30 lines
1.5 KiB
Plaintext
30 lines
1.5 KiB
Plaintext
Frank Dellaert
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October 2011
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The wrap library wraps the GTSAM library into a MATLAB toolbox.
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It was designed to be more general than just wrapping GTSAM, but a small amount of
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GTSAM specific code exists in matlab.h, the include file that is included by the
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mex files. In addition, the current makefile (Oct 11) is GTSAM specific.
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The classes and methods to be warpped are specified in gtsam.h
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This tool will not wrap arbitrary methods. Please read comments in matlab.h
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Some good things to know:
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OBJECT CREATION
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- Classes are created by special constructors, e.g., new_GaussianFactorGraph_.cpp.
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These constructors are called from the MATLAB class @GaussianFactorGraph.
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new_GaussianFactorGraph_ calls wrap_constructed in matlab.h, see documentation there
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METHOD (AND CONSTRUCTOR) ARGUMENTS
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- Simple argument types of methods, such as "double", will be converted in the
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mex warppers by calling unwrap<double>, defined in matlab.h
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- Vector and Matrix arguments are normally passed by reference in GTSAM, but
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in gtsam.h you need to pretend they are passed by value, to trigger the
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generation of the correct conversion routines unwrap<Vector> and unwrap<Matrix>
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- passing classes as arguments works, provided they are passed by reference.
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This triggers a call to unwrap_shared_ptr
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- GTSAM specific: keys will be cast automatically from strings via GTSAM_magic. This
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allows us to not have to declare all key types in MATLAB. Just replace key arguments with
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the (non-const, non-reference) string type
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