gtsam/wrap
Duy-Nguyen Ta 6bf7ea23cf convert numpy input params to dtype float and order 'F' automatically
using numpy.astype(...). No copy if the params are already in the correct dtype and storage order.

For a function
    f(Matrix A, Matrix B),
simply wrapping it to pyx as
   f(A.astype(float, order='F', copy=False), B.astype(float, order='F', copy=False))
won't work.
It produces a strange side-effect that the content of A is overwritten by B and the two inputs are the same (data address) inside the function!

This is because Cython decreases the ref count for the temporary variable resulted from A.astype(...) before generates the wrap for B.astype(...).
Hence, the A.astype temp var is probably reused for B.astype, and they were pointing to the same data address.

For that reason, we have to go a longer route and wrap it as:
  A = A.astype(float, order='F', copy=False)
  B = B.astype(float, order='F', copy=False)
  f(A, B)

For future ref., here is a sample of the wrongly generated code that wraps the JacobianFactor constructor:
Jacobian(Key i1, Matrix A1, Key i2, Matrix A2, Vector b, noiseModel::Diagonal model)

Wrongly wrapped pyx code:
self.shared_CJacobianFactor_ = shared_ptr[CJacobianFactor](new CJacobianFactor(i1, <MatrixXd>(Map[MatrixXd](A1.astype(float, order='F',copy=False)), i2, <MatrixXd>(Map[MatrixXd](A2.astype(float, order='F', copy=False)), <VectorXd>(Map[VectorXd](b.astype(float, order='F', copy=False))), model.shared_CnoiseModel_Diagonal_))

The problematic Cython generated CPP code with a comment on the problematic line:
/////////////////////////////////////////
// WRONG VERSION
/////////////////////////////////////////
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///////////////////////////////////////////////
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///////////////////////////////////////////////
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  __pyx_v_self->shared_CJacobianFactor_ = boost::shared_ptr<gtsam::JacobianFactor> (__pyx_t_17);
2017-03-15 13:47:11 -04:00
..
tests remove unfinished cython-wrap test prototype 2017-03-08 10:05:35 -05:00
Argument.cpp convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
Argument.h convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
CMakeLists.txt Removed the boost::regex include (not used) from the matlab wrapper & removed any linking to boost::regex 2016-08-29 13:03:46 +12:00
Class.cpp special ctor signature to be used with cyCreateFromShared 2017-03-08 15:22:16 -05:00
Class.h Forward declare not only classes but their inheritance 2016-12-19 17:47:30 -05:00
Constructor.cpp convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
Constructor.h Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
Deconstructor.cpp Removed headers 2016-05-22 14:22:36 -07:00
Deconstructor.h changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
FileWriter.cpp Added templated class 2014-11-11 18:14:17 +01:00
FileWriter.h changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
ForwardDeclaration.h Forward declare not only classes but their inheritance 2016-12-19 17:47:30 -05:00
FullyOverloadedFunction.cpp [cython] remove copy constructor requirement 2017-03-06 01:06:53 -05:00
FullyOverloadedFunction.h support global functions (no overload) 2016-11-22 17:09:35 -05:00
Function.cpp Removed headers 2016-05-22 14:22:36 -07:00
Function.h Moving to optionals fixed template dreturn argument! 2014-12-01 09:48:56 +01:00
GlobalFunction.cpp convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
GlobalFunction.h Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
Method.cpp convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
Method.h big refactoring, support method/static method overloading 2016-11-20 09:24:43 -05:00
MethodBase.cpp support global functions (no overload) 2016-11-22 17:09:35 -05:00
MethodBase.h support global functions (no overload) 2016-11-22 17:09:35 -05:00
Module.cpp remove Vectorize, simplify to just numpy.squeeze 2017-03-10 23:33:14 -05:00
Module.h unify/rename functions: matlab_code and cython_wrapper to generate_xxxxx_wrapper 2017-03-10 23:27:29 -05:00
OverloadedFunction.h tabs to spaces 2016-11-30 05:56:07 -05:00
Qualified.cpp collect typedefs of basic (non-class) types to treat them as basic types 2016-11-14 00:08:42 -05:00
Qualified.h [cython] remove copy constructor requirement 2017-03-06 01:06:53 -05:00
README Fixed handling of char in wrap, updated README 2012-06-04 19:45:32 +00:00
ReturnType.cpp remove Vectorize, simplify to just numpy.squeeze 2017-03-10 23:33:14 -05:00
ReturnType.h Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
ReturnValue.cpp Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
ReturnValue.h Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
StaticMethod.cpp convert numpy input params to dtype float and order 'F' automatically 2017-03-15 13:47:11 -04:00
StaticMethod.h big refactoring, support method/static method overloading 2016-11-20 09:24:43 -05:00
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 ctypedefs for all instantiated classes 2016-09-09 21:50:55 -04:00
TemplateInstantiationTypedef.h Massive edit: new Qualified type groups namespaces with name, eliminates a lot of clutter. 2014-11-12 02:49:23 +01:00
TemplateMethod.cpp Support exceptions so ipython/python can catch and doesn't crash. Trade constness with exception since Cython doesn't allow both. 2016-12-19 17:53:14 -05:00
TemplateMethod.h Major update to generate proper Cython pxd header files which could be included in other projects/modules 2016-12-16 00:23:45 -05:00
TemplateSubstitution.h Semi-private name/namespaces 2014-11-30 20:20:13 +01:00
TypeAttributesTable.cpp Forward declare not only classes but their inheritance 2016-12-19 17:47:30 -05:00
TypeAttributesTable.h forward declaration of ForwardDeclaration 2016-12-16 19:26:40 -05:00
TypedefPair.h tabs to spaces 2016-11-30 05:56:07 -05:00
matlab.h fix ambiguous type uint64_t and int64_t in matlab toolbox, happens on gcc 4.8 and boost 1.50 2016-06-14 15:15:14 -04:00
spirit.h [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
utilities.cpp Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
utilities.h Removed headers 2016-05-22 14:22:36 -07:00
wrap.cpp fix comment 2017-03-10 23:28:26 -05:00

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