267 lines
9.1 KiB
C++
267 lines
9.1 KiB
C++
#include <gtwrap/matlab.h>
|
|
#include <map>
|
|
|
|
|
|
|
|
typedef gtsam::Optimizer<gtsam::GaussNewtonParams> OptimizerGaussNewtonParams;
|
|
|
|
typedef std::set<std::shared_ptr<Pet>*> Collector_Pet;
|
|
static Collector_Pet collector_Pet;
|
|
typedef std::set<std::shared_ptr<gtsam::MCU>*> Collector_gtsamMCU;
|
|
static Collector_gtsamMCU collector_gtsamMCU;
|
|
typedef std::set<std::shared_ptr<OptimizerGaussNewtonParams>*> Collector_gtsamOptimizerGaussNewtonParams;
|
|
static Collector_gtsamOptimizerGaussNewtonParams collector_gtsamOptimizerGaussNewtonParams;
|
|
|
|
|
|
void _deleteAllObjects()
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
bool anyDeleted = false;
|
|
{ for(Collector_Pet::iterator iter = collector_Pet.begin();
|
|
iter != collector_Pet.end(); ) {
|
|
delete *iter;
|
|
collector_Pet.erase(iter++);
|
|
anyDeleted = true;
|
|
} }
|
|
{ for(Collector_gtsamMCU::iterator iter = collector_gtsamMCU.begin();
|
|
iter != collector_gtsamMCU.end(); ) {
|
|
delete *iter;
|
|
collector_gtsamMCU.erase(iter++);
|
|
anyDeleted = true;
|
|
} }
|
|
{ for(Collector_gtsamOptimizerGaussNewtonParams::iterator iter = collector_gtsamOptimizerGaussNewtonParams.begin();
|
|
iter != collector_gtsamOptimizerGaussNewtonParams.end(); ) {
|
|
delete *iter;
|
|
collector_gtsamOptimizerGaussNewtonParams.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 _enum_RTTIRegister() {
|
|
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_enum_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_enum_rttiRegistry_created", newAlreadyCreated) != 0) {
|
|
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
|
|
}
|
|
mxDestroyArray(newAlreadyCreated);
|
|
}
|
|
}
|
|
|
|
void Pet_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<Pet> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_Pet.insert(self);
|
|
}
|
|
|
|
void Pet_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<Pet> Shared;
|
|
|
|
string& name = *unwrap_shared_ptr< string >(in[0], "ptr_string");
|
|
std::shared_ptr<Pet::Kind> type = unwrap_enum<Pet::Kind>(in[1]);
|
|
Shared *self = new Shared(new Pet(name,*type));
|
|
collector_Pet.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void Pet_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef std::shared_ptr<Pet> Shared;
|
|
checkArguments("delete_Pet",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_Pet::iterator item;
|
|
item = collector_Pet.find(self);
|
|
if(item != collector_Pet.end()) {
|
|
collector_Pet.erase(item);
|
|
}
|
|
delete self;
|
|
}
|
|
|
|
void Pet_get_name_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("name",nargout,nargin-1,0);
|
|
auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
|
|
out[0] = wrap< string >(obj->name);
|
|
}
|
|
|
|
void Pet_set_name_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("name",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
|
|
string name = unwrap< string >(in[1]);
|
|
obj->name = name;
|
|
}
|
|
|
|
void Pet_get_type_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("type",nargout,nargin-1,0);
|
|
auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
|
|
out[0] = wrap_enum(obj->type,"Pet.Kind");
|
|
}
|
|
|
|
void Pet_set_type_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("type",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
|
|
std::shared_ptr<Pet::Kind> type = unwrap_enum<Pet::Kind>(in[1]);
|
|
obj->type = *type;
|
|
}
|
|
|
|
void gtsamMCU_collectorInsertAndMakeBase_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<gtsam::MCU> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_gtsamMCU.insert(self);
|
|
}
|
|
|
|
void gtsamMCU_constructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<gtsam::MCU> Shared;
|
|
|
|
Shared *self = new Shared(new gtsam::MCU());
|
|
collector_gtsamMCU.insert(self);
|
|
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
|
|
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
|
|
}
|
|
|
|
void gtsamMCU_deconstructor_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef std::shared_ptr<gtsam::MCU> Shared;
|
|
checkArguments("delete_gtsamMCU",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_gtsamMCU::iterator item;
|
|
item = collector_gtsamMCU.find(self);
|
|
if(item != collector_gtsamMCU.end()) {
|
|
collector_gtsamMCU.erase(item);
|
|
}
|
|
delete self;
|
|
}
|
|
|
|
void gtsamOptimizerGaussNewtonParams_collectorInsertAndMakeBase_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mexAtExit(&_deleteAllObjects);
|
|
typedef std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>> Shared;
|
|
|
|
Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
|
|
collector_gtsamOptimizerGaussNewtonParams.insert(self);
|
|
}
|
|
|
|
void gtsamOptimizerGaussNewtonParams_deconstructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
typedef std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>> Shared;
|
|
checkArguments("delete_gtsamOptimizerGaussNewtonParams",nargout,nargin,1);
|
|
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
|
|
Collector_gtsamOptimizerGaussNewtonParams::iterator item;
|
|
item = collector_gtsamOptimizerGaussNewtonParams.find(self);
|
|
if(item != collector_gtsamOptimizerGaussNewtonParams.end()) {
|
|
collector_gtsamOptimizerGaussNewtonParams.erase(item);
|
|
}
|
|
delete self;
|
|
}
|
|
|
|
void gtsamOptimizerGaussNewtonParams_setVerbosity_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("setVerbosity",nargout,nargin-1,1);
|
|
auto obj = unwrap_shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>(in[0], "ptr_gtsamOptimizerGaussNewtonParams");
|
|
std::shared_ptr<Optimizer<gtsam::GaussNewtonParams>::Verbosity> value = unwrap_enum<Optimizer<gtsam::GaussNewtonParams>::Verbosity>(in[1]);
|
|
obj->setVerbosity(*value);
|
|
}
|
|
|
|
|
|
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
_enum_RTTIRegister();
|
|
|
|
int id = unwrap<int>(in[0]);
|
|
|
|
try {
|
|
switch(id) {
|
|
case 0:
|
|
Pet_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 1:
|
|
Pet_constructor_1(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 2:
|
|
Pet_deconstructor_2(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 3:
|
|
Pet_get_name_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 4:
|
|
Pet_set_name_4(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 5:
|
|
Pet_get_type_5(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 6:
|
|
Pet_set_type_6(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 7:
|
|
gtsamMCU_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 8:
|
|
gtsamMCU_constructor_8(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 9:
|
|
gtsamMCU_deconstructor_9(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 10:
|
|
gtsamOptimizerGaussNewtonParams_collectorInsertAndMakeBase_10(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 11:
|
|
gtsamOptimizerGaussNewtonParams_deconstructor_11(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 12:
|
|
gtsamOptimizerGaussNewtonParams_setVerbosity_12(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);
|
|
}
|