347 lines
12 KiB
C++
347 lines
12 KiB
C++
#include <gtwrap/matlab.h>
|
|
#include <map>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void _deleteAllObjects()
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
bool anyDeleted = false;
|
|
|
|
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 _functions_RTTIRegister() {
|
|
const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_functions_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_functions_rttiRegistry_created", newAlreadyCreated) != 0) {
|
|
mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
|
|
}
|
|
mxDestroyArray(newAlreadyCreated);
|
|
}
|
|
}
|
|
|
|
void load2D_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("load2D",nargout,nargin,5);
|
|
string filename = unwrap< string >(in[0]);
|
|
std::shared_ptr<Test> model = unwrap_shared_ptr< Test >(in[1], "ptr_Test");
|
|
int maxID = unwrap< int >(in[2]);
|
|
bool addNoise = unwrap< bool >(in[3]);
|
|
bool smart = unwrap< bool >(in[4]);
|
|
auto pairResult = load2D(filename,model,maxID,addNoise,smart);
|
|
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
|
|
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
|
|
}
|
|
void load2D_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("load2D",nargout,nargin,5);
|
|
string filename = unwrap< string >(in[0]);
|
|
std::shared_ptr<gtsam::noiseModel::Diagonal> model = unwrap_shared_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
|
|
int maxID = unwrap< int >(in[2]);
|
|
bool addNoise = unwrap< bool >(in[3]);
|
|
bool smart = unwrap< bool >(in[4]);
|
|
auto pairResult = load2D(filename,model,maxID,addNoise,smart);
|
|
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
|
|
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
|
|
}
|
|
void load2D_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("load2D",nargout,nargin,2);
|
|
string filename = unwrap< string >(in[0]);
|
|
gtsam::noiseModel::Diagonal* model = unwrap_ptr< gtsam::noiseModel::Diagonal >(in[1], "ptr_gtsamnoiseModelDiagonal");
|
|
auto pairResult = load2D(filename,model);
|
|
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.NonlinearFactorGraph", false);
|
|
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.Values", false);
|
|
}
|
|
void aGlobalFunction_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("aGlobalFunction",nargout,nargin,0);
|
|
out[0] = wrap< Vector >(aGlobalFunction());
|
|
}
|
|
void overloadedGlobalFunction_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("overloadedGlobalFunction",nargout,nargin,1);
|
|
int a = unwrap< int >(in[0]);
|
|
out[0] = wrap< Vector >(overloadedGlobalFunction(a));
|
|
}
|
|
void overloadedGlobalFunction_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("overloadedGlobalFunction",nargout,nargin,2);
|
|
int a = unwrap< int >(in[0]);
|
|
double b = unwrap< double >(in[1]);
|
|
out[0] = wrap< Vector >(overloadedGlobalFunction(a,b));
|
|
}
|
|
void MultiTemplatedFunctionStringSize_tDouble_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("MultiTemplatedFunctionStringSize_tDouble",nargout,nargin,2);
|
|
T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T");
|
|
size_t y = unwrap< size_t >(in[1]);
|
|
out[0] = wrap< double >(MultiTemplatedFunctionStringSize_tDouble(x,y));
|
|
}
|
|
void MultiTemplatedFunctionDoubleSize_tDouble_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("MultiTemplatedFunctionDoubleSize_tDouble",nargout,nargin,2);
|
|
T& x = *unwrap_shared_ptr< T >(in[0], "ptr_T");
|
|
size_t y = unwrap< size_t >(in[1]);
|
|
out[0] = wrap< double >(MultiTemplatedFunctionDoubleSize_tDouble(x,y));
|
|
}
|
|
void DefaultFuncInt_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncInt",nargout,nargin,2);
|
|
int a = unwrap< int >(in[0]);
|
|
int b = unwrap< int >(in[1]);
|
|
DefaultFuncInt(a,b);
|
|
}
|
|
void DefaultFuncInt_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncInt",nargout,nargin,1);
|
|
int a = unwrap< int >(in[0]);
|
|
DefaultFuncInt(a,0);
|
|
}
|
|
void DefaultFuncInt_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncInt",nargout,nargin,0);
|
|
DefaultFuncInt(123,0);
|
|
}
|
|
void DefaultFuncString_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncString",nargout,nargin,2);
|
|
string& s = *unwrap_shared_ptr< string >(in[0], "ptr_string");
|
|
string& name = *unwrap_shared_ptr< string >(in[1], "ptr_string");
|
|
DefaultFuncString(s,name);
|
|
}
|
|
void DefaultFuncString_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncString",nargout,nargin,1);
|
|
string& s = *unwrap_shared_ptr< string >(in[0], "ptr_string");
|
|
DefaultFuncString(s,"");
|
|
}
|
|
void DefaultFuncString_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncString",nargout,nargin,0);
|
|
DefaultFuncString("hello","");
|
|
}
|
|
void DefaultFuncObj_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncObj",nargout,nargin,1);
|
|
gtsam::KeyFormatter& keyFormatter = *unwrap_shared_ptr< gtsam::KeyFormatter >(in[0], "ptr_gtsamKeyFormatter");
|
|
DefaultFuncObj(keyFormatter);
|
|
}
|
|
void DefaultFuncObj_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncObj",nargout,nargin,0);
|
|
DefaultFuncObj(gtsam::DefaultKeyFormatter);
|
|
}
|
|
void DefaultFuncZero_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncZero",nargout,nargin,5);
|
|
int a = unwrap< int >(in[0]);
|
|
int b = unwrap< int >(in[1]);
|
|
double c = unwrap< double >(in[2]);
|
|
int d = unwrap< int >(in[3]);
|
|
bool e = unwrap< bool >(in[4]);
|
|
DefaultFuncZero(a,b,c,d,e);
|
|
}
|
|
void DefaultFuncZero_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncZero",nargout,nargin,4);
|
|
int a = unwrap< int >(in[0]);
|
|
int b = unwrap< int >(in[1]);
|
|
double c = unwrap< double >(in[2]);
|
|
int d = unwrap< int >(in[3]);
|
|
DefaultFuncZero(a,b,c,d,false);
|
|
}
|
|
void DefaultFuncZero_18(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncZero",nargout,nargin,3);
|
|
int a = unwrap< int >(in[0]);
|
|
int b = unwrap< int >(in[1]);
|
|
double c = unwrap< double >(in[2]);
|
|
DefaultFuncZero(a,b,c,0,false);
|
|
}
|
|
void DefaultFuncZero_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncZero",nargout,nargin,2);
|
|
int a = unwrap< int >(in[0]);
|
|
int b = unwrap< int >(in[1]);
|
|
DefaultFuncZero(a,b,0.0,0,false);
|
|
}
|
|
void DefaultFuncVector_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncVector",nargout,nargin,2);
|
|
std::vector<int>& i = *unwrap_shared_ptr< std::vector<int> >(in[0], "ptr_stdvectorint");
|
|
std::vector<string>& s = *unwrap_shared_ptr< std::vector<string> >(in[1], "ptr_stdvectorstring");
|
|
DefaultFuncVector(i,s);
|
|
}
|
|
void DefaultFuncVector_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncVector",nargout,nargin,1);
|
|
std::vector<int>& i = *unwrap_shared_ptr< std::vector<int> >(in[0], "ptr_stdvectorint");
|
|
DefaultFuncVector(i,{"borglab", "gtsam"});
|
|
}
|
|
void DefaultFuncVector_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("DefaultFuncVector",nargout,nargin,0);
|
|
DefaultFuncVector({1, 2, 3},{"borglab", "gtsam"});
|
|
}
|
|
void setPose_23(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("setPose",nargout,nargin,1);
|
|
gtsam::Pose3& pose = *unwrap_shared_ptr< gtsam::Pose3 >(in[0], "ptr_gtsamPose3");
|
|
setPose(pose);
|
|
}
|
|
void setPose_24(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("setPose",nargout,nargin,0);
|
|
setPose(gtsam::Pose3());
|
|
}
|
|
void EliminateDiscrete_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("EliminateDiscrete",nargout,nargin,2);
|
|
gtsam::DiscreteFactorGraph& factors = *unwrap_shared_ptr< gtsam::DiscreteFactorGraph >(in[0], "ptr_gtsamDiscreteFactorGraph");
|
|
gtsam::Ordering& frontalKeys = *unwrap_shared_ptr< gtsam::Ordering >(in[1], "ptr_gtsamOrdering");
|
|
auto pairResult = EliminateDiscrete(factors,frontalKeys);
|
|
out[0] = wrap_shared_ptr(pairResult.first,"gtsam.DiscreteConditional", false);
|
|
out[1] = wrap_shared_ptr(pairResult.second,"gtsam.DecisionTreeFactor", false);
|
|
}
|
|
void TemplatedFunctionRot3_26(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("TemplatedFunctionRot3",nargout,nargin,1);
|
|
gtsam::Rot3& t = *unwrap_shared_ptr< gtsam::Rot3 >(in[0], "ptr_gtsamRot3");
|
|
TemplatedFunctionRot3(t);
|
|
}
|
|
|
|
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
_functions_RTTIRegister();
|
|
|
|
int id = unwrap<int>(in[0]);
|
|
|
|
try {
|
|
switch(id) {
|
|
case 0:
|
|
load2D_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 1:
|
|
load2D_1(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 2:
|
|
load2D_2(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 3:
|
|
aGlobalFunction_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 4:
|
|
overloadedGlobalFunction_4(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 5:
|
|
overloadedGlobalFunction_5(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 6:
|
|
MultiTemplatedFunctionStringSize_tDouble_6(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 7:
|
|
MultiTemplatedFunctionDoubleSize_tDouble_7(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 8:
|
|
DefaultFuncInt_8(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 9:
|
|
DefaultFuncInt_9(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 10:
|
|
DefaultFuncInt_10(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 11:
|
|
DefaultFuncString_11(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 12:
|
|
DefaultFuncString_12(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 13:
|
|
DefaultFuncString_13(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 14:
|
|
DefaultFuncObj_14(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 15:
|
|
DefaultFuncObj_15(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 16:
|
|
DefaultFuncZero_16(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 17:
|
|
DefaultFuncZero_17(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 18:
|
|
DefaultFuncZero_18(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 19:
|
|
DefaultFuncZero_19(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 20:
|
|
DefaultFuncVector_20(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 21:
|
|
DefaultFuncVector_21(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 22:
|
|
DefaultFuncVector_22(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 23:
|
|
setPose_23(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 24:
|
|
setPose_24(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 25:
|
|
EliminateDiscrete_25(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 26:
|
|
TemplatedFunctionRot3_26(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);
|
|
}
|