230 lines
7.5 KiB
C++
230 lines
7.5 KiB
C++
#include <gtwrap/matlab.h>
|
|
#include <map>
|
|
|
|
#include <boost/archive/text_iarchive.hpp>
|
|
#include <boost/archive/text_oarchive.hpp>
|
|
#include <boost/serialization/export.hpp>
|
|
|
|
|
|
|
|
|
|
|
|
typedef std::set<boost::shared_ptr<gtsam::Class1>*> Collector_gtsamClass1;
|
|
static Collector_gtsamClass1 collector_gtsamClass1;
|
|
typedef std::set<boost::shared_ptr<gtsam::Class2>*> Collector_gtsamClass2;
|
|
static Collector_gtsamClass2 collector_gtsamClass2;
|
|
typedef std::set<boost::shared_ptr<gtsam::ClassA>*> Collector_gtsamClassA;
|
|
static Collector_gtsamClassA collector_gtsamClassA;
|
|
|
|
|
|
void _deleteAllObjects()
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
bool anyDeleted = false;
|
|
{ for(Collector_gtsamClass1::iterator iter = collector_gtsamClass1.begin();
|
|
iter != collector_gtsamClass1.end(); ) {
|
|
delete *iter;
|
|
collector_gtsamClass1.erase(iter++);
|
|
anyDeleted = true;
|
|
} }
|
|
{ for(Collector_gtsamClass2::iterator iter = collector_gtsamClass2.begin();
|
|
iter != collector_gtsamClass2.end(); ) {
|
|
delete *iter;
|
|
collector_gtsamClass2.erase(iter++);
|
|
anyDeleted = true;
|
|
} }
|
|
{ for(Collector_gtsamClassA::iterator iter = collector_gtsamClassA.begin();
|
|
iter != collector_gtsamClassA.end(); ) {
|
|
delete *iter;
|
|
collector_gtsamClassA.erase(iter++);
|
|
anyDeleted = true;
|
|
} }
|
|
|
|
if(anyDeleted)
|
|
cout <<
|
|
"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
|
|
"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
|
|
"module, so that your recompiled module is used instead of the old one." << endl;
|
|
std::cout.rdbuf(outbuf);
|
|
}
|
|
|
|
void _multiple_files_RTTIRegister() {
|
|
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_multiple_files_rttiRegistry_created");
|
|
if(!alreadyCreated) {
|
|
std::map<std::string, std::string> types;
|
|
|
|
|
|
|
|
mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
|
|
if(!registry)
|
|
registry = mxCreateStructMatrix(1, 1, 0, NULL);
|
|
typedef std::pair<std::string, std::string> StringPair;
|
|
for(const StringPair& rtti_matlab: types) {
|
|
int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
|
|
if(fieldId < 0) {
|
|
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
|
|
}
|
|
mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
|
|
mxSetFieldByNumber(registry, 0, fieldId, matlabName);
|
|
}
|
|
if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) {
|
|
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
|
|
}
|
|
mxDestroyArray(registry);
|
|
|
|
mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
|
|
if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0) {
|
|
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
|
|
}
|
|
mxDestroyArray(newAlreadyCreated);
|
|
}
|
|
}
|
|
|
|
void gtsamClass1_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::Class1> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_gtsamClass1.insert(self);
|
|
}
|
|
|
|
void gtsamClass1_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::Class1> Shared;
|
|
|
|
Shared *self = new Shared(new gtsam::Class1());
|
|
collector_gtsamClass1.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void gtsamClass1_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef boost::shared_ptr<gtsam::Class1> Shared;
|
|
checkArguments("delete_gtsamClass1",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_gtsamClass1::iterator item;
|
|
item = collector_gtsamClass1.find(self);
|
|
if(item != collector_gtsamClass1.end()) {
|
|
delete self;
|
|
collector_gtsamClass1.erase(item);
|
|
}
|
|
}
|
|
|
|
void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::Class2> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_gtsamClass2.insert(self);
|
|
}
|
|
|
|
void gtsamClass2_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::Class2> Shared;
|
|
|
|
Shared *self = new Shared(new gtsam::Class2());
|
|
collector_gtsamClass2.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void gtsamClass2_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef boost::shared_ptr<gtsam::Class2> Shared;
|
|
checkArguments("delete_gtsamClass2",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_gtsamClass2::iterator item;
|
|
item = collector_gtsamClass2.find(self);
|
|
if(item != collector_gtsamClass2.end()) {
|
|
delete self;
|
|
collector_gtsamClass2.erase(item);
|
|
}
|
|
}
|
|
|
|
void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::ClassA> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_gtsamClassA.insert(self);
|
|
}
|
|
|
|
void gtsamClassA_constructor_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::ClassA> Shared;
|
|
|
|
Shared *self = new Shared(new gtsam::ClassA());
|
|
collector_gtsamClassA.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void gtsamClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef boost::shared_ptr<gtsam::ClassA> Shared;
|
|
checkArguments("delete_gtsamClassA",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_gtsamClassA::iterator item;
|
|
item = collector_gtsamClassA.find(self);
|
|
if(item != collector_gtsamClassA.end()) {
|
|
delete self;
|
|
collector_gtsamClassA.erase(item);
|
|
}
|
|
}
|
|
|
|
|
|
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
_multiple_files_RTTIRegister();
|
|
|
|
int id = unwrap<int>(in[0]);
|
|
|
|
try {
|
|
switch(id) {
|
|
case 0:
|
|
gtsamClass1_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 1:
|
|
gtsamClass1_constructor_1(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 2:
|
|
gtsamClass1_deconstructor_2(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 3:
|
|
gtsamClass2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 4:
|
|
gtsamClass2_constructor_4(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 5:
|
|
gtsamClass2_deconstructor_5(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 6:
|
|
gtsamClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 7:
|
|
gtsamClassA_constructor_7(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 8:
|
|
gtsamClassA_deconstructor_8(nargout, out, nargin-1, in+1);
|
|
break;
|
|
}
|
|
} catch(const std::exception& e) {
|
|
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
|
|
}
|
|
|
|
std::cout.rdbuf(outbuf);
|
|
}
|