Updating MATLAB Toolbox Wrapping + Integration

.gitmodules

@@ -0,0 +1,2 @@
+[submodule "wrap"]
+

CMakeLists.txt

@@ -63,11 +63,20 @@ include_directories(BEFORE ${CMAKE_CURRENT_SOURCE_DIR})
 # Process source subdirs
 add_subdirectory(gpmp2)
 
+# Find current wrap repository
+find_package(gtwrap)
+
+#if(NOT GPMP2_TOOLBOX_INSTALL_PATH)
+  #set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox")
+#sendif()
+#set(GPMP2_TOOLBOX_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/gpmp2_toolbox")
+#set(WRAP_TOOLBOX_INSTALL_PATH "${GTSAM_TOOLBOX_INSTALL_PATH}")
+
 # Wrapping to MATLAB
 if(GPMP2_BUILD_MATLAB_TOOLBOX)
-  # wrap
-  include(GtsamMatlabWrap)
-  wrap_and_install_library(gpmp2.h ${PROJECT_NAME} "${CMAKE_CURRENT_SOURCE_DIR}" "")
+
+  include(MatlabWrap)
+  matlab_wrap(gpmp2.h ${PROJECT_NAME} "gtsam;${PROJECT_NAME}" "" "" "")
 
   # install matlab functions and scripts
   add_subdirectory(matlab)

gpmp2.h

@@ -1,35 +1,19 @@
 // gpmp2 matlab wrapper declarations
 
-/* *   Forward declarations and class definitions for Cython:
- *     - Need to specify the base class (both this forward class and base 
-          class are declared in an external cython header)
- *       This is so Cython can generate proper inheritance.
- *       Example when wrapping a gtsam-based project:
- *          // forward declarations
- *          virtual class gtsam::NonlinearFactor
- *          virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor
- *          // class definition
- *          #include <MyFactor.h>
- *          virtual class MyFactor : gtsam::NoiseModelFactor {...};
- *    - *DO NOT* re-define overriden function already declared in the external (forward-declared) base class
- *        - This will cause an ambiguity problem in Cython pxd header file*/
-
 // gtsam deceleration
 class gtsam::Vector6;
 class gtsam::Vector3;
 class gtsam::Point3;
 class gtsam::Pose3;
 class gtsam::Point2;
 class gtsam::Pose2;
-//class gtsam::Vector;
 
 class gtsam::GaussianFactorGraph;
 class gtsam::Values;
 virtual class gtsam::noiseModel::Base;
 virtual class gtsam::NonlinearFactor;
 virtual class gtsam::NonlinearFactorGraph;
-virtual class gtsam::NoiseModelFactor : gtsam::NonlinearFactor;
-//virtual class gtsam::NoiseModelFactor;
+virtual class gtsam::NoiseModelFactor;
 
 namespace gpmp2 {
 
@@ -56,21 +40,11 @@ class Pose2Vector {
 ////////////////////////////////////////////////////////////////////////////////
 
 // prior factor
-
-//template<class VALUE1, class VALUE2, class VALUE3, class VALUE4>
-//template<Vector, Vector, Vector, Vector>
-//virtual class gtsam::NoiseModelFactor4: gtsam::NoiseModelFactor;
-
 #include <gpmp2/gp/GaussianProcessPriorLinear.h>
-//template<gtsam::Vector, gtsam::Vector, gtsam::Vector, gtsam::Vector>
+
 virtual class GaussianProcessPriorLinear : gtsam::NoiseModelFactor {
   GaussianProcessPriorLinear(size_t key1, size_t key2, size_t key3, size_t key4,
       double delta, const gtsam::noiseModel::Base* Qc_model);
-  //Vector evaluateError(Vector pose) const;
-  Vector evaluateError(const Vector& pose1, const Vector& vel1, 
-                    const Vector& pose2, const Vector& vel2);
-  // enabling serialization functionality
-  void serialize() const;
 };
 
 #include <gpmp2/gp/GaussianProcessPriorPose2.h>
@@ -495,7 +469,6 @@ virtual class ObstaclePlanarSDFFactorArm : gtsam::NoiseModelFactor {
       size_t posekey, const gpmp2::ArmModel& arm,
       const gpmp2::PlanarSDF& sdf, double cost_sigma, double epsilon);
   Vector evaluateError(Vector pose) const;
-  void serialize() const;
 };
 
 
@@ -684,13 +657,6 @@ virtual class ObstacleSDFFactorGPPose2MobileVetLin2Arms : gtsam::NoiseModelFacto
       double delta_t, double tau);
 };
 
-// self collision Arm
-#include <gpmp2/obstacle/SelfCollisionArm.h>
-virtual class SelfCollisionArm : gtsam::NoiseModelFactor {
-  SelfCollisionArm(size_t poseKey, const gpmp2::ArmModel& arm, Matrix data);
-  Vector evaluateError(Vector pose) const;
-};
-
 ////////////////////////////////////////////////////////////////////////////////
 // planner
 ////////////////////////////////////////////////////////////////////////////////

gpmp2/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Relative path conversion top directories.
+set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/matt/Documents/gpmp2")
+set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/matt/Documents/gpmp2")
+
+# Force unix paths in dependencies.
+set(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})