106 lines
3.2 KiB
C++
106 lines
3.2 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file Method.ccp
|
|
* @author Frank Dellaert
|
|
**/
|
|
|
|
#include <iostream>
|
|
#include <fstream>
|
|
|
|
#include <boost/foreach.hpp>
|
|
|
|
#include "Method.h"
|
|
#include "utilities.h"
|
|
|
|
using namespace std;
|
|
using namespace wrap;
|
|
|
|
/* ************************************************************************* */
|
|
void Method::matlab_mfile(const string& classPath) const {
|
|
|
|
// open destination m-file
|
|
string wrapperFile = classPath + "/" + name + ".m";
|
|
ofstream ofs(wrapperFile.c_str());
|
|
if(!ofs) throw CantOpenFile(wrapperFile);
|
|
if(verbose_) cerr << "generating " << wrapperFile << endl;
|
|
|
|
// generate code
|
|
string returnType = returnVal.matlab_returnType();
|
|
ofs << "function " << returnType << " = " << name << "(obj";
|
|
if (args.size()) ofs << "," << args.names();
|
|
ofs << ")" << endl;
|
|
ofs << "% usage: obj." << name << "(" << args.names() << ")" << endl;
|
|
ofs << " error('need to compile " << name << ".cpp');" << endl;
|
|
ofs << "end" << endl;
|
|
|
|
// close file
|
|
ofs.close();
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
void Method::matlab_wrapper(const string& classPath,
|
|
const string& className,
|
|
const string& cppClassName,
|
|
const string& matlabClassName,
|
|
const vector<string>& using_namespaces, const std::vector<std::string>& includes) const {
|
|
// open destination wrapperFile
|
|
string wrapperFile = classPath + "/" + name + ".cpp";
|
|
ofstream ofs(wrapperFile.c_str());
|
|
if(!ofs) throw CantOpenFile(wrapperFile);
|
|
if(verbose_) cerr << "generating " << wrapperFile << endl;
|
|
|
|
// generate code
|
|
|
|
// header
|
|
generateHeaderComment(ofs, "//");
|
|
generateIncludes(ofs, className, includes);
|
|
generateUsingNamespace(ofs, using_namespaces);
|
|
|
|
// call
|
|
ofs << "void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])\n";
|
|
// start
|
|
ofs << "{\n";
|
|
|
|
// check arguments
|
|
// extra argument obj -> nargin-1 is passed !
|
|
// example: checkArguments("equals",nargout,nargin-1,2);
|
|
ofs << " checkArguments(\"" << name << "\",nargout,nargin-1," << args.size() << ");\n";
|
|
|
|
// get class pointer
|
|
// example: shared_ptr<Test> = unwrap_shared_ptr< Test >(in[0], "Test");
|
|
ofs << " shared_ptr<" << cppClassName << "> self = unwrap_shared_ptr< " << cppClassName
|
|
<< " >(in[0],\"" << matlabClassName << "\");" << endl;
|
|
|
|
// unwrap arguments, see Argument.cpp
|
|
args.matlab_unwrap(ofs,1);
|
|
|
|
// call method
|
|
// example: bool result = self->return_field(t);
|
|
ofs << " ";
|
|
if (returnVal.type1!="void")
|
|
ofs << returnVal.return_type(true,ReturnValue::pair) << " result = ";
|
|
ofs << "self->" << name << "(" << args.names() << ");\n";
|
|
|
|
// wrap result
|
|
// example: out[0]=wrap<bool>(result);
|
|
returnVal.wrap_result(ofs);
|
|
|
|
// finish
|
|
ofs << "}\n";
|
|
|
|
// close file
|
|
ofs.close();
|
|
}
|
|
|
|
/* ************************************************************************* */
|