323 lines
11 KiB
C++
323 lines
11 KiB
C++
#include <gtwrap/matlab.h>
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#include <map>
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typedef gtsam::Optimizer<gtsam::GaussNewtonParams> OptimizerGaussNewtonParams;
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typedef std::set<std::shared_ptr<Pet>*> Collector_Pet;
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static Collector_Pet collector_Pet;
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typedef std::set<std::shared_ptr<gtsam::MCU>*> Collector_gtsamMCU;
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static Collector_gtsamMCU collector_gtsamMCU;
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typedef std::set<std::shared_ptr<OptimizerGaussNewtonParams>*> Collector_gtsamOptimizerGaussNewtonParams;
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static Collector_gtsamOptimizerGaussNewtonParams collector_gtsamOptimizerGaussNewtonParams;
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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_Pet::iterator iter = collector_Pet.begin();
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iter != collector_Pet.end(); ) {
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delete *iter;
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collector_Pet.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamMCU::iterator iter = collector_gtsamMCU.begin();
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iter != collector_gtsamMCU.end(); ) {
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delete *iter;
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collector_gtsamMCU.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamOptimizerGaussNewtonParams::iterator iter = collector_gtsamOptimizerGaussNewtonParams.begin();
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iter != collector_gtsamOptimizerGaussNewtonParams.end(); ) {
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delete *iter;
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collector_gtsamOptimizerGaussNewtonParams.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 _enum_RTTIRegister() {
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const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_enum_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_enum_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 Pet_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 std::shared_ptr<Pet> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_Pet.insert(self);
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}
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void Pet_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 std::shared_ptr<Pet> Shared;
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string& name = *unwrap_shared_ptr< string >(in[0], "ptr_string");
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Pet::Kind type = unwrap_enum<Pet::Kind>(in[1]);
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Shared *self = new Shared(new Pet(name,type));
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collector_Pet.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 Pet_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef std::shared_ptr<Pet> Shared;
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checkArguments("delete_Pet",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_Pet::iterator item;
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item = collector_Pet.find(self);
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if(item != collector_Pet.end()) {
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collector_Pet.erase(item);
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}
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delete self;
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}
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void Pet_getColor_3(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("getColor",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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out[0] = wrap_enum(obj->getColor(),"Color");
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}
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void Pet_setColor_4(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("setColor",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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Color color = unwrap_enum<Color>(in[1]);
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obj->setColor(color);
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}
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void Pet_get_name_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("name",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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out[0] = wrap< string >(obj->name);
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}
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void Pet_set_name_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("name",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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string name = unwrap< string >(in[1]);
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obj->name = name;
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}
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void Pet_get_type_7(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("type",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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out[0] = wrap_enum(obj->type,"Pet.Kind");
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}
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void Pet_set_type_8(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("type",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<Pet>(in[0], "ptr_Pet");
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Pet::Kind type = unwrap_enum<Pet::Kind>(in[1]);
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obj->type = type;
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}
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void gtsamMCU_collectorInsertAndMakeBase_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef std::shared_ptr<gtsam::MCU> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamMCU.insert(self);
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}
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void gtsamMCU_constructor_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef std::shared_ptr<gtsam::MCU> Shared;
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Shared *self = new Shared(new gtsam::MCU());
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collector_gtsamMCU.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 gtsamMCU_deconstructor_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef std::shared_ptr<gtsam::MCU> Shared;
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checkArguments("delete_gtsamMCU",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamMCU::iterator item;
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item = collector_gtsamMCU.find(self);
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if(item != collector_gtsamMCU.end()) {
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collector_gtsamMCU.erase(item);
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}
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delete self;
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}
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void gtsamOptimizerGaussNewtonParams_collectorInsertAndMakeBase_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamOptimizerGaussNewtonParams.insert(self);
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}
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void gtsamOptimizerGaussNewtonParams_constructor_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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mexAtExit(&_deleteAllObjects);
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typedef std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>> Shared;
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Optimizer<gtsam::GaussNewtonParams>::Verbosity verbosity = unwrap_enum<Optimizer<gtsam::GaussNewtonParams>::Verbosity>(in[0]);
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Shared *self = new Shared(new gtsam::Optimizer<gtsam::GaussNewtonParams>(verbosity));
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collector_gtsamOptimizerGaussNewtonParams.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 gtsamOptimizerGaussNewtonParams_deconstructor_14(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef std::shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>> Shared;
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checkArguments("delete_gtsamOptimizerGaussNewtonParams",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamOptimizerGaussNewtonParams::iterator item;
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item = collector_gtsamOptimizerGaussNewtonParams.find(self);
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if(item != collector_gtsamOptimizerGaussNewtonParams.end()) {
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collector_gtsamOptimizerGaussNewtonParams.erase(item);
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}
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delete self;
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}
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void gtsamOptimizerGaussNewtonParams_getVerbosity_15(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("getVerbosity",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>(in[0], "ptr_gtsamOptimizerGaussNewtonParams");
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out[0] = wrap_enum(obj->getVerbosity(),"gtsam.OptimizerGaussNewtonParams.Verbosity");
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}
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void gtsamOptimizerGaussNewtonParams_getVerbosity_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("getVerbosity",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>(in[0], "ptr_gtsamOptimizerGaussNewtonParams");
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out[0] = wrap_enum(obj->getVerbosity(),"gtsam.VerbosityLM");
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}
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void gtsamOptimizerGaussNewtonParams_setVerbosity_17(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("setVerbosity",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<gtsam::Optimizer<gtsam::GaussNewtonParams>>(in[0], "ptr_gtsamOptimizerGaussNewtonParams");
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Optimizer<gtsam::GaussNewtonParams>::Verbosity value = unwrap_enum<Optimizer<gtsam::GaussNewtonParams>::Verbosity>(in[1]);
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obj->setVerbosity(value);
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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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_enum_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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Pet_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
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break;
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case 1:
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Pet_constructor_1(nargout, out, nargin-1, in+1);
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break;
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case 2:
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Pet_deconstructor_2(nargout, out, nargin-1, in+1);
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break;
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case 3:
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Pet_getColor_3(nargout, out, nargin-1, in+1);
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break;
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case 4:
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Pet_setColor_4(nargout, out, nargin-1, in+1);
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break;
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case 5:
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Pet_get_name_5(nargout, out, nargin-1, in+1);
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break;
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case 6:
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Pet_set_name_6(nargout, out, nargin-1, in+1);
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break;
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case 7:
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Pet_get_type_7(nargout, out, nargin-1, in+1);
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break;
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case 8:
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Pet_set_type_8(nargout, out, nargin-1, in+1);
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break;
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case 9:
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gtsamMCU_collectorInsertAndMakeBase_9(nargout, out, nargin-1, in+1);
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break;
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case 10:
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gtsamMCU_constructor_10(nargout, out, nargin-1, in+1);
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break;
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case 11:
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gtsamMCU_deconstructor_11(nargout, out, nargin-1, in+1);
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break;
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case 12:
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gtsamOptimizerGaussNewtonParams_collectorInsertAndMakeBase_12(nargout, out, nargin-1, in+1);
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break;
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case 13:
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gtsamOptimizerGaussNewtonParams_constructor_13(nargout, out, nargin-1, in+1);
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break;
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case 14:
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gtsamOptimizerGaussNewtonParams_deconstructor_14(nargout, out, nargin-1, in+1);
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break;
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case 15:
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gtsamOptimizerGaussNewtonParams_getVerbosity_15(nargout, out, nargin-1, in+1);
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break;
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case 16:
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gtsamOptimizerGaussNewtonParams_getVerbosity_16(nargout, out, nargin-1, in+1);
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break;
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case 17:
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gtsamOptimizerGaussNewtonParams_setVerbosity_17(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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