WRAP

The wrap library wraps the GTSAM library into a Python library or MATLAB toolbox. It was designed to be more general than just wrapping GTSAM. 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.

Prerequisites: Pybind11 and pyparsing

1. This library uses pybind11, which is included as a subdirectory in GTSAM.
2. The interface_parser.py in this library uses pyparsing to parse the interface file gtsam.h. Please install it first in your current Python environment before attempting the build.

   python3 -m pip install pyparsing
   

GTSAM Python wrapper

WARNING: On macOS, you have to statically build GTSAM to use the wrapper.

1. Set GTSAM_BUILD_PYTHON=ON while configuring the build with cmake.
2. What you can do in the build folder:

   1. Just run python then import GTSAM and play around:

      
      import gtsam
      gtsam.__dir__()
      

   2. Run the unittests:

      python -m unittest discover
      

   3. Edit the unittests in python/gtsam/*.py and simply rerun the test. They were symlinked to <build_folder>/gtsam/*.py to facilitate fast development.

      python -m unittest gtsam/tests/test_Pose3.py
      

      • NOTE: You might need to re-run cmake .. if files are deleted or added.
3. Do make install and cd <gtsam_install_folder>/python. Here, you can:
   1. Run the unittests:

      python setup.py test
      

   2. Install gtsam to your current Python environment.

      python setup.py install
      

      • NOTE: It's a good idea to create a virtual environment otherwise it will be installed in your system Python's site-packages.

Old GTSAM Wrapper

Outdated note from the original wrap.

TODO: Update this.

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, 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