230 lines
7.5 KiB
C++
230 lines
7.5 KiB
C++
#include <gtwrap/matlab.h>
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#include <map>
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#include <boost/archive/text_iarchive.hpp>
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/serialization/export.hpp>
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typedef std::set<boost::shared_ptr<gtsam::Class1>*> Collector_gtsamClass1;
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static Collector_gtsamClass1 collector_gtsamClass1;
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typedef std::set<boost::shared_ptr<gtsam::Class2>*> Collector_gtsamClass2;
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static Collector_gtsamClass2 collector_gtsamClass2;
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typedef std::set<boost::shared_ptr<gtsam::ClassA>*> Collector_gtsamClassA;
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static Collector_gtsamClassA collector_gtsamClassA;
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void _deleteAllObjects()
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{
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mstream mout;
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std::streambuf *outbuf = std::cout.rdbuf(&mout);
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bool anyDeleted = false;
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{ for(Collector_gtsamClass1::iterator iter = collector_gtsamClass1.begin();
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iter != collector_gtsamClass1.end(); ) {
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delete *iter;
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collector_gtsamClass1.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamClass2::iterator iter = collector_gtsamClass2.begin();
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iter != collector_gtsamClass2.end(); ) {
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delete *iter;
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collector_gtsamClass2.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamClassA::iterator iter = collector_gtsamClassA.begin();
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iter != collector_gtsamClassA.end(); ) {
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delete *iter;
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collector_gtsamClassA.erase(iter++);
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anyDeleted = true;
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} }
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if(anyDeleted)
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cout <<
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"WARNING: Wrap modules with variables in the workspace have been reloaded due to\n"
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"calling destructors, call 'clear all' again if you plan to now recompile a wrap\n"
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"module, so that your recompiled module is used instead of the old one." << endl;
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std::cout.rdbuf(outbuf);
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}
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void _multiple_files_RTTIRegister() {
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const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_multiple_files_rttiRegistry_created");
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if(!alreadyCreated) {
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std::map<std::string, std::string> types;
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mxArray *registry = mexGetVariable("global", "gtsamwrap_rttiRegistry");
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if(!registry)
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registry = mxCreateStructMatrix(1, 1, 0, NULL);
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typedef std::pair<std::string, std::string> StringPair;
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for(const StringPair& rtti_matlab: types) {
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int fieldId = mxAddField(registry, rtti_matlab.first.c_str());
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if(fieldId < 0) {
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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}
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mxArray *matlabName = mxCreateString(rtti_matlab.second.c_str());
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mxSetFieldByNumber(registry, 0, fieldId, matlabName);
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}
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if(mexPutVariable("global", "gtsamwrap_rttiRegistry", registry) != 0) {
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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}
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mxDestroyArray(registry);
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mxArray *newAlreadyCreated = mxCreateNumericMatrix(0, 0, mxINT8_CLASS, mxREAL);
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if(mexPutVariable("global", "gtsam_multiple_files_rttiRegistry_created", newAlreadyCreated) != 0) {
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mexErrMsgTxt("gtsam wrap: Error indexing RTTI types, inheritance will not work correctly");
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}
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mxDestroyArray(newAlreadyCreated);
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}
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}
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void gtsamClass1_collectorInsertAndMakeBase_0(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::Class1> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamClass1.insert(self);
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}
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void gtsamClass1_constructor_1(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::Class1> Shared;
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Shared *self = new Shared(new gtsam::Class1());
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collector_gtsamClass1.insert(self);
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out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
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}
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void gtsamClass1_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<gtsam::Class1> Shared;
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checkArguments("delete_gtsamClass1",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamClass1::iterator item;
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item = collector_gtsamClass1.find(self);
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if(item != collector_gtsamClass1.end()) {
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collector_gtsamClass1.erase(item);
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}
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delete self;
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}
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void gtsamClass2_collectorInsertAndMakeBase_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::Class2> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamClass2.insert(self);
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}
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void gtsamClass2_constructor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::Class2> Shared;
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Shared *self = new Shared(new gtsam::Class2());
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collector_gtsamClass2.insert(self);
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out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
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}
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void gtsamClass2_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<gtsam::Class2> Shared;
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checkArguments("delete_gtsamClass2",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamClass2::iterator item;
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item = collector_gtsamClass2.find(self);
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if(item != collector_gtsamClass2.end()) {
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collector_gtsamClass2.erase(item);
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}
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delete self;
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}
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void gtsamClassA_collectorInsertAndMakeBase_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::ClassA> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamClassA.insert(self);
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}
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void gtsamClassA_constructor_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef boost::shared_ptr<gtsam::ClassA> Shared;
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Shared *self = new Shared(new gtsam::ClassA());
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collector_gtsamClassA.insert(self);
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out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL);
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*reinterpret_cast<Shared**> (mxGetData(out[0])) = self;
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}
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void gtsamClassA_deconstructor_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<gtsam::ClassA> Shared;
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checkArguments("delete_gtsamClassA",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamClassA::iterator item;
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item = collector_gtsamClassA.find(self);
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if(item != collector_gtsamClassA.end()) {
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collector_gtsamClassA.erase(item);
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}
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delete self;
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}
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void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mstream mout;
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std::streambuf *outbuf = std::cout.rdbuf(&mout);
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_multiple_files_RTTIRegister();
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int id = unwrap<int>(in[0]);
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try {
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switch(id) {
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case 0:
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gtsamClass1_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
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break;
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case 1:
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gtsamClass1_constructor_1(nargout, out, nargin-1, in+1);
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break;
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case 2:
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gtsamClass1_deconstructor_2(nargout, out, nargin-1, in+1);
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break;
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case 3:
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gtsamClass2_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
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break;
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case 4:
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gtsamClass2_constructor_4(nargout, out, nargin-1, in+1);
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break;
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case 5:
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gtsamClass2_deconstructor_5(nargout, out, nargin-1, in+1);
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break;
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case 6:
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gtsamClassA_collectorInsertAndMakeBase_6(nargout, out, nargin-1, in+1);
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break;
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case 7:
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gtsamClassA_constructor_7(nargout, out, nargin-1, in+1);
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break;
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case 8:
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gtsamClassA_deconstructor_8(nargout, out, nargin-1, in+1);
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break;
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}
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} catch(const std::exception& e) {
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mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
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}
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std::cout.rdbuf(outbuf);
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}
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