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Squashed 'wrap/' changes from cdcf23207..16934a98d
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16934a98d Merge pull request borglab#165 from borglab/remove-matrix-assumptions
ff222ecf9 update DOCS.md
48232621e remove unused fixture
e60ed9f10 unit test showing better control of Vector and Matrix definitions
2559b4f95 remove special checks for Vector and Matrix, leaving the onus on the developer

git-subtree-dir: wrap
git-subtree-split: 16934a98dd1acf5c814d526603c88526ea41bdbf
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@varunagrawal
varunagrawal committed Mar 7, 2024
1 parent 3b969bf commit c3e2ae0
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Showing 12 changed files with 135 additions and 60 deletions.
4 changes: 2 additions & 2 deletions DOCS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Only one Method/Constructor per line, though methods/constructors can extend across multiple lines.

- Methods can return
- Eigen types: `Matrix`, `Vector`.
- Eigen types: `gtsam::Matrix`, `gtsam::Vector`.
- C/C++ basic types: `string`, `bool`, `size_t`, `int`, `double`, `char`, `unsigned char`.
- `void`
- Any class with which be copied with `std::make_shared()`.
Expand All @@ -34,7 +34,7 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
- Overloads are supported, but arguments of different types *have* to have different names.

- Arguments to functions can be any of
- Eigen types: `Matrix`, `Vector`.
- Eigen types: `gtsam::Matrix`, `gtsam::Vector`.
- Eigen types and classes as an optionally const reference.
- C/C++ basic types: `string`, `bool`, `size_t`, `size_t`, `double`, `char`, `unsigned char`.
- Any class with which be copied with `std::make_shared()` (except Eigen).
Expand Down
18 changes: 4 additions & 14 deletions gtwrap/interface_parser/type.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,9 +63,6 @@ def __init__(self,
else:
self.instantiations = []

if self.name in ["Matrix", "Vector"] and not self.namespaces:
self.namespaces = ["gtsam"]

@staticmethod
def from_parse_result(parse_result: Union[str, list]):
"""Unpack the parsed result to get the Typename instance."""
Expand Down Expand Up @@ -220,25 +217,21 @@ def to_cpp(self) -> str:
Generate the C++ code for wrapping.
Treat all pointers as "const shared_ptr<T>&"
Treat Matrix and Vector as "const Matrix&" and "const Vector&" resp.
"""

if self.is_shared_ptr:
typename = "std::shared_ptr<{typename}>".format(
typename=self.typename.to_cpp())
elif self.is_ptr:
typename = "{typename}*".format(typename=self.typename.to_cpp())
elif self.is_ref or self.typename.name in ["Matrix", "Vector"]:
elif self.is_ref:
typename = typename = "{typename}&".format(
typename=self.typename.to_cpp())
else:
typename = self.typename.to_cpp()

return ("{const}{typename}".format(
const="const " if
(self.is_const
or self.typename.name in ["Matrix", "Vector"]) else "",
typename=typename))
const="const " if self.is_const else "", typename=typename))

def get_typename(self):
"""Convenience method to get the typename of this type."""
Expand Down Expand Up @@ -305,13 +298,10 @@ def to_cpp(self):
typename = f"std::shared_ptr<{typename}>"
elif self.is_ptr:
typename = "{typename}*".format(typename=typename)
elif self.is_ref or self.typename.name in ["Matrix", "Vector"]:
elif self.is_ref:
typename = typename = "{typename}&".format(typename=typename)
else:
pass

return ("{const}{typename}".format(
const="const " if
(self.is_const
or self.typename.name in ["Matrix", "Vector"]) else "",
typename=typename))
const="const " if self.is_const else "", typename=typename))
12 changes: 6 additions & 6 deletions tests/expected/matlab/MyFactorPosePoint2.m
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Original file line number Diff line number Diff line change
Expand Up @@ -15,17 +15,17 @@
function obj = MyFactorPosePoint2(varargin)
if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682)
my_ptr = varargin{2};
class_wrapper(76, my_ptr);
class_wrapper(80, my_ptr);
elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base')
my_ptr = class_wrapper(77, varargin{1}, varargin{2}, varargin{3}, varargin{4});
my_ptr = class_wrapper(81, varargin{1}, varargin{2}, varargin{3}, varargin{4});
else
error('Arguments do not match any overload of MyFactorPosePoint2 constructor');
end
obj.ptr_MyFactorPosePoint2 = my_ptr;
end

function delete(obj)
class_wrapper(78, obj.ptr_MyFactorPosePoint2);
class_wrapper(82, obj.ptr_MyFactorPosePoint2);
end

function display(obj), obj.print(''); end
Expand All @@ -36,19 +36,19 @@ function delete(obj)
% PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter')
class_wrapper(79, this, varargin{:});
class_wrapper(83, this, varargin{:});
return
end
% PRINT usage: print(string s) : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 1 && isa(varargin{1},'char')
class_wrapper(80, this, varargin{:});
class_wrapper(84, this, varargin{:});
return
end
% PRINT usage: print() : returns void
% Doxygen can be found at https://gtsam.org/doxygen/
if length(varargin) == 0
class_wrapper(81, this, varargin{:});
class_wrapper(85, this, varargin{:});
return
end
error('Arguments do not match any overload of function MyFactorPosePoint2.print');
Expand Down
99 changes: 87 additions & 12 deletions tests/expected/matlab/class_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,8 @@ typedef std::set<std::shared_ptr<TemplatedConstructor>*> Collector_TemplatedCons
static Collector_TemplatedConstructor collector_TemplatedConstructor;
typedef std::set<std::shared_ptr<FastSet>*> Collector_FastSet;
static Collector_FastSet collector_FastSet;
typedef std::set<std::shared_ptr<HessianFactor>*> Collector_HessianFactor;
static Collector_HessianFactor collector_HessianFactor;
typedef std::set<std::shared_ptr<MyFactorPosePoint2>*> Collector_MyFactorPosePoint2;
static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2;

Expand Down Expand Up @@ -109,6 +111,12 @@ void _deleteAllObjects()
collector_FastSet.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_HessianFactor::iterator iter = collector_HessianFactor.begin();
iter != collector_HessianFactor.end(); ) {
delete *iter;
collector_HessianFactor.erase(iter++);
anyDeleted = true;
} }
{ for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin();
iter != collector_MyFactorPosePoint2.end(); ) {
delete *iter;
Expand All @@ -129,6 +137,7 @@ void _class_RTTIRegister() {
if(!alreadyCreated) {
std::map<std::string, std::string> types;

types.insert(std::make_pair(typeid(HessianFactor).name(), "HessianFactor"));


mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
Expand Down Expand Up @@ -885,7 +894,61 @@ void FastSet_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxA
delete self;
}

void MyFactorPosePoint2_collectorInsertAndMakeBase_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void HessianFactor_collectorInsertAndMakeBase_76(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<HessianFactor> Shared;

Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
collector_HessianFactor.insert(self);

typedef std::shared_ptr<gtsam::GaussianFactor> SharedBase;
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[0])) = new SharedBase(*self);
}

void HessianFactor_upcastFromVoid_77(int nargout, mxArray *out[], int nargin, const mxArray *in[]) {
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<HessianFactor> Shared;
std::shared_ptr<void> *asVoid = *reinterpret_cast<std::shared_ptr<void>**> (mxGetData(in[0]));
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
Shared *self = new Shared(std::static_pointer_cast<HessianFactor>(*asVoid));
*reinterpret_cast<Shared**>(mxGetData(out[0])) = self;
}

void HessianFactor_constructor_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<HessianFactor> Shared;

gtsam::KeyVector& js = *unwrap_shared_ptr< gtsam::KeyVector >(in[0], "ptr_gtsamKeyVector");
std::vector<Matrix>& Gs = *unwrap_shared_ptr< std::vector<Matrix> >(in[1], "ptr_stdvectorMatrix");
std::vector<Vector>& gs = *unwrap_shared_ptr< std::vector<Vector> >(in[2], "ptr_stdvectorVector");
double f = unwrap< double >(in[3]);
Shared *self = new Shared(new HessianFactor(js,Gs,gs,f));
collector_HessianFactor.insert(self);
out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;

typedef std::shared_ptr<gtsam::GaussianFactor> SharedBase;
out[1] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
*reinterpret_cast<SharedBase**>(mxGetData(out[1])) = new SharedBase(*self);
}

void HessianFactor_deconstructor_79(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef std::shared_ptr<HessianFactor> Shared;
checkArguments("delete_HessianFactor",nargout,nargin,1);
Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
Collector_HessianFactor::iterator item;
item = collector_HessianFactor.find(self);
if(item != collector_HessianFactor.end()) {
collector_HessianFactor.erase(item);
}
delete self;
}

void MyFactorPosePoint2_collectorInsertAndMakeBase_80(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
Expand All @@ -894,7 +957,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_76(int nargout, mxArray *out[
collector_MyFactorPosePoint2.insert(self);
}

void MyFactorPosePoint2_constructor_77(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_constructor_81(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
mexAtExit(&_deleteAllObjects);
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
Expand All @@ -909,7 +972,7 @@ void MyFactorPosePoint2_constructor_77(int nargout, mxArray *out[], int nargin,
*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
}

void MyFactorPosePoint2_deconstructor_78(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_deconstructor_82(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
typedef std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>> Shared;
checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1);
Expand All @@ -922,7 +985,7 @@ void MyFactorPosePoint2_deconstructor_78(int nargout, mxArray *out[], int nargin
delete self;
}

void MyFactorPosePoint2_print_79(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_83(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,2);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
Expand All @@ -931,15 +994,15 @@ void MyFactorPosePoint2_print_79(int nargout, mxArray *out[], int nargin, const
obj->print(s,keyFormatter);
}

void MyFactorPosePoint2_print_80(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_84(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,1);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
string& s = *unwrap_shared_ptr< string >(in[1], "ptr_string");
obj->print(s,gtsam::DefaultKeyFormatter);
}

void MyFactorPosePoint2_print_81(int nargout, mxArray *out[], int nargin, const mxArray *in[])
void MyFactorPosePoint2_print_85(int nargout, mxArray *out[], int nargin, const mxArray *in[])
{
checkArguments("print",nargout,nargin-1,0);
auto obj = unwrap_shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>(in[0], "ptr_MyFactorPosePoint2");
Expand Down Expand Up @@ -1187,22 +1250,34 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
FastSet_deconstructor_75(nargout, out, nargin-1, in+1);
break;
case 76:
MyFactorPosePoint2_collectorInsertAndMakeBase_76(nargout, out, nargin-1, in+1);
HessianFactor_collectorInsertAndMakeBase_76(nargout, out, nargin-1, in+1);
break;
case 77:
MyFactorPosePoint2_constructor_77(nargout, out, nargin-1, in+1);
HessianFactor_upcastFromVoid_77(nargout, out, nargin-1, in+1);
break;
case 78:
MyFactorPosePoint2_deconstructor_78(nargout, out, nargin-1, in+1);
HessianFactor_constructor_78(nargout, out, nargin-1, in+1);
break;
case 79:
MyFactorPosePoint2_print_79(nargout, out, nargin-1, in+1);
HessianFactor_deconstructor_79(nargout, out, nargin-1, in+1);
break;
case 80:
MyFactorPosePoint2_print_80(nargout, out, nargin-1, in+1);
MyFactorPosePoint2_collectorInsertAndMakeBase_80(nargout, out, nargin-1, in+1);
break;
case 81:
MyFactorPosePoint2_print_81(nargout, out, nargin-1, in+1);
MyFactorPosePoint2_constructor_81(nargout, out, nargin-1, in+1);
break;
case 82:
MyFactorPosePoint2_deconstructor_82(nargout, out, nargin-1, in+1);
break;
case 83:
MyFactorPosePoint2_print_83(nargout, out, nargin-1, in+1);
break;
case 84:
MyFactorPosePoint2_print_84(nargout, out, nargin-1, in+1);
break;
case 85:
MyFactorPosePoint2_print_85(nargout, out, nargin-1, in+1);
break;
}
} catch(const std::exception& e) {
Expand Down
3 changes: 3 additions & 0 deletions tests/expected/python/class_pybind.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,9 @@ PYBIND11_MODULE(class_py, m_) {
.def("__contains__",[](FastSet* self, size_t key){return std::find(self->begin(), self->end(), key) != self->end();}, py::arg("key"))
.def("__iter__",[](FastSet* self){return py::make_iterator(self->begin(), self->end());});

py::class_<HessianFactor, gtsam::GaussianFactor, std::shared_ptr<HessianFactor>>(m_, "HessianFactor")
.def(py::init<const gtsam::KeyVector&, const std::vector<gtsam::Matrix>&, const std::vector<gtsam::Vector>&, double>(), py::arg("js"), py::arg("Gs"), py::arg("gs"), py::arg("f"));

py::class_<MyFactor<gtsam::Pose2, gtsam::Matrix>, std::shared_ptr<MyFactor<gtsam::Pose2, gtsam::Matrix>>>(m_, "MyFactorPosePoint2")
.def(py::init<size_t, size_t, double, const std::shared_ptr<gtsam::noiseModel::Base>>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel"))
.def("print",[](MyFactor<gtsam::Pose2, gtsam::Matrix>* self, const string& s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter)
Expand Down
8 changes: 4 additions & 4 deletions tests/expected/python/inheritance_pybind.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,12 +40,12 @@ PYBIND11_MODULE(inheritance_py, m_) {
.def("templatedMethodVector",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Vector& t){return self->templatedMethod<gtsam::Vector>(t);}, py::arg("t"))
.def("templatedMethodMatrix",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& t){return self->templatedMethod<gtsam::Matrix>(t);}, py::arg("t"))
.def("accept_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix& value){ self->accept_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Matrix>* self, const gtsam::Matrix* value){return self->return_T(value);}, py::arg("value"))
.def("accept_Tptr",[](MyTemplate<gtsam::Matrix>* self, std::shared_ptr<gtsam::Matrix> value){ self->accept_Tptr(value);}, py::arg("value"))
.def("return_Tptr",[](MyTemplate<gtsam::Matrix>* self, std::shared_ptr<gtsam::Matrix> value){return self->return_Tptr(value);}, py::arg("value"))
.def("return_T",[](MyTemplate<gtsam::Matrix>* self, gtsam::Matrix* value){return self->return_T(value);}, py::arg("value"))
.def("create_ptrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_ptrs();})
.def("create_MixedPtrs",[](MyTemplate<gtsam::Matrix>* self){return self->create_MixedPtrs();})
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, const std::shared_ptr<gtsam::Matrix> p1, const std::shared_ptr<gtsam::Matrix> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def("return_ptrs",[](MyTemplate<gtsam::Matrix>* self, std::shared_ptr<gtsam::Matrix> p1, std::shared_ptr<gtsam::Matrix> p2){return self->return_ptrs(p1, p2);}, py::arg("p1"), py::arg("p2"))
.def_static("Level",[](const gtsam::Matrix& K){return MyTemplate<gtsam::Matrix>::Level(K);}, py::arg("K"));

py::class_<MyTemplate<A>, MyBase, std::shared_ptr<MyTemplate<A>>>(m_, "MyTemplateA")
Expand Down
27 changes: 17 additions & 10 deletions tests/fixtures/class.i
View file
Original file line number Diff line number Diff line change
Expand Up @@ -41,26 +41,27 @@ class Test {
double value;
string name;

pair<Vector,Matrix> return_pair (Vector v, Matrix A) const; // intentionally the first method
pair<Vector,Matrix> return_pair (Vector v) const; // overload
// intentionally the first method
pair<gtsam::Vector,gtsam::Matrix> return_pair (const gtsam::Vector& v, const gtsam::Matrix& A) const;
pair<gtsam::Vector,gtsam::Matrix> return_pair (const gtsam::Vector& v) const; // overload

bool return_bool (bool value) const; // comment after a line!
size_t return_size_t (size_t value) const;
int return_int (int value) const;
double return_double (double value) const;

Test(double a, Matrix b); // a constructor in the middle of a class
Test(double a, const gtsam::Matrix& b); // a constructor in the middle of a class

// comments in the middle!

// (more) comments in the middle!

string return_string (string value) const;
Vector return_vector1(Vector value) const;
Matrix return_matrix1(Matrix value) const;
Vector return_vector2(Vector value) const;
Matrix return_matrix2(Matrix value) const;
void arg_EigenConstRef(const Matrix& value) const;
gtsam::Vector return_vector1(const gtsam::Vector& value) const;
gtsam::Matrix return_matrix1(const gtsam::Matrix& value) const;
gtsam::Vector return_vector2(const gtsam::Vector& value) const;
gtsam::Matrix return_matrix2(const gtsam::Matrix& value) const;
void arg_EigenConstRef(const gtsam::Matrix& value) const;

bool return_field(const Test& t) const;

Expand Down Expand Up @@ -103,7 +104,7 @@ class MyFactor {
};

// and a typedef specializing it
typedef MyFactor<gtsam::Pose2, Matrix> MyFactorPosePoint2;
typedef MyFactor<gtsam::Pose2, gtsam::Matrix> MyFactorPosePoint2;

template<T = {double}>
class PrimitiveRef {
Expand Down Expand Up @@ -153,4 +154,10 @@ class FastSet {
__len__();
__contains__(size_t key);
__iter__();
};
};

virtual class HessianFactor : gtsam::GaussianFactor {
HessianFactor(const gtsam::KeyVector& js,
const std::vector<gtsam::Matrix>& Gs,
const std::vector<gtsam::Vector>& gs, double f);
};
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