550 lines
19 KiB
C++
550 lines
19 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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#include <gtsam/nonlinear/Values.h>
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#include <path/to/ns1.h>
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#include <path/to/ns1/ClassB.h>
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#include <path/to/ns2.h>
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#include <path/to/ns2/ClassA.h>
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#include <path/to/ns3.h>
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typedef std::set<boost::shared_ptr<ns1::ClassA>*> Collector_ns1ClassA;
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static Collector_ns1ClassA collector_ns1ClassA;
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typedef std::set<boost::shared_ptr<ns1::ClassB>*> Collector_ns1ClassB;
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static Collector_ns1ClassB collector_ns1ClassB;
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typedef std::set<boost::shared_ptr<ns2::ClassA>*> Collector_ns2ClassA;
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static Collector_ns2ClassA collector_ns2ClassA;
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typedef std::set<boost::shared_ptr<ns2::ns3::ClassB>*> Collector_ns2ns3ClassB;
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static Collector_ns2ns3ClassB collector_ns2ns3ClassB;
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typedef std::set<boost::shared_ptr<ns2::ClassC>*> Collector_ns2ClassC;
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static Collector_ns2ClassC collector_ns2ClassC;
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typedef std::set<boost::shared_ptr<ClassD>*> Collector_ClassD;
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static Collector_ClassD collector_ClassD;
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typedef std::set<boost::shared_ptr<gtsam::Values>*> Collector_gtsamValues;
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static Collector_gtsamValues collector_gtsamValues;
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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_ns1ClassA::iterator iter = collector_ns1ClassA.begin();
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iter != collector_ns1ClassA.end(); ) {
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delete *iter;
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collector_ns1ClassA.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ns1ClassB::iterator iter = collector_ns1ClassB.begin();
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iter != collector_ns1ClassB.end(); ) {
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delete *iter;
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collector_ns1ClassB.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ns2ClassA::iterator iter = collector_ns2ClassA.begin();
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iter != collector_ns2ClassA.end(); ) {
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delete *iter;
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collector_ns2ClassA.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ns2ns3ClassB::iterator iter = collector_ns2ns3ClassB.begin();
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iter != collector_ns2ns3ClassB.end(); ) {
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delete *iter;
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collector_ns2ns3ClassB.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ns2ClassC::iterator iter = collector_ns2ClassC.begin();
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iter != collector_ns2ClassC.end(); ) {
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delete *iter;
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collector_ns2ClassC.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_ClassD::iterator iter = collector_ClassD.begin();
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iter != collector_ClassD.end(); ) {
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delete *iter;
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collector_ClassD.erase(iter++);
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anyDeleted = true;
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} }
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{ for(Collector_gtsamValues::iterator iter = collector_gtsamValues.begin();
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iter != collector_gtsamValues.end(); ) {
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delete *iter;
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collector_gtsamValues.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 _namespaces_RTTIRegister() {
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const mxArray *alreadyCreated = mexGetVariablePtr("global", "gtsam_namespaces_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_namespaces_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 ns1ClassA_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<ns1::ClassA> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ns1ClassA.insert(self);
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}
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void ns1ClassA_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<ns1::ClassA> Shared;
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Shared *self = new Shared(new ns1::ClassA());
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collector_ns1ClassA.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 ns1ClassA_deconstructor_2(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ns1::ClassA> Shared;
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checkArguments("delete_ns1ClassA",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ns1ClassA::iterator item;
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item = collector_ns1ClassA.find(self);
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if(item != collector_ns1ClassA.end()) {
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collector_ns1ClassA.erase(item);
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}
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delete self;
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}
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void ns1ClassB_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<ns1::ClassB> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ns1ClassB.insert(self);
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}
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void ns1ClassB_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<ns1::ClassB> Shared;
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Shared *self = new Shared(new ns1::ClassB());
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collector_ns1ClassB.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 ns1ClassB_deconstructor_5(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ns1::ClassB> Shared;
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checkArguments("delete_ns1ClassB",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ns1ClassB::iterator item;
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item = collector_ns1ClassB.find(self);
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if(item != collector_ns1ClassB.end()) {
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collector_ns1ClassB.erase(item);
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}
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delete self;
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}
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void aGlobalFunction_6(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("aGlobalFunction",nargout,nargin,0);
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out[0] = wrap< Vector >(ns1::aGlobalFunction());
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}
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void ns2ClassA_collectorInsertAndMakeBase_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<ns2::ClassA> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ns2ClassA.insert(self);
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}
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void ns2ClassA_constructor_8(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<ns2::ClassA> Shared;
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Shared *self = new Shared(new ns2::ClassA());
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collector_ns2ClassA.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 ns2ClassA_deconstructor_9(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ns2::ClassA> Shared;
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checkArguments("delete_ns2ClassA",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ns2ClassA::iterator item;
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item = collector_ns2ClassA.find(self);
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if(item != collector_ns2ClassA.end()) {
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collector_ns2ClassA.erase(item);
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}
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delete self;
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}
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void ns2ClassA_memberFunction_10(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("memberFunction",nargout,nargin-1,0);
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auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
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out[0] = wrap< double >(obj->memberFunction());
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}
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void ns2ClassA_nsArg_11(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("nsArg",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
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ns1::ClassB& arg = *unwrap_shared_ptr< ns1::ClassB >(in[1], "ptr_ns1ClassB");
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out[0] = wrap< int >(obj->nsArg(arg));
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}
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void ns2ClassA_nsReturn_12(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("nsReturn",nargout,nargin-1,1);
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auto obj = unwrap_shared_ptr<ns2::ClassA>(in[0], "ptr_ns2ClassA");
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double q = unwrap< double >(in[1]);
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out[0] = wrap_shared_ptr(boost::make_shared<ns2::ns3::ClassB>(obj->nsReturn(q)),"ns2.ns3.ClassB", false);
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}
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void ns2ClassA_afunction_13(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("ns2::ClassA.afunction",nargout,nargin,0);
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out[0] = wrap< double >(ns2::ClassA::afunction());
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}
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void ns2ns3ClassB_collectorInsertAndMakeBase_14(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<ns2::ns3::ClassB> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ns2ns3ClassB.insert(self);
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}
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void ns2ns3ClassB_constructor_15(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<ns2::ns3::ClassB> Shared;
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Shared *self = new Shared(new ns2::ns3::ClassB());
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collector_ns2ns3ClassB.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 ns2ns3ClassB_deconstructor_16(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ns2::ns3::ClassB> Shared;
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checkArguments("delete_ns2ns3ClassB",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ns2ns3ClassB::iterator item;
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item = collector_ns2ns3ClassB.find(self);
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if(item != collector_ns2ns3ClassB.end()) {
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collector_ns2ns3ClassB.erase(item);
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}
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delete self;
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}
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void ns2ClassC_collectorInsertAndMakeBase_17(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<ns2::ClassC> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ns2ClassC.insert(self);
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}
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void ns2ClassC_constructor_18(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<ns2::ClassC> Shared;
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Shared *self = new Shared(new ns2::ClassC());
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collector_ns2ClassC.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 ns2ClassC_deconstructor_19(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ns2::ClassC> Shared;
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checkArguments("delete_ns2ClassC",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ns2ClassC::iterator item;
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item = collector_ns2ClassC.find(self);
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if(item != collector_ns2ClassC.end()) {
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collector_ns2ClassC.erase(item);
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}
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delete self;
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}
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void aGlobalFunction_20(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("aGlobalFunction",nargout,nargin,0);
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out[0] = wrap< Vector >(ns2::aGlobalFunction());
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}
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void overloadedGlobalFunction_21(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("overloadedGlobalFunction",nargout,nargin,1);
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ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
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out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a)),"ns1.ClassA", false);
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}
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void overloadedGlobalFunction_22(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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checkArguments("overloadedGlobalFunction",nargout,nargin,2);
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ns1::ClassA& a = *unwrap_shared_ptr< ns1::ClassA >(in[0], "ptr_ns1ClassA");
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double b = unwrap< double >(in[1]);
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out[0] = wrap_shared_ptr(boost::make_shared<ns1::ClassA>(ns2::overloadedGlobalFunction(a,b)),"ns1.ClassA", false);
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}
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void ClassD_collectorInsertAndMakeBase_23(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<ClassD> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_ClassD.insert(self);
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}
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void ClassD_constructor_24(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<ClassD> Shared;
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Shared *self = new Shared(new ClassD());
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collector_ClassD.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 ClassD_deconstructor_25(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<ClassD> Shared;
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checkArguments("delete_ClassD",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_ClassD::iterator item;
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item = collector_ClassD.find(self);
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if(item != collector_ClassD.end()) {
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collector_ClassD.erase(item);
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}
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delete self;
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}
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void gtsamValues_collectorInsertAndMakeBase_26(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::Values> Shared;
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Shared *self = *reinterpret_cast<Shared**> (mxGetData(in[0]));
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collector_gtsamValues.insert(self);
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}
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void gtsamValues_constructor_27(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::Values> Shared;
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Shared *self = new Shared(new gtsam::Values());
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collector_gtsamValues.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 gtsamValues_constructor_28(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::Values> Shared;
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gtsam::Values& other = *unwrap_shared_ptr< gtsam::Values >(in[0], "ptr_gtsamValues");
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Shared *self = new Shared(new gtsam::Values(other));
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collector_gtsamValues.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 gtsamValues_deconstructor_29(int nargout, mxArray *out[], int nargin, const mxArray *in[])
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{
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typedef boost::shared_ptr<gtsam::Values> Shared;
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checkArguments("delete_gtsamValues",nargout,nargin,1);
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Shared *self = *reinterpret_cast<Shared**>(mxGetData(in[0]));
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Collector_gtsamValues::iterator item;
|
|
item = collector_gtsamValues.find(self);
|
|
if(item != collector_gtsamValues.end()) {
|
|
collector_gtsamValues.erase(item);
|
|
}
|
|
delete self;
|
|
}
|
|
|
|
void gtsamValues_insert_30(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("insert",nargout,nargin-1,2);
|
|
auto obj = unwrap_shared_ptr<gtsam::Values>(in[0], "ptr_gtsamValues");
|
|
size_t j = unwrap< size_t >(in[1]);
|
|
Vector vector = unwrap< Vector >(in[2]);
|
|
obj->insert(j,vector);
|
|
}
|
|
|
|
void gtsamValues_insert_31(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
checkArguments("insert",nargout,nargin-1,2);
|
|
auto obj = unwrap_shared_ptr<gtsam::Values>(in[0], "ptr_gtsamValues");
|
|
size_t j = unwrap< size_t >(in[1]);
|
|
Matrix matrix = unwrap< Matrix >(in[2]);
|
|
obj->insert(j,matrix);
|
|
}
|
|
|
|
|
|
void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[])
|
|
{
|
|
mstream mout;
|
|
std::streambuf *outbuf = std::cout.rdbuf(&mout);
|
|
|
|
_namespaces_RTTIRegister();
|
|
|
|
int id = unwrap<int>(in[0]);
|
|
|
|
try {
|
|
switch(id) {
|
|
case 0:
|
|
ns1ClassA_collectorInsertAndMakeBase_0(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 1:
|
|
ns1ClassA_constructor_1(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 2:
|
|
ns1ClassA_deconstructor_2(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 3:
|
|
ns1ClassB_collectorInsertAndMakeBase_3(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 4:
|
|
ns1ClassB_constructor_4(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 5:
|
|
ns1ClassB_deconstructor_5(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 6:
|
|
aGlobalFunction_6(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 7:
|
|
ns2ClassA_collectorInsertAndMakeBase_7(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 8:
|
|
ns2ClassA_constructor_8(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 9:
|
|
ns2ClassA_deconstructor_9(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 10:
|
|
ns2ClassA_memberFunction_10(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 11:
|
|
ns2ClassA_nsArg_11(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 12:
|
|
ns2ClassA_nsReturn_12(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 13:
|
|
ns2ClassA_afunction_13(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 14:
|
|
ns2ns3ClassB_collectorInsertAndMakeBase_14(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 15:
|
|
ns2ns3ClassB_constructor_15(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 16:
|
|
ns2ns3ClassB_deconstructor_16(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 17:
|
|
ns2ClassC_collectorInsertAndMakeBase_17(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 18:
|
|
ns2ClassC_constructor_18(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 19:
|
|
ns2ClassC_deconstructor_19(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 20:
|
|
aGlobalFunction_20(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 21:
|
|
overloadedGlobalFunction_21(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 22:
|
|
overloadedGlobalFunction_22(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 23:
|
|
ClassD_collectorInsertAndMakeBase_23(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 24:
|
|
ClassD_constructor_24(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 25:
|
|
ClassD_deconstructor_25(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 26:
|
|
gtsamValues_collectorInsertAndMakeBase_26(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 27:
|
|
gtsamValues_constructor_27(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 28:
|
|
gtsamValues_constructor_28(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 29:
|
|
gtsamValues_deconstructor_29(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 30:
|
|
gtsamValues_insert_30(nargout, out, nargin-1, in+1);
|
|
break;
|
|
case 31:
|
|
gtsamValues_insert_31(nargout, out, nargin-1, in+1);
|
|
break;
|
|
}
|
|
} catch(const std::exception& e) {
|
|
mexErrMsgTxt(("Exception from gtsam:\n" + std::string(e.what()) + "\n").c_str());
|
|
}
|
|
|
|
std::cout.rdbuf(outbuf);
|
|
}
|