gtsam/wrap
Duy-Nguyen Ta b9880d4257 emit template class to Cython pxd with test
Cython allows template class.
2016-09-09 07:28:13 -04:00
..
tests emit template class to Cython pxd with test 2016-09-09 07:28:13 -04:00
Argument.cpp [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
Argument.h [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
CMakeLists.txt Working on standardizing/simplifying building unit tests and examples. Much simpler cmake function to add a glob of tests, doing away with convenience libraries, and removing other options that we never change from their defaults. 2014-02-13 01:34:31 -05:00
Class.cpp emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
Class.h emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
Constructor.cpp [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
Constructor.h [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
Deconstructor.cpp Removed headers 2016-05-22 14:22:36 -07:00
Deconstructor.h changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
FileWriter.cpp Added templated class 2014-11-11 18:14:17 +01:00
FileWriter.h changed tabs to spaces for consistent indentation in all of GTSAM 2012-10-02 14:40:07 +00:00
ForwardDeclaration.h Added Vector and Matrix to forward declarations 2014-11-29 20:01:48 +01:00
FullyOverloadedFunction.h Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
Function.cpp Removed headers 2016-05-22 14:22:36 -07:00
Function.h Moving to optionals fixed template dreturn argument! 2014-12-01 09:48:56 +01:00
GlobalFunction.cpp Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
GlobalFunction.h GlobalFunctionGrammar done and used 2014-12-02 13:49:25 +01:00
Method.cpp emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
Method.h emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
MethodBase.cpp Removed headers 2016-05-22 14:22:36 -07:00
MethodBase.h Removing empty in favor of boost::optional 2014-11-30 10:38:24 +01:00
Module.cpp emit template class to Cython pxd with test 2016-09-09 07:28:13 -04:00
Module.h emit template class to Cython pxd with test 2016-09-09 07:28:13 -04:00
OverloadedFunction.h Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
Qualified.h [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
README Fixed handling of char in wrap, updated README 2012-06-04 19:45:32 +00:00
ReturnType.cpp bug fix 2016-09-09 07:16:29 -04:00
ReturnType.h pxd returntype 2016-09-09 07:10:32 -04:00
ReturnValue.cpp bug fix 2016-09-09 07:16:29 -04:00
ReturnValue.h pxd return value 2016-09-09 07:10:04 -04:00
StaticMethod.cpp pxd staticmethod 2016-09-09 07:09:39 -04:00
StaticMethod.h pxd staticmethod 2016-09-09 07:09:39 -04:00
Template.h Changes to wrap from FixedValues branch/PR. Since unrelated to that PR and useful for OptionalJacobian wrapping in py_wrap, made this a separate PR. 2016-02-07 20:33:48 -08:00
TemplateInstantiationTypedef.cpp Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
TemplateInstantiationTypedef.h Massive edit: new Qualified type groups namespaces with name, eliminates a lot of clutter. 2014-11-12 02:49:23 +01:00
TemplateMethod.cpp emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
TemplateMethod.h emit methods to pxd, change the way template methods are handled 2016-09-09 07:26:11 -04:00
TemplateSubstitution.h Semi-private name/namespaces 2014-11-30 20:20:13 +01:00
TypeAttributesTable.cpp Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
TypeAttributesTable.h Private table_ 2014-11-29 19:38:51 +01:00
matlab.h fix ambiguous type uint64_t and int64_t in matlab toolbox, happens on gcc 4.8 and boost 1.50 2016-06-14 15:15:14 -04:00
spirit.h [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00
utilities.cpp Replaced BOOSE_FOREACH with for in wrap folder. Tested the changed code locally: successful. 2016-05-20 21:41:18 -04:00
utilities.h Removed headers 2016-05-22 14:22:36 -07:00
wrap.cpp [inprogress] cython wrapper 2016-09-08 13:33:32 -04:00

README

Frank Dellaert
October 2011

The wrap library wraps the GTSAM library into a MATLAB toolbox. 

It was designed to be more general than just wrapping GTSAM, but a small amount of 
GTSAM specific code exists in matlab.h, the include file that is included by the
mex files. The GTSAM-specific functionality consists primarily of handling of
Eigen Matrix and Vector classes.  

For notes on creating a wrap interface, see gtsam.h for what features can be 
wrapped into a toolbox, as well as the current state of the toolbox for gtsam.
For more technical details on the interface, please read comments in matlab.h

Some good things to know:

OBJECT CREATION
- Classes are created by special constructors, e.g., new_GaussianFactorGraph_.cpp.
	These constructors are called from the MATLAB class @GaussianFactorGraph.
	new_GaussianFactorGraph_ calls wrap_constructed in matlab.h, see documentation there
	
METHOD (AND CONSTRUCTOR) ARGUMENTS
- Simple argument types of methods, such as "double", will be converted in the
  mex wrappers by calling unwrap<double>, defined in matlab.h
- Vector and Matrix arguments are normally passed by reference in GTSAM, but
  in gtsam.h you need to pretend they are passed by value, to trigger the 
  generation of the correct conversion routines unwrap<Vector> and unwrap<Matrix>
- passing classes as arguments works, provided they are passed by reference.
	This triggers a call to unwrap_shared_ptr