Merging 'master' into 'wrap'

wrap/.github/workflows/linux-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/.github/workflows/macos-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/.gitignore

@@ -8,4 +8,4 @@ __pycache__/
 # Files related to code coverage stats
 **/.coverage
 
-gtwrap/matlab_wrapper.tpl
+gtwrap/matlab_wrapper/matlab_wrapper.tpl

wrap/CMakeLists.txt

@@ -58,7 +58,7 @@ if(NOT DEFINED GTWRAP_INCLUDE_NAME)
 endif()
 
 configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in
-               ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper.tpl)
+               ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper/matlab_wrapper.tpl)
 
 # Install the gtwrap python package as a directory so it can be found  by CMake
 # for wrapping.

wrap/DOCS.md

@@ -192,12 +192,14 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
 
    - **DO NOT** re-define an overriden function already declared in the external (forward-declared) base class. This will cause an ambiguity problem in the Pybind header file.
 
+- Splitting wrapper over multiple files
+    - The Pybind11 wrapper supports splitting the wrapping code over multiple files.
+    - To be able to use classes from another module, simply import the C++ header file in that wrapper file.
+    - Unfortunately, this means that aliases can no longer be used.
+    - Similarly, there can be multiple `preamble.h` and `specializations.h` files. Each of these should match the module file name.
 
 ### TODO
-- Default values for arguments.
-    - WORKAROUND: make multiple versions of the same function for different configurations of default arguments.
 - Handle `gtsam::Rot3M` conversions to quaternions.
 - Parse return of const ref arguments.
 - Parse `std::string` variants and convert directly to special string.
-- Add enum support.
 - Add generalized serialization support via `boost.serialization` with hooks to MATLAB save/load.

wrap/README.md

@@ -29,8 +29,10 @@ Using `wrap` in your project is straightforward from here. In your `CMakeLists.t
 ```cmake
 find_package(gtwrap)
 
+set(interface_files ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h)
+
 pybind_wrap(${PROJECT_NAME}_py # target
-            ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h # interface header file
+            "${interface_files}" # list of interface header files
             "${PROJECT_NAME}.cpp" # the generated cpp
             "${PROJECT_NAME}" # module_name
             "${PROJECT_MODULE_NAME}" # top namespace in the cpp file e.g. gtsam

wrap/gtwrap/interface_parser/__init__.py

@@ -12,7 +12,7 @@
 
 import sys
 
-import pyparsing
+import pyparsing  # type: ignore
 
 from .classes import *
 from .declaration import *

wrap/gtwrap/interface_parser/classes.py

@@ -12,7 +12,7 @@
 
 from typing import Iterable, List, Union
 
-from pyparsing import Literal, Optional, ZeroOrMore
+from pyparsing import Literal, Optional, ZeroOrMore  # type: ignore
 
 from .enum import Enum
 from .function import ArgumentList, ReturnType
@@ -233,7 +233,7 @@ def __init__(self,
             self.static_methods = []
             self.properties = []
             self.operators = []
-            self.enums = []
+            self.enums: List[Enum] = []
             for m in members:
                 if isinstance(m, Constructor):
                     self.ctors.append(m)
@@ -274,7 +274,7 @@ def __init__(self,
 
     def __init__(
         self,
-        template: Template,
+        template: Union[Template, None],
         is_virtual: str,
         name: str,
         parent_class: list,
@@ -292,16 +292,16 @@ def __init__(
         if parent_class:
             # If it is in an iterable, extract the parent class.
             if isinstance(parent_class, Iterable):
-                parent_class = parent_class[0]
+                parent_class = parent_class[0]  # type: ignore
 
             # If the base class is a TemplatedType,
             # we want the instantiated Typename
             if isinstance(parent_class, TemplatedType):
-                parent_class = parent_class.typename
+                parent_class = parent_class.typename  # type: ignore
 
             self.parent_class = parent_class
         else:
-            self.parent_class = ''
+            self.parent_class = ''  # type: ignore
 
         self.ctors = ctors
         self.methods = methods

wrap/gtwrap/interface_parser/declaration.py

@@ -10,7 +10,7 @@
 Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
 """
 
-from pyparsing import CharsNotIn, Optional
+from pyparsing import CharsNotIn, Optional  # type: ignore
 
 from .tokens import (CLASS, COLON, INCLUDE, LOPBRACK, ROPBRACK, SEMI_COLON,
                      VIRTUAL)

wrap/gtwrap/interface_parser/enum.py

@@ -10,7 +10,7 @@
 Author: Varun Agrawal
 """
 
-from pyparsing import delimitedList
+from pyparsing import delimitedList  # type: ignore
 
 from .tokens import ENUM, IDENT, LBRACE, RBRACE, SEMI_COLON
 from .type import Typename

wrap/gtwrap/interface_parser/function.py

@@ -10,9 +10,9 @@
 Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
 """
 
-from typing import Iterable, List, Union
+from typing import Any, Iterable, List, Union
 
-from pyparsing import Optional, ParseResults, delimitedList
+from pyparsing import Optional, ParseResults, delimitedList  # type: ignore
 
 from .template import Template
 from .tokens import (COMMA, DEFAULT_ARG, EQUAL, IDENT, LOPBRACK, LPAREN, PAIR,
@@ -42,12 +42,12 @@ def __init__(self,
                  name: str,
                  default: ParseResults = None):
         if isinstance(ctype, Iterable):
-            self.ctype = ctype[0]
+            self.ctype = ctype[0]  # type: ignore
         else:
             self.ctype = ctype
         self.name = name
         self.default = default
-        self.parent = None  # type: Union[ArgumentList, None]
+        self.parent: Union[ArgumentList, None] = None
 
     def __repr__(self) -> str:
         return self.to_cpp()
@@ -70,7 +70,7 @@ def __init__(self, args_list: List[Argument]):
             arg.parent = self
         # The parent object which contains the argument list
         # E.g. Method, StaticMethod, Template, Constructor, GlobalFunction
-        self.parent = None
+        self.parent: Any = None
 
     @staticmethod
     def from_parse_result(parse_result: ParseResults):
@@ -123,7 +123,7 @@ def __init__(self, type1: Union[Type, TemplatedType], type2: Type):
         self.type2 = type2
         # The parent object which contains the return type
         # E.g. Method, StaticMethod, Template, Constructor, GlobalFunction
-        self.parent = None
+        self.parent: Any = None
 
     def is_void(self) -> bool:
         """

wrap/gtwrap/interface_parser/module.py

@@ -12,7 +12,8 @@
 
 # pylint: disable=unnecessary-lambda, unused-import, expression-not-assigned, no-else-return, protected-access, too-few-public-methods, too-many-arguments
 
-from pyparsing import ParseResults, ZeroOrMore, cppStyleComment, stringEnd
+from pyparsing import (ParseResults, ZeroOrMore,  # type: ignore
+                       cppStyleComment, stringEnd)
 
 from .classes import Class
 from .declaration import ForwardDeclaration, Include

wrap/gtwrap/interface_parser/namespace.py

@@ -14,7 +14,7 @@
 
 from typing import List, Union
 
-from pyparsing import Forward, ParseResults, ZeroOrMore
+from pyparsing import Forward, ParseResults, ZeroOrMore  # type: ignore
 
 from .classes import Class, collect_namespaces
 from .declaration import ForwardDeclaration, Include
@@ -93,7 +93,7 @@ def from_parse_result(t: ParseResults):
         return Namespace(t.name, content)
 
     def find_class_or_function(
-            self, typename: Typename) -> Union[Class, GlobalFunction]:
+            self, typename: Typename) -> Union[Class, GlobalFunction, ForwardDeclaration]:
         """
         Find the Class or GlobalFunction object given its typename.
         We have to traverse the tree of namespaces.
@@ -115,7 +115,7 @@ def find_class_or_function(
             return res[0]
 
     def top_level(self) -> "Namespace":
-        """Return the top leve namespace."""
+        """Return the top level namespace."""
         if self.name == '' or self.parent == '':
             return self
         else:

wrap/gtwrap/interface_parser/template.py

@@ -12,11 +12,11 @@
 
 from typing import List
 
-from pyparsing import Optional, ParseResults, delimitedList
+from pyparsing import Optional, ParseResults, delimitedList  # type: ignore
 
 from .tokens import (EQUAL, IDENT, LBRACE, LOPBRACK, RBRACE, ROPBRACK,
                      SEMI_COLON, TEMPLATE, TYPEDEF)
-from .type import Typename, TemplatedType
+from .type import TemplatedType, Typename
 
 
 class Template:

wrap/gtwrap/interface_parser/tokens.py

@@ -10,9 +10,9 @@
 Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
 """
 
-from pyparsing import (Keyword, Literal, OneOrMore, Or, QuotedString, Suppress,
-                       Word, alphanums, alphas, nestedExpr, nums,
-                       originalTextFor, printables)
+from pyparsing import (Keyword, Literal, OneOrMore, Or,  # type: ignore
+                       QuotedString, Suppress, Word, alphanums, alphas,
+                       nestedExpr, nums, originalTextFor, printables)
 
 # rule for identifiers (e.g. variable names)
 IDENT = Word(alphas + '_', alphanums + '_') ^ Word(nums)

wrap/gtwrap/interface_parser/type.py

@@ -14,7 +14,8 @@
 
 from typing import Iterable, List, Union
 
-from pyparsing import Forward, Optional, Or, ParseResults, delimitedList
+from pyparsing import (Forward, Optional, Or, ParseResults,  # type: ignore
+                       delimitedList)
 
 from .tokens import (BASIS_TYPES, CONST, IDENT, LOPBRACK, RAW_POINTER, REF,
                      ROPBRACK, SHARED_POINTER)
@@ -48,7 +49,7 @@ class Typename:
 
     def __init__(self,
                  t: ParseResults,
-                 instantiations: Union[tuple, list, str, ParseResults] = ()):
+                 instantiations: Iterable[ParseResults] = ()):
         self.name = t[-1]  # the name is the last element in this list
         self.namespaces = t[:-1]
 

wrap/gtwrap/interface_parser/variable.py

@@ -10,7 +10,9 @@
 Author: Varun Agrawal, Gerry Chen
 """
 
-from pyparsing import Optional, ParseResults
+from typing import List
+
+from pyparsing import Optional, ParseResults  # type: ignore
 
 from .tokens import DEFAULT_ARG, EQUAL, IDENT, SEMI_COLON
 from .type import TemplatedType, Type
@@ -40,7 +42,7 @@ class Hello {
                 t.default[0] if isinstance(t.default, ParseResults) else None))
 
     def __init__(self,
-                 ctype: Type,
+                 ctype: List[Type],
                  name: str,
                  default: ParseResults = None,
                  parent=''):

wrap/gtwrap/matlab_wrapper/__init__.py

@@ -0,0 +1,3 @@
+"""Package to wrap C++ code to Matlab via MEX."""
+
+from .wrapper import MatlabWrapper