742 lines
28 KiB
C++
742 lines
28 KiB
C++
#include <gtwrap/matlab.h>
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#include <map>
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#include <boost/archive/text_iarchive.hpp>
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/serialization/export.hpp>
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#include <folder/path/to/Test.h>
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#include <gtsam/geometry/Point2.h>
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#include <gtsam/geometry/Point3.h>
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typedef Fun<double> FunDouble;
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typedef PrimitiveRef<double> PrimitiveRefDouble;
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typedef MyVector<3> MyVector3;
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typedef MyVector<12> MyVector12;
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typedef MultipleTemplates<int, double> MultipleTemplatesIntDouble;
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typedef MultipleTemplates<int, float> MultipleTemplatesIntFloat;
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typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;
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typedef MyTemplate<gtsam::Point2> MyTemplatePoint2;
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typedef MyTemplate<gtsam::Matrix> MyTemplateMatrix;
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BOOST_CLASS_EXPORT_GUID(gtsam::Point2, "gtsamPoint2");
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BOOST_CLASS_EXPORT_GUID(gtsam::Point3, "gtsamPoint3");
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typedef std::set<boost::shared_ptr<FunRange>*> Collector_FunRange;
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static Collector_FunRange collector_FunRange;
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typedef std::set<boost::shared_ptr<FunDouble>*> Collector_FunDouble;
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static Collector_FunDouble collector_FunDouble;
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typedef std::set<boost::shared_ptr<Test>*> Collector_Test;
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static Collector_Test collector_Test;
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typedef std::set<boost::shared_ptr<PrimitiveRefDouble>*> Collector_PrimitiveRefDouble;
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static Collector_PrimitiveRefDouble collector_PrimitiveRefDouble;
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typedef std::set<boost::shared_ptr<MyVector3>*> Collector_MyVector3;
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static Collector_MyVector3 collector_MyVector3;
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typedef std::set<boost::shared_ptr<MyVector12>*> Collector_MyVector12;
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static Collector_MyVector12 collector_MyVector12;
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typedef std::set<boost::shared_ptr<MultipleTemplatesIntDouble>*> Collector_MultipleTemplatesIntDouble;
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static Collector_MultipleTemplatesIntDouble collector_MultipleTemplatesIntDouble;
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typedef std::set<boost::shared_ptr<MultipleTemplatesIntFloat>*> Collector_MultipleTemplatesIntFloat;
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static Collector_MultipleTemplatesIntFloat collector_MultipleTemplatesIntFloat;
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typedef std::set<boost::shared_ptr<ForwardKinematics>*> Collector_ForwardKinematics;
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static Collector_ForwardKinematics collector_ForwardKinematics;
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typedef std::set<boost::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
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static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;
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typedef std::set<boost::shared_ptr<gtsam::Point2>*> Collector_gtsamPoint2;
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static Collector_gtsamPoint2 collector_gtsamPoint2;
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typedef std::set<boost::shared_ptr<gtsam::Point3>*> Collector_gtsamPoint3;
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static Collector_gtsamPoint3 collector_gtsamPoint3;
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typedef std::set<boost::shared_ptr<MyBase>*> Collector_MyBase;
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static Collector_MyBase collector_MyBase;
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typedef std::set<boost::shared_ptr<MyTemplatePoint2>*> Collector_MyTemplatePoint2;
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static Collector_MyTemplatePoint2 collector_MyTemplatePoint2;
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typedef std::set<boost::shared_ptr<MyTemplateMatrix>*> Collector_MyTemplateMatrix;
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static Collector_MyTemplateMatrix collector_MyTemplateMatrix;
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typedef std::set<boost::shared_ptr<ForwardKinematicsFactor>*> Collector_ForwardKinematicsFactor;
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static Collector_ForwardKinematicsFactor collector_ForwardKinematicsFactor;
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void _deleteAllObjects()
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{
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mstream mout;
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std::streambuf *outbuf = std::cout.rdbuf(&mout);
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bool anyDeleted = false;
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{ for(Collector_FunRange::iterator iter = collector_FunRange.begin();
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iter != collector_FunRange.end(); ) {
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delete *iter;
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collector_FunRange.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_FunDouble::iterator iter = collector_FunDouble.begin();
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iter != collector_FunDouble.end(); ) {
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delete *iter;
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collector_FunDouble.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_Test::iterator iter = collector_Test.begin();
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iter != collector_Test.end(); ) {
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delete *iter;
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collector_Test.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_PrimitiveRefDouble::iterator iter = collector_PrimitiveRefDouble.begin();
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iter != collector_PrimitiveRefDouble.end(); ) {
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delete *iter;
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collector_PrimitiveRefDouble.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyVector3::iterator iter = collector_MyVector3.begin();
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iter != collector_MyVector3.end(); ) {
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delete *iter;
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collector_MyVector3.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyVector12::iterator iter = collector_MyVector12.begin();
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iter != collector_MyVector12.end(); ) {
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delete *iter;
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collector_MyVector12.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MultipleTemplatesIntDouble::iterator iter = collector_MultipleTemplatesIntDouble.begin();
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iter != collector_MultipleTemplatesIntDouble.end(); ) {
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delete *iter;
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collector_MultipleTemplatesIntDouble.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MultipleTemplatesIntFloat::iterator iter = collector_MultipleTemplatesIntFloat.begin();
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iter != collector_MultipleTemplatesIntFloat.end(); ) {
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delete *iter;
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collector_MultipleTemplatesIntFloat.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ForwardKinematics::iterator iter = collector_ForwardKinematics.begin();
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iter != collector_ForwardKinematics.end(); ) {
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delete *iter;
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collector_ForwardKinematics.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
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iter != collector_MyFactorPosePoint2.end(); ) {
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delete *iter;
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collector_MyFactorPosePoint2.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamPoint2::iterator iter = collector_gtsamPoint2.begin();
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iter != collector_gtsamPoint2.end(); ) {
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delete *iter;
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collector_gtsamPoint2.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamPoint3::iterator iter = collector_gtsamPoint3.begin();
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iter != collector_gtsamPoint3.end(); ) {
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delete *iter;
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collector_gtsamPoint3.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyBase::iterator iter = collector_MyBase.begin();
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iter != collector_MyBase.end(); ) {
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delete *iter;
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collector_MyBase.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyTemplatePoint2::iterator iter = collector_MyTemplatePoint2.begin();
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iter != collector_MyTemplatePoint2.end(); ) {
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delete *iter;
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collector_MyTemplatePoint2.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_MyTemplateMatrix::iterator iter = collector_MyTemplateMatrix.begin();
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iter != collector_MyTemplateMatrix.end(); ) {
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delete *iter;
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collector_MyTemplateMatrix.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ForwardKinematicsFactor::iterator iter = collector_ForwardKinematicsFactor.begin();
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iter != collector_ForwardKinematicsFactor.end(); ) {
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delete *iter;
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collector_ForwardKinematicsFactor.erase(iter++);
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anyDeleted = true;
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} }
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if(anyDeleted)
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cout <<
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"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
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"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
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"module, so that your recompiled module is used instead of the old one." << endl;
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std::cout.rdbuf(outbuf);
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}
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void _inheritance_RTTIRegister() {
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const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_inheritance_rttiRegistry_created");
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if(!alreadyCreated) {
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std::map<std::string, std::string> types;
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types.insert(std::make_pair(typeid(MyBase).name(), "MyBase"));
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types.insert(std::make_pair(typeid(MyTemplatePoint2).name(), "MyTemplatePoint2"));
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types.insert(std::make_pair(typeid(MyTemplateMatrix).name(), "MyTemplateMatrix"));
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types.insert(std::make_pair(typeid(ForwardKinematicsFactor).name(), "ForwardKinematicsFactor"));
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mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
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if(!registry)
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registry = mxCreateStructMatrix(1, 1, 0, NULL);
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typedef std::pair<std::string, std::string> StringPair;
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for(const StringPair& rtti_matlab: types) {
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int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
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if(fieldId < 0)
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
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mxSetFieldByNumber(registry, 0, fieldId, matlabName);
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}
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if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0)
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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mxDestroyArray(registry);
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mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
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if(mexPutVariable("global", "gtsam_geometry_rttiRegistry_created", newAlreadyCreated) != 0)
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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mxDestroyArray(newAlreadyCreated);
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}
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}
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void gtsamPoint2_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::Point2> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamPoint2.insert(self);
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}
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void MyBase_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<MyBase> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_MyBase.insert(self);
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}
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void MyBase_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<MyBase> Shared;
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checkArguments("delete_MyBase",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_MyBase::iterator item;
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item = collector_MyBase.find(self);
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if(item != collector_MyBase.end()) {
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delete self;
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collector_MyBase.erase(item);
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}
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}
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void gtsamPoint2_deconstructor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<gtsam::Point2> Shared;
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checkArguments("delete_gtsamPoint2",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamPoint2::iterator item;
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item = collector_gtsamPoint2.find(self);
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if(item != collector_gtsamPoint2.end()) {
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delete self;
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collector_gtsamPoint2.erase(item);
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}
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}
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void MyTemplatePoint2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_MyTemplatePoint2.insert(self);
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typedef boost::shared_ptr<MyBase> SharedBase;
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out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
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}
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void MyTemplatePoint2_constructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
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Shared *self = new Shared(new MyTemplate<gtsam::Point2>());
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collector_MyTemplatePoint2.insert(self);
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out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
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typedef boost::shared_ptr<MyBase> SharedBase;
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out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
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}
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void MyTemplatePoint2_deconstructor_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<MyTemplate<gtsam::Point2>> Shared;
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checkArguments("delete_MyTemplatePoint2",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_MyTemplatePoint2::iterator item;
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item = collector_MyTemplatePoint2.find(self);
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if(item != collector_MyTemplatePoint2.end()) {
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delete self;
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collector_MyTemplatePoint2.erase(item);
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}
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}
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void MyTemplatePoint2_accept_T_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("accept_T",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 value = unwrap< Point2 >(in[1]);
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obj->accept_T(value);
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}
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void MyTemplatePoint2_accept_Tptr_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("accept_Tptr",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 value = unwrap< Point2 >(in[1]);
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obj->accept_Tptr(value);
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}
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void MyTemplatePoint2_create_MixedPtrs_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("create_MixedPtrs",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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auto pairResult = obj->create_MixedPtrs();
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out[0] = wrap< Point2 >(pairResult.first);
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{
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boost::shared_ptr<Point2> shared(pairResult.second);
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out[1] = wrap_shared_ptr(shared,"Point2");
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}
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}
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void MyTemplatePoint2_create_ptrs_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("create_ptrs",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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auto pairResult = obj->create_ptrs();
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{
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boost::shared_ptr<Point2> shared(pairResult.first);
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out[0] = wrap_shared_ptr(shared,"Point2");
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}
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{
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boost::shared_ptr<Point2> shared(pairResult.second);
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out[1] = wrap_shared_ptr(shared,"Point2");
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}
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}
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void MyTemplatePoint2_return_T_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("return_T",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 value = unwrap< Point2 >(in[1]);
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out[0] = wrap< Point2 >(obj->return_T(value));
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}
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void MyTemplatePoint2_return_Tptr_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("return_Tptr",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 value = unwrap< Point2 >(in[1]);
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{
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boost::shared_ptr<Point2> shared(obj->return_Tptr(value));
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out[0] = wrap_shared_ptr(shared,"Point2");
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}
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}
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void MyTemplatePoint2_return_ptrs_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("return_ptrs",nargout,nargin-1,2);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 p1 = unwrap< Point2 >(in[1]);
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Point2 p2 = unwrap< Point2 >(in[2]);
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auto pairResult = obj->return_ptrs(p1,p2);
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{
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boost::shared_ptr<Point2> shared(pairResult.first);
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out[0] = wrap_shared_ptr(shared,"Point2");
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}
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{
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boost::shared_ptr<Point2> shared(pairResult.second);
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out[1] = wrap_shared_ptr(shared,"Point2");
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}
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}
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void MyTemplatePoint2_templatedMethod_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Matrix t = unwrap< Matrix >(in[1]);
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out[0] = wrap< Matrix >(obj->templatedMethod<gtsam::Matrix>(t));
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}
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void MyTemplatePoint2_templatedMethod_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point2 t = unwrap< Point2 >(in[1]);
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out[0] = wrap< Point2 >(obj->templatedMethod<gtsam::Point2>(t));
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}
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void MyTemplatePoint2_templatedMethod_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Point3 t = unwrap< Point3 >(in[1]);
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out[0] = wrap< Point3 >(obj->templatedMethod<gtsam::Point3>(t));
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}
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void MyTemplatePoint2_templatedMethod_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("templatedMethodVector",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Point2>>(in[0], "ptr_MyTemplatePoint2");
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Vector t = unwrap< Vector >(in[1]);
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out[0] = wrap< Vector >(obj->templatedMethod<gtsam::Vector>(t));
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}
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void MyTemplatePoint2_Level_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
|
|
checkArguments("MyTemplatePoint2.Level",nargout,nargin,1);
|
|
Point2 K = unwrap< Point2 >(in[0]);
|
|
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<Point2>>(MyTemplate<gtsam::Point2>::Level(K)),"MyTemplatePoint2", false);
|
|
}
|
|
|
|
void gtsamPoint3_constructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<gtsam::Point3> Shared;
|
|
|
|
double x = unwrap< double >(in[0]);
|
|
double y = unwrap< double >(in[1]);
|
|
double z = unwrap< double >(in[2]);
|
|
Shared *self = new Shared(new gtsam::Point3(x,y,z));
|
|
collector_gtsamPoint3.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void MyTemplateMatrix_collectorInsertAndMakeBase_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_MyTemplateMatrix.insert(self);
|
|
|
|
typedef boost::shared_ptr<MyBase> SharedBase;
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
|
|
}
|
|
|
|
void MyTemplateMatrix_constructor_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
|
|
|
|
Shared *self = new Shared(new MyTemplate<gtsam::Matrix>());
|
|
collector_MyTemplateMatrix.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
|
|
typedef boost::shared_ptr<MyBase> SharedBase;
|
|
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
|
|
}
|
|
|
|
void MyTemplateMatrix_deconstructor_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef boost::shared_ptr<MyTemplate<gtsam::Matrix>> Shared;
|
|
checkArguments("delete_MyTemplateMatrix",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_MyTemplateMatrix::iterator item;
|
|
item = collector_MyTemplateMatrix.find(self);
|
|
if(item != collector_MyTemplateMatrix.end()) {
|
|
delete self;
|
|
collector_MyTemplateMatrix.erase(item);
|
|
}
|
|
}
|
|
|
|
void MyTemplateMatrix_accept_T_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("accept_T",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix value = unwrap< Matrix >(in[1]);
|
|
obj->accept_T(value);
|
|
}
|
|
|
|
void MyTemplateMatrix_accept_Tptr_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("accept_Tptr",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix value = unwrap< Matrix >(in[1]);
|
|
obj->accept_Tptr(value);
|
|
}
|
|
|
|
void MyTemplateMatrix_create_MixedPtrs_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("create_MixedPtrs",nargout,nargin-1,0);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
auto pairResult = obj->create_MixedPtrs();
|
|
out[0] = wrap< Matrix >(pairResult.first);
|
|
{
|
|
boost::shared_ptr<Matrix> shared(pairResult.second);
|
|
out[1] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
}
|
|
|
|
void MyTemplateMatrix_create_ptrs_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("create_ptrs",nargout,nargin-1,0);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
auto pairResult = obj->create_ptrs();
|
|
{
|
|
boost::shared_ptr<Matrix> shared(pairResult.first);
|
|
out[0] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
{
|
|
boost::shared_ptr<Matrix> shared(pairResult.second);
|
|
out[1] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
}
|
|
|
|
void MyTemplateMatrix_return_T_27(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("return_T",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix value = unwrap< Matrix >(in[1]);
|
|
out[0] = wrap< Matrix >(obj->return_T(value));
|
|
}
|
|
|
|
void MyTemplateMatrix_return_Tptr_28(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("return_Tptr",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix value = unwrap< Matrix >(in[1]);
|
|
{
|
|
boost::shared_ptr<Matrix> shared(obj->return_Tptr(value));
|
|
out[0] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
}
|
|
|
|
void MyTemplateMatrix_return_ptrs_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("return_ptrs",nargout,nargin-1,2);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix p1 = unwrap< Matrix >(in[1]);
|
|
Matrix p2 = unwrap< Matrix >(in[2]);
|
|
auto pairResult = obj->return_ptrs(p1,p2);
|
|
{
|
|
boost::shared_ptr<Matrix> shared(pairResult.first);
|
|
out[0] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
{
|
|
boost::shared_ptr<Matrix> shared(pairResult.second);
|
|
out[1] = wrap_shared_ptr(shared,"Matrix");
|
|
}
|
|
}
|
|
|
|
void MyTemplateMatrix_templatedMethod_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("templatedMethodMatrix",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Matrix t = unwrap< Matrix >(in[1]);
|
|
out[0] = wrap< Matrix >(obj->templatedMethod<gtsam::Matrix>(t));
|
|
}
|
|
|
|
void MyTemplateMatrix_templatedMethod_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("templatedMethodPoint2",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Point2 t = unwrap< Point2 >(in[1]);
|
|
out[0] = wrap< Point2 >(obj->templatedMethod<gtsam::Point2>(t));
|
|
}
|
|
|
|
void MyTemplateMatrix_templatedMethod_32(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("templatedMethodPoint3",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Point3 t = unwrap< Point3 >(in[1]);
|
|
out[0] = wrap< Point3 >(obj->templatedMethod<gtsam::Point3>(t));
|
|
}
|
|
|
|
void MyTemplateMatrix_templatedMethod_33(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("templatedMethodVector",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<MyTemplate<gtsam::Matrix>>(in[0], "ptr_MyTemplateMatrix");
|
|
Vector t = unwrap< Vector >(in[1]);
|
|
out[0] = wrap< Vector >(obj->templatedMethod<gtsam::Vector>(t));
|
|
}
|
|
|
|
void MyTemplateMatrix_Level_34(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("MyTemplateMatrix.Level",nargout,nargin,1);
|
|
Matrix K = unwrap< Matrix >(in[0]);
|
|
out[0] = wrap_shared_ptr(boost::make_shared<MyTemplate<Matrix>>(MyTemplate<gtsam::Matrix>::Level(K)),"MyTemplateMatrix", false);
|
|
}
|
|
|
|
void Test_return_vector2_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("return_vector2",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<Test>(in[0], "ptr_Test");
|
|
Vector value = unwrap< Vector >(in[1]);
|
|
out[0] = wrap< Vector >(obj->return_vector2(value));
|
|
}
|
|
|
|
void ForwardKinematicsFactor_collectorInsertAndMakeBase_35(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef boost::shared_ptr<ForwardKinematicsFactor> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_ForwardKinematicsFactor.insert(self);
|
|
|
|
typedef boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3>> SharedBase;
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
|
|
}
|
|
|
|
void ForwardKinematicsFactor_deconstructor_37(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef boost::shared_ptr<ForwardKinematicsFactor> Shared;
|
|
checkArguments("delete_ForwardKinematicsFactor",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_ForwardKinematicsFactor::iterator item;
|
|
item = collector_ForwardKinematicsFactor.find(self);
|
|
if(item != collector_ForwardKinematicsFactor.end()) {
|
|
delete self;
|
|
collector_ForwardKinematicsFactor.erase(item);
|
|
}
|
|
}
|
|
|
|
|
|
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
_inheritance_RTTIRegister();
|
|
|
|
int id = unwrap<int>(in[0]);
|
|
|
|
try {
|
|
switch(id) {
|
|
case 0:
|
|
gtsamPoint2_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 1:
|
|
MyBase_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 2:
|
|
MyBase_deconstructor_2(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 3:
|
|
gtsamPoint2_deconstructor_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 4:
|
|
MyTemplatePoint2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 5:
|
|
MyTemplatePoint2_constructor_5(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 6:
|
|
MyTemplatePoint2_deconstructor_6(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 7:
|
|
MyTemplatePoint2_accept_T_7(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 8:
|
|
MyTemplatePoint2_accept_Tptr_8(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 9:
|
|
MyTemplatePoint2_create_MixedPtrs_9(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 10:
|
|
MyTemplatePoint2_create_ptrs_10(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 11:
|
|
MyTemplatePoint2_return_T_11(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 12:
|
|
MyTemplatePoint2_return_Tptr_12(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 13:
|
|
MyTemplatePoint2_return_ptrs_13(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 14:
|
|
MyTemplatePoint2_templatedMethod_14(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 15:
|
|
MyTemplatePoint2_templatedMethod_15(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 16:
|
|
MyTemplatePoint2_templatedMethod_16(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 17:
|
|
MyTemplatePoint2_templatedMethod_17(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 18:
|
|
MyTemplatePoint2_Level_18(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 19:
|
|
gtsamPoint3_constructor_19(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 20:
|
|
MyTemplateMatrix_collectorInsertAndMakeBase_19(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 21:
|
|
MyTemplateMatrix_constructor_21(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 22:
|
|
MyTemplateMatrix_deconstructor_22(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 23:
|
|
MyTemplateMatrix_accept_T_23(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 24:
|
|
MyTemplateMatrix_accept_Tptr_24(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 25:
|
|
MyTemplateMatrix_create_MixedPtrs_25(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 26:
|
|
MyTemplateMatrix_create_ptrs_26(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 27:
|
|
MyTemplateMatrix_return_T_27(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 28:
|
|
MyTemplateMatrix_return_Tptr_28(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 29:
|
|
MyTemplateMatrix_return_ptrs_29(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 30:
|
|
MyTemplateMatrix_templatedMethod_30(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 31:
|
|
MyTemplateMatrix_templatedMethod_31(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 32:
|
|
MyTemplateMatrix_templatedMethod_32(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 33:
|
|
MyTemplateMatrix_templatedMethod_33(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 34:
|
|
MyTemplateMatrix_Level_34(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 35:
|
|
Test_return_vector2_35(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 36:
|
|
ForwardKinematicsFactor_collectorInsertAndMakeBase_35(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 37:
|
|
ForwardKinematicsFactor_deconstructor_37(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);
|
|
}
|