Updates to Matlab wrapper

gtwrap/interface_parser/function.py

@@ -82,7 +82,7 @@ def from_parse_result(parse_result: ParseResults):
             return ArgumentList([])
 
     def __repr__(self) -> str:
-        return ",".join([repr(x) for x in self.args_list])
+        return ", ".join([repr(x) for x in self.args_list])
 
     def __len__(self) -> int:
         return len(self.args_list)
@@ -182,8 +182,7 @@ def __init__(self,
         self.args.parent = self
 
     def __repr__(self) -> str:
-        return "GlobalFunction:  {}{}({})".format(self.return_type, self.name,
-                                                  self.args)
+        return f"GlobalFunction:  {self.name}({self.args}) -> {self.return_type}"
 
     def to_cpp(self) -> str:
         """Generate the C++ code for wrapping."""

gtwrap/interface_parser/template.py

@@ -31,7 +31,7 @@ class TypenameAndInstantiations:
         """
         Rule to parse the template parameters.
 
-        template<typename POSE>  // POSE is the Instantiation.
+        template<typename POSE = {Pose2, Pose3}>  // Pos2 and Pose3 are the `Instantiation`s.
         """
         rule = (
             IDENT("typename")  #

gtwrap/interface_parser/type.py

@@ -40,7 +40,6 @@ class Typename:
     """
 
     namespaces_name_rule = delimitedList(IDENT, "::")
-    instantiation_name_rule = delimitedList(IDENT, "::")
     rule = (
         namespaces_name_rule("namespaces_and_name")  #
     ).setParseAction(lambda t: Typename(t))
@@ -164,7 +163,7 @@ class Type:
     """
     rule = (
         Optional(CONST("is_const"))  #
-        + (BasicType.rule("basic") | CustomType.rule("qualified"))  # BR
+        + (BasicType.rule("basic") | CustomType.rule("custom"))  # BR
         + Optional(
             SHARED_POINTER("is_shared_ptr") | RAW_POINTER("is_ptr")
             | REF("is_ref"))  #
@@ -192,9 +191,9 @@ def from_parse_result(t: ParseResults):
                 is_ref=t.is_ref,
                 is_basic=True,
             )
-        elif t.qualified:
+        elif t.custom:
             return Type(
-                typename=t.qualified.typename,
+                typename=t.custom.typename,
                 is_const=t.is_const,
                 is_shared_ptr=t.is_shared_ptr,
                 is_ptr=t.is_ptr,
@@ -212,6 +211,13 @@ def __repr__(self) -> str:
             is_const="const " if self.is_const else "",
             is_ptr_or_ref=" " + is_ptr_or_ref if is_ptr_or_ref else "")
 
+    def get_typename(self):
+        """
+        Get the typename of this type without any qualifiers.
+        E.g. for `const gtsam::Pose3& pose` this will return `gtsam::Pose3`.
+        """
+        return self.typename.to_cpp()
+
     def to_cpp(self) -> str:
         """
         Generate the C++ code for wrapping.
@@ -221,22 +227,18 @@ def to_cpp(self) -> str:
 
         if self.is_shared_ptr:
             typename = "std::shared_ptr<{typename}>".format(
-                typename=self.typename.to_cpp())
+                typename=self.get_typename())
         elif self.is_ptr:
             typename = "{typename}*".format(typename=self.typename.to_cpp())
         elif self.is_ref:
             typename = typename = "{typename}&".format(
-                typename=self.typename.to_cpp())
+                typename=self.get_typename())
         else:
-            typename = self.typename.to_cpp()
+            typename = self.get_typename()
 
         return ("{const}{typename}".format(
             const="const " if self.is_const else "", typename=typename))
 
-    def get_typename(self):
-        """Convenience method to get the typename of this type."""
-        return self.typename.name
-
 
 class TemplatedType:
     """
@@ -283,16 +285,21 @@ def __repr__(self):
         return "TemplatedType({typename.namespaces}::{typename.name})".format(
             typename=self.typename)
 
-    def to_cpp(self):
+    def get_typename(self):
         """
-        Generate the C++ code for wrapping.
+        Get the typename of this type without any qualifiers.
+        E.g. for `const std::vector<double>& indices` this will return `std::vector<double>`.
         """
         # Use Type.to_cpp to do the heavy lifting for the template parameters.
         template_args = ", ".join([t.to_cpp() for t in self.template_params])
 
-        typename = "{typename}<{template_args}>".format(
-            typename=self.typename.qualified_name(),
-            template_args=template_args)
+        return f"{self.typename.qualified_name()}<{template_args}>"
+
+    def to_cpp(self):
+        """
+        Generate the C++ code for wrapping.
+        """
+        typename = self.get_typename()
 
         if self.is_shared_ptr:
             typename = f"std::shared_ptr<{typename}>"

gtwrap/matlab_wrapper/mixins.py

@@ -9,8 +9,15 @@
 class CheckMixin:
     """Mixin to provide various checks."""
     # Data types that are primitive types
-    not_ptr_type: Tuple = ('int', 'double', 'bool', 'char', 'unsigned char',
-                           'size_t')
+    not_ptr_type: Tuple = (
+        "int",
+        "double",
+        "bool",
+        "char",
+        "unsigned char",
+        "size_t",
+        "Key",  # This is an alias for a uint64_t
+    )
     # Ignore the namespace for these datatypes
     ignore_namespace: Tuple = ('Matrix', 'Vector', 'Point2', 'Point3')
     # Methods that should be ignored
@@ -111,6 +118,9 @@ def _format_type_name(self,
                           is_constructor: bool = False,
                           is_method: bool = False):
         """
+        Helper method to get the string version of `type_name` which can go into the wrapper generated C++ code.
+        This is specific to the semantics of Matlab.
+
         Args:
             type_name: an interface_parser.Typename to reformat
             separator: the statement to add between namespaces and typename
@@ -133,6 +143,9 @@ def _format_type_name(self,
                 if name not in self.ignore_namespace and namespace != '':
                     formatted_type_name += namespace + separator
 
+        # Get string representation so we can use as dict key.
+        name = str(name)
+
         if is_constructor:
             formatted_type_name += self.data_type.get(name) or name
         elif is_method:

gtwrap/matlab_wrapper/wrapper.py

@@ -53,6 +53,7 @@ def __init__(self,
             'Matrix': 'double',
             'int': 'numeric',
             'size_t': 'numeric',
+            'Key': 'numeric',
             'bool': 'logical'
         }
         # Map the data type into the type used in Matlab methods.
@@ -68,6 +69,7 @@ def __init__(self,
             'Point3': 'double',
             'Vector': 'double',
             'Matrix': 'double',
+            'Key': 'numeric',
             'bool': 'bool'
         }
         # The amount of times the wrapper has created a call to geometry_wrapper
@@ -108,7 +110,8 @@ def _update_wrapper_id(self,
 
         Args:
             collector_function: tuple storing info about the wrapper function
-                (namespace, class instance, function name, function object)
+                (namespace, class/function instance,
+                type of collector function, method object if class instance)
             id_diff: constant to add to the id in the map
             function_name: Optional custom function_name.
 
@@ -372,9 +375,9 @@ def _unwrap_argument(self, arg, arg_id=0, instantiated_class=None):
                 ctype_sep=ctype_sep, ctype=ctype_camel, id=arg_id)
 
         else:
-            arg_type = "{ctype}".format(ctype=arg.ctype.typename.name)
+            arg_type = "{ctype}".format(ctype=self._format_type_name(arg.ctype.typename))
             unwrap = 'unwrap< {ctype} >(in[{id}]);'.format(
-                ctype=arg.ctype.typename.name, id=arg_id)
+                ctype=self._format_type_name(arg.ctype.typename), id=arg_id)
 
         return arg_type, unwrap
 
@@ -578,6 +581,7 @@ def wrap_global_function(self, function):
         # Get all combinations of parameters
         param_wrap = ''
 
+        # Iterate through possible overloads of the function
         for i, overload in enumerate(function):
             param_wrap += '      if' if i == 0 else '      elseif'
             param_wrap += ' length(varargin) == '
@@ -1218,7 +1222,7 @@ def wrap_namespace(self, namespace, add_mex_file=True):
             if isinstance(func, parser.GlobalFunction)
         ]
 
-        self.wrap_methods(all_funcs, True, global_ns=namespace)
+        self.wrap_methods(all_funcs, global_funcs=True, global_ns=namespace)
 
         return wrapped
 
@@ -1333,7 +1337,7 @@ def _collector_return(self,
                     prefix='  ')
         else:
             expanded += '  out[0] = wrap< {0} >({1});'.format(
-                ctype.typename.name, obj)
+                self._format_type_name(ctype.typename), obj)
 
         return expanded
 
@@ -1365,8 +1369,8 @@ def wrap_collector_function_return(self, method, instantiated_class=None):
             method_name += method.original.name
 
         elif isinstance(method, parser.GlobalFunction):
-            method_name = self._format_global_function(method, '::')
-            method_name += method.name
+            namespace = self._format_global_function(method, '::')
+            method_name = namespace + method.to_cpp()
 
         else:
             if isinstance(method.parent, instantiator.InstantiatedClass):
@@ -1624,7 +1628,7 @@ def generate_collector_function(self, func_id):
 
             body += self._wrapper_unwrap_arguments(collector_func[1].args)[1]
             body += self.wrap_collector_function_return(
-                collector_func[1]) + '\n}\n'
+                collector_func[1]) + "\n}\n"
 
             collector_function += body
 

gtwrap/template_instantiator/function.py

@@ -14,6 +14,7 @@ class InstantiatedGlobalFunction(parser.GlobalFunction):
         template<T = {double}>
         T add(const T& x, const T& y);
     """
+
     def __init__(self, original, instantiations=(), new_name=''):
         self.original = original
         self.instantiations = instantiations
@@ -54,16 +55,14 @@ def __init__(self, original, instantiations=(), new_name=''):
     def to_cpp(self):
         """Generate the C++ code for wrapping."""
         if self.original.template:
-            instantiated_names = [
+            instantiated_params = [
                 "::".join(inst.namespaces + [inst.instantiated_name()])
                 for inst in self.instantiations
             ]
-            ret = "{}<{}>".format(self.original.name,
-                                  ",".join(instantiated_names))
+            ret = f"{self.original.name}<{','.join(instantiated_params)}>"
         else:
             ret = self.original.name
         return ret
 
     def __repr__(self):
-        return "Instantiated {}".format(
-            super(InstantiatedGlobalFunction, self).__repr__())
+        return f"Instantiated {super().__repr__}"

gtwrap/template_instantiator/helpers.py

@@ -63,7 +63,6 @@ def instantiate_type(
                 ctype.typename.instantiations[idx].name =\
                     instantiations[template_idx]
 
-
     str_arg_typename = str(ctype.typename)
 
     # Check if template is a scoped template e.g. T::Value where T is the template
@@ -88,6 +87,7 @@ def instantiate_type(
             is_ref=ctype.is_ref,
             is_basic=ctype.is_basic,
         )
+
     # Check for exact template match.
     elif str_arg_typename in template_typenames:
         idx = template_typenames.index(str_arg_typename)
@@ -228,6 +228,7 @@ class InstantiationHelper:
                   parent=parent)
     ```
     """
+
     def __init__(self, instantiation_type: InstantiatedMembers):
         self.instantiation_type = instantiation_type
 

matlab.h

@@ -175,6 +175,14 @@ mxArray* wrap<int>(const int& value) {
   return result;
 }
 
+// specialization to gtsam::Key which is an alias for uint64_t
+template<>
+mxArray* wrap<uint64_t>(const uint64_t& value) {
+  mxArray *result = scalar(mxUINT32OR64_CLASS);
+  *(uint64_t*)mxGetData(result) = value;
+  return result;
+}
+
 // specialization to double -> just double
 template<>
 mxArray* wrap<double>(const double& value) {
@@ -330,6 +338,13 @@ int unwrap<int>(const mxArray* array) {
   return myGetScalar<int>(array);
 }
 
+// specialization to gtsam::Key which is an alias for uint64_t
+template<>
+uint64_t unwrap<uint64_t>(const mxArray* array) {
+  checkScalar(array,"unwrap<uint64_t>");
+  return myGetScalar<uint64_t>(array);
+}
+
 // specialization to size_t
 template<>
 size_t unwrap<size_t>(const mxArray* array) {

tests/expected/matlab/EliminateDiscrete.m

@@ -0,0 +1,7 @@
+function varargout = EliminateDiscrete(varargin)
+      if length(varargin) == 2 && isa(varargin{1},'gtsam.DiscreteFactorGraph') && isa(varargin{2},'gtsam.Ordering')
+        [ varargout{1} varargout{2} ] = functions_wrapper(25, varargin{:});
+      else
+        error('Arguments do not match any overload of function EliminateDiscrete');
+      end
+end

tests/expected/matlab/FindKarcherMeanPoint3.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanPoint3(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::Point3')
+        varargout{1} = functions_wrapper(28, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanPoint3');
+      end
+end

tests/expected/matlab/FindKarcherMeanPose2.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanPose2(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::Pose2')
+        varargout{1} = functions_wrapper(30, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanPose2');
+      end
+end

tests/expected/matlab/FindKarcherMeanPose3.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanPose3(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::Pose3')
+        varargout{1} = functions_wrapper(31, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanPose3');
+      end
+end

tests/expected/matlab/FindKarcherMeanRot2.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanRot2(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::Rot2')
+        varargout{1} = functions_wrapper(29, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanRot2');
+      end
+end

tests/expected/matlab/FindKarcherMeanRot3.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanRot3(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::Rot3')
+        varargout{1} = functions_wrapper(31, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanRot3');
+      end
+end

tests/expected/matlab/FindKarcherMeanSO3.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanSO3(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::SO3')
+        varargout{1} = functions_wrapper(29, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanSO3');
+      end
+end

tests/expected/matlab/FindKarcherMeanSO4.m

@@ -0,0 +1,7 @@
+function varargout = FindKarcherMeanSO4(varargin)
+      if length(varargin) == 1 && isa(varargin{1},'std.vectorgtsam::SO4')
+        varargout{1} = functions_wrapper(30, varargin{:});
+      else
+        error('Arguments do not match any overload of function FindKarcherMeanSO4');
+      end
+end