142 lines
4.6 KiB
C++
142 lines
4.6 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file MethodBase.ccp
|
|
* @author Frank Dellaert
|
|
* @author Andrew Melim
|
|
* @author Richard Roberts
|
|
**/
|
|
|
|
#include "Method.h"
|
|
#include "utilities.h"
|
|
|
|
#include <boost/foreach.hpp>
|
|
#include <boost/lexical_cast.hpp>
|
|
#include <boost/algorithm/string.hpp>
|
|
|
|
#include <iostream>
|
|
#include <fstream>
|
|
|
|
using namespace std;
|
|
using namespace wrap;
|
|
|
|
/* ************************************************************************* */
|
|
void MethodBase::proxy_wrapper_fragments(FileWriter& proxyFile,
|
|
FileWriter& wrapperFile, Str cppClassName, Str matlabQualName,
|
|
Str matlabUniqueName, Str wrapperName,
|
|
const TypeAttributesTable& typeAttributes,
|
|
vector<string>& functionNames) const {
|
|
|
|
// emit header, e.g., function varargout = templatedMethod(this, varargin)
|
|
proxy_header(proxyFile);
|
|
|
|
// Emit comments for documentation
|
|
string up_name = boost::to_upper_copy(matlabName());
|
|
proxyFile.oss << " % " << up_name << " usage: ";
|
|
usage_fragment(proxyFile, matlabName());
|
|
|
|
// Emit URL to Doxygen page
|
|
proxyFile.oss << " % "
|
|
<< "Doxygen can be found at http://research.cc.gatech.edu/borg/sites/edu.borg/html/index.html"
|
|
<< endl;
|
|
|
|
// Handle special case of single overload with all numeric arguments
|
|
if (nrOverloads() == 1 && argumentList(0).allScalar()) {
|
|
// Output proxy matlab code
|
|
// TODO: document why is it OK to not check arguments in this case
|
|
proxyFile.oss << " ";
|
|
const int id = (int) functionNames.size();
|
|
emit_call(proxyFile, returnValue(0), wrapperName, id);
|
|
|
|
// Output C++ wrapper code
|
|
const string wrapFunctionName = wrapper_fragment(wrapperFile, cppClassName,
|
|
matlabUniqueName, 0, id, typeAttributes);
|
|
|
|
// Add to function list
|
|
functionNames.push_back(wrapFunctionName);
|
|
} else {
|
|
// Check arguments for all overloads
|
|
for (size_t i = 0; i < nrOverloads(); ++i) {
|
|
|
|
// Output proxy matlab code
|
|
proxyFile.oss << " " << (i == 0 ? "" : "else");
|
|
const int id = (int) functionNames.size();
|
|
emit_conditional_call(proxyFile, returnValue(i), argumentList(i),
|
|
wrapperName, id);
|
|
|
|
// Output C++ wrapper code
|
|
const string wrapFunctionName = wrapper_fragment(wrapperFile,
|
|
cppClassName, matlabUniqueName, i, id, typeAttributes);
|
|
|
|
// Add to function list
|
|
functionNames.push_back(wrapFunctionName);
|
|
}
|
|
proxyFile.oss << " else\n";
|
|
proxyFile.oss
|
|
<< " error('Arguments do not match any overload of function "
|
|
<< matlabQualName << "." << name_ << "');" << endl;
|
|
proxyFile.oss << " end\n";
|
|
}
|
|
|
|
proxyFile.oss << " end\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
string MethodBase::wrapper_fragment(FileWriter& wrapperFile, Str cppClassName,
|
|
Str matlabUniqueName, int overload, int id,
|
|
const TypeAttributesTable& typeAttributes) const {
|
|
|
|
// generate code
|
|
|
|
const string wrapFunctionName = matlabUniqueName + "_" + name_ + "_"
|
|
+ boost::lexical_cast<string>(id);
|
|
|
|
const ArgumentList& args = argumentList(overload);
|
|
const ReturnValue& returnVal = returnValue(overload);
|
|
|
|
// call
|
|
wrapperFile.oss << "void " << wrapFunctionName
|
|
<< "(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
|
// start
|
|
wrapperFile.oss << "{\n";
|
|
|
|
returnVal.wrapTypeUnwrap(wrapperFile);
|
|
|
|
wrapperFile.oss << " typedef boost::shared_ptr<" << cppClassName
|
|
<< "> Shared;" << endl;
|
|
|
|
// get call
|
|
// for static methods: cppClassName::staticMethod<TemplateVal>
|
|
// for instance methods: obj->instanceMethod<TemplateVal>
|
|
string expanded = wrapper_call(wrapperFile, cppClassName, matlabUniqueName,
|
|
args);
|
|
|
|
expanded += ("(" + args.names() + ")");
|
|
if (returnVal.type1.name() != "void")
|
|
returnVal.wrap_result(expanded, wrapperFile, typeAttributes);
|
|
else
|
|
wrapperFile.oss << " " + expanded + ";\n";
|
|
|
|
// finish
|
|
wrapperFile.oss << "}\n";
|
|
|
|
return wrapFunctionName;
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void MethodBase::python_wrapper(FileWriter& wrapperFile, Str className) const {
|
|
wrapperFile.oss << " .def(\"" << name_ << "\", &" << className << "::"
|
|
<< name_ << ");\n";
|
|
}
|
|
|
|
/* ************************************************************************* */
|