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gtsam/wrap
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Alex Cunningham c43a9b4852 Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
..
tests Added wrap support for char as a argument or return value type 2012-01-23 18:28:11 +00:00
Argument.cpp Fixed argument parse error. Somehow it could parse either refs or ptrs, but noth both, and it depended on the order in which the rules were given in the argList_p. I just combined ptr and ref in one and now it works. Go figure. 2012-01-28 19:44:33 +00:00
Argument.h Fixed argument parse error. Somehow it could parse either refs or ptrs, but noth both, and it depended on the order in which the rules were given in the argList_p. I just combined ptr and ref in one and now it works. Go figure. 2012-01-28 19:44:33 +00:00
CMakeLists.txt Added a variety of options to the cmake build, working on automating wrap execution/install 2012-01-31 19:59:15 +00:00
Class.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
Class.h Unified file writing to use a custom class to allow for smart checking 2012-01-15 21:42:41 +00:00
Constructor.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
Constructor.h Unified file writing to use a custom class to allow for smart checking 2012-01-15 21:42:41 +00:00
FileWriter.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
FileWriter.h Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
Makefile.am Fixed install problems with wrap so headers now go in include/wrap 2012-01-18 15:12:58 +00:00
Method.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
Method.h Cleanup in wrap 2011-12-11 21:09:07 +00:00
Module.cpp Fixed argument parse error. Somehow it could parse either refs or ptrs, but noth both, and it depended on the order in which the rules were given in the argList_p. I just combined ptr and ref in one and now it works. Go figure. 2012-01-28 19:44:33 +00:00
Module.h Added dependency checking to return values in wrap, as well as forward declarations 2011-12-15 21:23:20 +00:00
README typos 2012-01-28 02:39:50 +00:00
ReturnValue.cpp Unified file writing to use a custom class to allow for smart checking 2012-01-15 21:42:41 +00:00
ReturnValue.h Unified file writing to use a custom class to allow for smart checking 2012-01-15 21:42:41 +00:00
StaticMethod.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
StaticMethod.h Cleanup in wrap 2011-12-11 21:09:07 +00:00
matlab.h Matlab wrapped classes now live within the gtsam namespace, meaning you have to use gtsamPose2 instead of just Pose2 in Matlab. This fixes the Point2 and Point3 issues we had with Matlab 2011b. 2012-01-30 22:00:13 +00:00
spirit_actors.h Parser now handles both namespace and class headers 2011-12-15 19:39:11 +00:00
utilities.cpp Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
utilities.h Wrap now only writes new files when there is a change, and install only updates files if necessary 2012-01-15 21:42:44 +00:00
wrap.cpp Updated wrap usage message 2012-01-28 04:07:35 +00:00

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. In addition, the current makefile (Oct 11) is GTSAM specific.

The classes and methods to be wrapped are specified in gtsam.h
This tool will not wrap arbitrary methods. 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
- GTSAM specific: keys will be cast automatically from strings via GTSAM_magic. This
  allows us to not have to declare all key types in MATLAB. Just replace key arguments with
  the (non-const, non-reference) string type