noiseModel::mEstimator::Base {
|
|
Null();
|
|
void print(string s) const;
|
|
static gtsam::noiseModel::mEstimator::Null* Create();
|
|
|
|
// enabling serialization functionality
|
|
void serializable() const;
|
|
};
|
|
""")[0]
|
|
self.assertEqual("Null", ret.name)
|
|
self.assertEqual(1, len(ret.ctors))
|
|
self.assertEqual(2, len(ret.methods))
|
|
self.assertEqual(1, len(ret.static_methods))
|
|
self.assertEqual(0, len(ret.properties))
|
|
self.assertEqual("Base", ret.parent_class.name)
|
|
self.assertEqual(["gtsam", "noiseModel", "mEstimator"],
|
|
ret.parent_class.namespaces)
|
|
self.assertTrue(ret.is_virtual)
|
|
|
|
ret = Class.rule.parseString(
|
|
"class ForwardKinematicsFactor : gtsam::BetweenFactor<gtsam::Pose3> {};"
|
|
)[0]
|
|
ret = InstantiatedClass(ret,
|
|
[]) # Needed to correctly parse parent class
|
|
self.assertEqual("ForwardKinematicsFactor", ret.name)
|
|
self.assertEqual("BetweenFactor", ret.parent_class.name)
|
|
self.assertEqual(["gtsam"], ret.parent_class.namespaces)
|
|
self.assertEqual("Pose3", ret.parent_class.instantiations[0].name)
|
|
self.assertEqual(["gtsam"],
|
|
ret.parent_class.instantiations[0].namespaces)
|
|
|
|
def test_class_with_enum(self):
|
|
"""Test for class with nested enum."""
|
|
ret = Class.rule.parseString("""
|
|
class Pet {
|
|
Pet(const string &name, Kind type);
|
|
enum Kind { Dog, Cat };
|
|
};
|
|
""")[0]
|
|
self.assertEqual(ret.name, "Pet")
|
|
self.assertEqual(ret.enums[0].name, "Kind")
|
|
|
|
def test_include(self):
|
|
"""Test for include statements."""
|
|
include = Include.rule.parseString(
|
|
"#include <gtsam/slam/PriorFactor.h>")[0]
|
|
self.assertEqual("gtsam/slam/PriorFactor.h", include.header)
|
|
|
|
def test_forward_declaration(self):
|
|
"""Test for forward declarations."""
|
|
fwd = ForwardDeclaration.rule.parseString(
|
|
"virtual class Test:gtsam::Point3;")[0]
|
|
|
|
self.assertEqual("Test", fwd.name)
|
|
self.assertTrue(fwd.is_virtual)
|
|
|
|
def test_function(self):
|
|
"""Test for global/free function."""
|
|
func = GlobalFunction.rule.parseString("""
|
|
gtsam::Values localToWorld(const gtsam::Values& local,
|
|
const gtsam::Pose2& base, const gtsam::KeyVector& keys);
|
|
""")[0]
|
|
self.assertEqual("localToWorld", func.name)
|
|
self.assertEqual("Values", func.return_type.type1.typename.name)
|
|
self.assertEqual(3, len(func.args))
|
|
|
|
def test_global_variable(self):
|
|
"""Test for global variable."""
|
|
variable = Variable.rule.parseString("string kGravity;")[0]
|
|
self.assertEqual(variable.name, "kGravity")
|
|
self.assertEqual(variable.ctype.typename.name, "string")
|
|
|
|
variable = Variable.rule.parseString("string kGravity = 9.81;")[0]
|
|
self.assertEqual(variable.name, "kGravity")
|
|
self.assertEqual(variable.ctype.typename.name, "string")
|
|
self.assertEqual(variable.default, "9.81")
|
|
|
|
variable = Variable.rule.parseString(
|
|
"const string kGravity = 9.81;")[0]
|
|
self.assertEqual(variable.name, "kGravity")
|
|
self.assertEqual(variable.ctype.typename.name, "string")
|
|
self.assertTrue(variable.ctype.is_const)
|
|
self.assertEqual(variable.default, "9.81")
|
|
|
|
variable = Variable.rule.parseString(
|
|
"gtsam::Pose3 wTc = gtsam::Pose3();")[0]
|
|
self.assertEqual(variable.name, "wTc")
|
|
self.assertEqual(variable.ctype.typename.name, "Pose3")
|
|
self.assertEqual(variable.default, "gtsam::Pose3()")
|
|
|
|
variable = Variable.rule.parseString(
|
|
"gtsam::Pose3 wTc = gtsam::Pose3(1, 2, 0);")[0]
|
|
self.assertEqual(variable.name, "wTc")
|
|
self.assertEqual(variable.ctype.typename.name, "Pose3")
|
|
self.assertEqual(variable.default, "gtsam::Pose3(1, 2, 0)")
|
|
|
|
def test_enumerator(self):
|
|
"""Test for enumerator."""
|
|
enumerator = Enumerator.rule.parseString("Dog")[0]
|
|
self.assertEqual(enumerator.name, "Dog")
|
|
|
|
enumerator = Enumerator.rule.parseString("Cat")[0]
|
|
self.assertEqual(enumerator.name, "Cat")
|
|
|
|
def test_enum(self):
|
|
"""Test for enums."""
|
|
enum = Enum.rule.parseString("""
|
|
enum Kind {
|
|
Dog,
|
|
Cat
|
|
};
|
|
""")[0]
|
|
self.assertEqual(enum.name, "Kind")
|
|
self.assertEqual(enum.enumerators[0].name, "Dog")
|
|
self.assertEqual(enum.enumerators[1].name, "Cat")
|
|
|
|
def test_namespace(self):
|
|
"""Test for namespace parsing."""
|
|
namespace = Namespace.rule.parseString("""
|
|
namespace gtsam {
|
|
#include <gtsam/geometry/Point2.h>
|
|
class Point2 {
|
|
Point2();
|
|
Point2(double x, double y);
|
|
double x() const;
|
|
double y() const;
|
|
int dim() const;
|
|
char returnChar() const;
|
|
void argChar(char a) const;
|
|
void argUChar(unsigned char a) const;
|
|
};
|
|
|
|
#include <gtsam/geometry/Point3.h>
|
|
class Point3 {
|
|
Point3(double x, double y, double z);
|
|
double norm() const;
|
|
|
|
// static functions - use static keyword and uppercase
|
|
static double staticFunction();
|
|
static gtsam::Point3 StaticFunctionRet(double z);
|
|
|
|
// enabling serialization functionality
|
|
void serialize() const; // Just triggers a flag internally
|
|
};
|
|
}""")[0]
|
|
self.assertEqual("gtsam", namespace.name)
|
|
|
|
def test_module(self):
|
|
"""Test module parsing."""
|
|
module = Module.parseString("""
|
|
namespace one {
|
|
namespace two {
|
|
namespace three {
|
|
class Class123 {
|
|
};
|
|
}
|
|
class Class12a {
|
|
};
|
|
}
|
|
namespace two_dummy {
|
|
namespace three_dummy{
|
|
|
|
}
|
|
namespace fourth_dummy{
|
|
|
|
}
|
|
}
|
|
namespace two {
|
|
class Class12b {
|
|
|
|
};
|
|
}
|
|
int oneVar;
|
|
}
|
|
|
|
class Global{
|
|
};
|
|
int globalVar;
|
|
""")
|
|
|
|
self.assertEqual(["one", "Global", "globalVar"],
|
|
[x.name for x in module.content])
|
|
self.assertEqual(["two", "two_dummy", "two", "oneVar"],
|
|
[x.name for x in module.content[0].content])
|
|
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|