gtsam/wrap
dellaert 5b581a36c9 Made tests succeed, added templated Vector templates 2016-02-07 20:34:16 -08:00
..
tests Made tests succeed, added templated Vector templates 2016-02-07 20:34:16 -08:00
Argument.cpp fix gtsam wrapper for priorFactorVector 2014-12-12 11:34:34 -05:00
Argument.h Much better way of handling local variables in grammar 2014-12-02 11:24:53 +01:00
CMakeLists.txt
Class.cpp Changes to wrap from FixedValues branch/PR. Since unrelated to that PR and useful for OptionalJacobian wrapping in py_wrap, made this a separate PR. 2016-02-07 20:33:48 -08:00
Class.h Changes to wrap from FixedValues branch/PR. Since unrelated to that PR and useful for OptionalJacobian wrapping in py_wrap, made this a separate PR. 2016-02-07 20:33:48 -08:00
Constructor.cpp
Constructor.h
Deconstructor.cpp
Deconstructor.h
FileWriter.cpp
FileWriter.h
ForwardDeclaration.h
FullyOverloadedFunction.h
Function.cpp
Function.h
GlobalFunction.cpp
GlobalFunction.h GlobalFunctionGrammar done and used 2014-12-02 13:49:25 +01:00
Method.cpp
Method.h
MethodBase.cpp
MethodBase.h
Module.cpp Changes to wrap from FixedValues branch/PR. Since unrelated to that PR and useful for OptionalJacobian wrapping in py_wrap, made this a separate PR. 2016-02-07 20:33:48 -08:00
Module.h Moved typedef 2014-12-02 13:30:36 +01:00
OverloadedFunction.h
Qualified.h Removed mutable 2014-12-02 11:40:50 +01:00
README
ReturnType.cpp
ReturnType.h
ReturnValue.cpp
ReturnValue.h
StaticMethod.cpp
StaticMethod.h
Template.h Changes to wrap from FixedValues branch/PR. Since unrelated to that PR and useful for OptionalJacobian wrapping in py_wrap, made this a separate PR. 2016-02-07 20:33:48 -08:00
TemplateInstantiationTypedef.cpp
TemplateInstantiationTypedef.h
TemplateSubstitution.h
TypeAttributesTable.cpp
TypeAttributesTable.h
matlab.h just make sure it can compile and run. Will come back to fix it 2014-12-06 23:13:09 -05:00
spirit.h
utilities.cpp Fixed many warnings on Ubuntu 2015-05-12 13:46:24 -07:00
utilities.h
wrap.cpp

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