From 3b969bf94c2e562c07e3e7c118d43dd82627cf4c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jan 2024 15:04:09 -0500 Subject: [PATCH 1/5] Squashed 'wrap/' changes from bd57210d9..cdcf23207 cdcf23207 Merge pull request #163 from borglab/dunder-methods 22d429cc2 use STL functions instead of container methods abe8818ab update pyparsing to 3.1.1 a9e896d0c add unit tests 535fe4f14 wrap supported dunder methods 079687eac parse dunder methods in interface file git-subtree-dir: wrap git-subtree-split: cdcf23207fbb03457c5d9dbfc2b0b57e515b5f3d --- gtwrap/interface_parser/classes.py | 48 +++++++++++--- gtwrap/interface_parser/function.py | 2 +- gtwrap/interface_parser/tokens.py | 1 + gtwrap/pybind_wrapper.py | 64 +++++++++++++++++++ gtwrap/template_instantiator/classes.py | 3 + requirements.txt | 2 +- tests/expected/matlab/FastSet.m | 36 +++++++++++ tests/expected/matlab/MyFactorPosePoint2.m | 12 ++-- tests/expected/matlab/class_wrapper.cpp | 74 ++++++++++++++++++---- tests/expected/python/class_pybind.cpp | 6 ++ tests/fixtures/class.i | 9 +++ tests/test_interface_parser.py | 22 +++++-- 12 files changed, 245 insertions(+), 34 deletions(-) create mode 100644 tests/expected/matlab/FastSet.m diff --git a/gtwrap/interface_parser/classes.py b/gtwrap/interface_parser/classes.py index b63a0b5eb2..8967bea93b 100644 --- a/gtwrap/interface_parser/classes.py +++ b/gtwrap/interface_parser/classes.py @@ -12,13 +12,14 @@ from typing import Any, Iterable, List, Union -from pyparsing import Literal, Optional, ZeroOrMore # type: ignore +from pyparsing import ZeroOrMore # type: ignore +from pyparsing import Literal, Optional, Word, alphas from .enum import Enum from .function import ArgumentList, ReturnType from .template import Template -from .tokens import (CLASS, COLON, CONST, IDENT, LBRACE, LPAREN, OPERATOR, - RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL) +from .tokens import (CLASS, COLON, CONST, DUNDER, IDENT, LBRACE, LPAREN, + OPERATOR, RBRACE, RPAREN, SEMI_COLON, STATIC, VIRTUAL) from .type import TemplatedType, Typename from .utils import collect_namespaces from .variable import Variable @@ -212,6 +213,26 @@ def __repr__(self) -> str: ) +class DunderMethod: + """Special Python double-underscore (dunder) methods, e.g. __iter__, __contains__""" + rule = ( + DUNDER # + + (Word(alphas))("name") # + + DUNDER # + + LPAREN # + + ArgumentList.rule("args_list") # + + RPAREN # + + SEMI_COLON # BR + ).setParseAction(lambda t: DunderMethod(t.name, t.args_list)) + + def __init__(self, name: str, args: ArgumentList): + self.name = name + self.args = args + + def __repr__(self) -> str: + return f"DunderMethod: __{self.name}__({self.args})" + + class Class: """ Rule to parse a class defined in the interface file. @@ -223,11 +244,13 @@ class Hello { }; ``` """ + class Members: """ Rule for all the members within a class. """ - rule = ZeroOrMore(Constructor.rule # + rule = ZeroOrMore(DunderMethod.rule # + ^ Constructor.rule # ^ Method.rule # ^ StaticMethod.rule # ^ Variable.rule # @@ -235,11 +258,12 @@ class Members: ^ Enum.rule # ).setParseAction(lambda t: Class.Members(t.asList())) - def __init__(self, - members: List[Union[Constructor, Method, StaticMethod, - Variable, Operator]]): + def __init__(self, members: List[Union[Constructor, Method, + StaticMethod, Variable, + Operator, Enum, DunderMethod]]): self.ctors = [] self.methods = [] + self.dunder_methods = [] self.static_methods = [] self.properties = [] self.operators = [] @@ -251,6 +275,8 @@ def __init__(self, self.methods.append(m) elif isinstance(m, StaticMethod): self.static_methods.append(m) + elif isinstance(m, DunderMethod): + self.dunder_methods.append(m) elif isinstance(m, Variable): self.properties.append(m) elif isinstance(m, Operator): @@ -271,8 +297,8 @@ def __init__(self, + SEMI_COLON # BR ).setParseAction(lambda t: Class( t.template, t.is_virtual, t.name, t.parent_class, t.members.ctors, t. - members.methods, t.members.static_methods, t.members.properties, t. - members.operators, t.members.enums)) + members.methods, t.members.static_methods, t.members.dunder_methods, t. + members.properties, t.members.operators, t.members.enums)) def __init__( self, @@ -283,6 +309,7 @@ def __init__( ctors: List[Constructor], methods: List[Method], static_methods: List[StaticMethod], + dunder_methods: List[DunderMethod], properties: List[Variable], operators: List[Operator], enums: List[Enum], @@ -308,6 +335,7 @@ def __init__( self.ctors = ctors self.methods = methods self.static_methods = static_methods + self.dunder_methods = dunder_methods self.properties = properties self.operators = operators self.enums = enums @@ -326,6 +354,8 @@ def __init__( method.parent = self for static_method in self.static_methods: static_method.parent = self + for dunder_method in self.dunder_methods: + dunder_method.parent = self for _property in self.properties: _property.parent = self diff --git a/gtwrap/interface_parser/function.py b/gtwrap/interface_parser/function.py index b408844886..5385c744f1 100644 --- a/gtwrap/interface_parser/function.py +++ b/gtwrap/interface_parser/function.py @@ -82,7 +82,7 @@ def from_parse_result(parse_result: ParseResults): return ArgumentList([]) def __repr__(self) -> str: - return repr(tuple(self.args_list)) + return ",".join([repr(x) for x in self.args_list]) def __len__(self) -> int: return len(self.args_list) diff --git a/gtwrap/interface_parser/tokens.py b/gtwrap/interface_parser/tokens.py index 02e6d82f84..11c99d19c2 100644 --- a/gtwrap/interface_parser/tokens.py +++ b/gtwrap/interface_parser/tokens.py @@ -22,6 +22,7 @@ LPAREN, RPAREN, LBRACE, RBRACE, COLON, SEMI_COLON = map(Suppress, "(){}:;") LOPBRACK, ROPBRACK, COMMA, EQUAL = map(Suppress, "<>,=") +DUNDER = Suppress(Literal("__")) # Default argument passed to functions/methods. # Allow anything up to ',' or ';' except when they diff --git a/gtwrap/pybind_wrapper.py b/gtwrap/pybind_wrapper.py index 78730a909f..479c2d67d4 100755 --- a/gtwrap/pybind_wrapper.py +++ b/gtwrap/pybind_wrapper.py @@ -45,6 +45,8 @@ def __init__(self, 'continue', 'global', 'pass' ] + self.dunder_methods = ('len', 'contains', 'iter') + # amount of indentation to add before each function/method declaration. self.method_indent = '\n' + (' ' * 8) @@ -153,6 +155,51 @@ def _wrap_print(self, ret: str, method: parser.Method, cpp_class: str, suffix=suffix) return ret + def _wrap_dunder(self, + method, + cpp_class, + prefix, + suffix, + method_suffix=""): + """ + Wrap a Python double-underscore (dunder) method. + + E.g. __len__() gets wrapped as `.def("__len__", [](gtsam::KeySet* self) {return self->size();})` + + Supported methods are: + - __contains__(T x) + - __len__() + - __iter__() + """ + py_method = method.name + method_suffix + args_names = method.args.names() + py_args_names = self._py_args_names(method.args) + args_signature_with_names = self._method_args_signature(method.args) + + if method.name == 'len': + function_call = "return std::distance(self->begin(), self->end());" + elif method.name == 'contains': + function_call = f"return std::find(self->begin(), self->end(), {method.args.args_list[0].name}) != self->end();" + elif method.name == 'iter': + function_call = "return py::make_iterator(self->begin(), self->end());" + + ret = ('{prefix}.def("__{py_method}__",' + '[]({self}{opt_comma}{args_signature_with_names}){{' + '{function_call}' + '}}' + '{py_args_names}){suffix}'.format( + prefix=prefix, + py_method=py_method, + self=f"{cpp_class}* self", + opt_comma=', ' if args_names else '', + args_signature_with_names=args_signature_with_names, + function_call=function_call, + py_args_names=py_args_names, + suffix=suffix, + )) + + return ret + def _wrap_method(self, method, cpp_class, @@ -235,6 +282,20 @@ def _wrap_method(self, return ret + def wrap_dunder_methods(self, + methods, + cpp_class, + prefix='\n' + ' ' * 8, + suffix=''): + res = "" + for method in methods: + res += self._wrap_dunder(method=method, + cpp_class=cpp_class, + prefix=prefix, + suffix=suffix) + + return res + def wrap_methods(self, methods, cpp_class, @@ -398,6 +459,7 @@ def wrap_instantiated_class( '{wrapped_ctors}' '{wrapped_methods}' '{wrapped_static_methods}' + '{wrapped_dunder_methods}' '{wrapped_properties}' '{wrapped_operators};\n'.format( class_declaration=class_declaration, @@ -406,6 +468,8 @@ def wrap_instantiated_class( instantiated_class.methods, cpp_class), wrapped_static_methods=self.wrap_methods( instantiated_class.static_methods, cpp_class), + wrapped_dunder_methods=self.wrap_dunder_methods( + instantiated_class.dunder_methods, cpp_class), wrapped_properties=self.wrap_properties( instantiated_class.properties, cpp_class), wrapped_operators=self.wrap_operators( diff --git a/gtwrap/template_instantiator/classes.py b/gtwrap/template_instantiator/classes.py index ce51d5b967..7026546785 100644 --- a/gtwrap/template_instantiator/classes.py +++ b/gtwrap/template_instantiator/classes.py @@ -57,6 +57,8 @@ def __init__(self, original: parser.Class, instantiations=(), new_name=''): # Instantiate all instance methods self.methods = self.instantiate_methods(typenames) + + self.dunder_methods = original.dunder_methods super().__init__( self.template, @@ -66,6 +68,7 @@ def __init__(self, original: parser.Class, instantiations=(), new_name=''): self.ctors, self.methods, self.static_methods, + self.dunder_methods, self.properties, self.operators, self.enums, diff --git a/requirements.txt b/requirements.txt index 0aac9302e5..f43fdda617 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,2 +1,2 @@ -pyparsing==2.4.7 +pyparsing==3.1.1 pytest>=6.2.4 diff --git a/tests/expected/matlab/FastSet.m b/tests/expected/matlab/FastSet.m new file mode 100644 index 0000000000..4d2a1813e8 --- /dev/null +++ b/tests/expected/matlab/FastSet.m @@ -0,0 +1,36 @@ +%class FastSet, see Doxygen page for details +%at https://gtsam.org/doxygen/ +% +%-------Constructors------- +%FastSet() +% +classdef FastSet < handle + properties + ptr_FastSet = 0 + end + methods + function obj = FastSet(varargin) + if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) + my_ptr = varargin{2}; + class_wrapper(73, my_ptr); + elseif nargin == 0 + my_ptr = class_wrapper(74); + else + error('Arguments do not match any overload of FastSet constructor'); + end + obj.ptr_FastSet = my_ptr; + end + + function delete(obj) + class_wrapper(75, obj.ptr_FastSet); + end + + function display(obj), obj.print(''); end + %DISPLAY Calls print on the object + function disp(obj), obj.display; end + %DISP Calls print on the object + end + + methods(Static = true) + end +end diff --git a/tests/expected/matlab/MyFactorPosePoint2.m b/tests/expected/matlab/MyFactorPosePoint2.m index 4a30bd4894..ac5b134f9b 100644 --- a/tests/expected/matlab/MyFactorPosePoint2.m +++ b/tests/expected/matlab/MyFactorPosePoint2.m @@ -15,9 +15,9 @@ function obj = MyFactorPosePoint2(varargin) if nargin == 2 && isa(varargin{1}, 'uint64') && varargin{1} == uint64(5139824614673773682) my_ptr = varargin{2}; - class_wrapper(73, my_ptr); + class_wrapper(76, my_ptr); elseif nargin == 4 && isa(varargin{1},'numeric') && isa(varargin{2},'numeric') && isa(varargin{3},'double') && isa(varargin{4},'gtsam.noiseModel.Base') - my_ptr = class_wrapper(74, varargin{1}, varargin{2}, varargin{3}, varargin{4}); + my_ptr = class_wrapper(77, varargin{1}, varargin{2}, varargin{3}, varargin{4}); else error('Arguments do not match any overload of MyFactorPosePoint2 constructor'); end @@ -25,7 +25,7 @@ end function delete(obj) - class_wrapper(75, obj.ptr_MyFactorPosePoint2); + class_wrapper(78, obj.ptr_MyFactorPosePoint2); end function display(obj), obj.print(''); end @@ -36,19 +36,19 @@ function delete(obj) % PRINT usage: print(string s, KeyFormatter keyFormatter) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 2 && isa(varargin{1},'char') && isa(varargin{2},'gtsam.KeyFormatter') - class_wrapper(76, this, varargin{:}); + class_wrapper(79, this, varargin{:}); return end % PRINT usage: print(string s) : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 1 && isa(varargin{1},'char') - class_wrapper(77, this, varargin{:}); + class_wrapper(80, this, varargin{:}); return end % PRINT usage: print() : returns void % Doxygen can be found at https://gtsam.org/doxygen/ if length(varargin) == 0 - class_wrapper(78, this, varargin{:}); + class_wrapper(81, this, varargin{:}); return end error('Arguments do not match any overload of function MyFactorPosePoint2.print'); diff --git a/tests/expected/matlab/class_wrapper.cpp b/tests/expected/matlab/class_wrapper.cpp index c4be52018c..e33f14238d 100644 --- a/tests/expected/matlab/class_wrapper.cpp +++ b/tests/expected/matlab/class_wrapper.cpp @@ -31,6 +31,8 @@ typedef std::set*> Collector_ForwardKinematic static Collector_ForwardKinematics collector_ForwardKinematics; typedef std::set*> Collector_TemplatedConstructor; static Collector_TemplatedConstructor collector_TemplatedConstructor; +typedef std::set*> Collector_FastSet; +static Collector_FastSet collector_FastSet; typedef std::set*> Collector_MyFactorPosePoint2; static Collector_MyFactorPosePoint2 collector_MyFactorPosePoint2; @@ -101,6 +103,12 @@ void _deleteAllObjects() collector_TemplatedConstructor.erase(iter++); anyDeleted = true; } } + { for(Collector_FastSet::iterator iter = collector_FastSet.begin(); + iter != collector_FastSet.end(); ) { + delete *iter; + collector_FastSet.erase(iter++); + anyDeleted = true; + } } { for(Collector_MyFactorPosePoint2::iterator iter = collector_MyFactorPosePoint2.begin(); iter != collector_MyFactorPosePoint2.end(); ) { delete *iter; @@ -844,7 +852,40 @@ void TemplatedConstructor_deconstructor_72(int nargout, mxArray *out[], int narg delete self; } -void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void FastSet_collectorInsertAndMakeBase_73(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef std::shared_ptr Shared; + + Shared *self = *reinterpret_cast (mxGetData(in[0])); + collector_FastSet.insert(self); +} + +void FastSet_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + mexAtExit(&_deleteAllObjects); + typedef std::shared_ptr Shared; + + Shared *self = new Shared(new FastSet()); + collector_FastSet.insert(self); + out[0] = mxCreateNumericMatrix(1, 1, mxUINT32OR64_CLASS, mxREAL); + *reinterpret_cast (mxGetData(out[0])) = self; +} + +void FastSet_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +{ + typedef std::shared_ptr Shared; + checkArguments("delete_FastSet",nargout,nargin,1); + Shared *self = *reinterpret_cast(mxGetData(in[0])); + Collector_FastSet::iterator item; + item = collector_FastSet.find(self); + if(item != collector_FastSet.end()) { + collector_FastSet.erase(item); + } + delete self; +} + +void MyFactorPosePoint2_collectorInsertAndMakeBase_76(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef std::shared_ptr> Shared; @@ -853,7 +894,7 @@ void MyFactorPosePoint2_collectorInsertAndMakeBase_73(int nargout, mxArray *out[ collector_MyFactorPosePoint2.insert(self); } -void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void MyFactorPosePoint2_constructor_77(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { mexAtExit(&_deleteAllObjects); typedef std::shared_ptr> Shared; @@ -868,7 +909,7 @@ void MyFactorPosePoint2_constructor_74(int nargout, mxArray *out[], int nargin, *reinterpret_cast (mxGetData(out[0])) = self; } -void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void MyFactorPosePoint2_deconstructor_78(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { typedef std::shared_ptr> Shared; checkArguments("delete_MyFactorPosePoint2",nargout,nargin,1); @@ -881,7 +922,7 @@ void MyFactorPosePoint2_deconstructor_75(int nargout, mxArray *out[], int nargin delete self; } -void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void MyFactorPosePoint2_print_79(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,2); auto obj = unwrap_shared_ptr>(in[0], "ptr_MyFactorPosePoint2"); @@ -890,7 +931,7 @@ void MyFactorPosePoint2_print_76(int nargout, mxArray *out[], int nargin, const obj->print(s,keyFormatter); } -void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void MyFactorPosePoint2_print_80(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,1); auto obj = unwrap_shared_ptr>(in[0], "ptr_MyFactorPosePoint2"); @@ -898,7 +939,7 @@ void MyFactorPosePoint2_print_77(int nargout, mxArray *out[], int nargin, const obj->print(s,gtsam::DefaultKeyFormatter); } -void MyFactorPosePoint2_print_78(int nargout, mxArray *out[], int nargin, const mxArray *in[]) +void MyFactorPosePoint2_print_81(int nargout, mxArray *out[], int nargin, const mxArray *in[]) { checkArguments("print",nargout,nargin-1,0); auto obj = unwrap_shared_ptr>(in[0], "ptr_MyFactorPosePoint2"); @@ -1137,22 +1178,31 @@ void mexFunction(int nargout, mxArray *out[], int nargin, const mxArray *in[]) TemplatedConstructor_deconstructor_72(nargout, out, nargin-1, in+1); break; case 73: - MyFactorPosePoint2_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1); + FastSet_collectorInsertAndMakeBase_73(nargout, out, nargin-1, in+1); break; case 74: - MyFactorPosePoint2_constructor_74(nargout, out, nargin-1, in+1); + FastSet_constructor_74(nargout, out, nargin-1, in+1); break; case 75: - MyFactorPosePoint2_deconstructor_75(nargout, out, nargin-1, in+1); + FastSet_deconstructor_75(nargout, out, nargin-1, in+1); break; case 76: - MyFactorPosePoint2_print_76(nargout, out, nargin-1, in+1); + MyFactorPosePoint2_collectorInsertAndMakeBase_76(nargout, out, nargin-1, in+1); break; case 77: - MyFactorPosePoint2_print_77(nargout, out, nargin-1, in+1); + MyFactorPosePoint2_constructor_77(nargout, out, nargin-1, in+1); break; case 78: - MyFactorPosePoint2_print_78(nargout, out, nargin-1, in+1); + MyFactorPosePoint2_deconstructor_78(nargout, out, nargin-1, in+1); + break; + case 79: + MyFactorPosePoint2_print_79(nargout, out, nargin-1, in+1); + break; + case 80: + MyFactorPosePoint2_print_80(nargout, out, nargin-1, in+1); + break; + case 81: + MyFactorPosePoint2_print_81(nargout, out, nargin-1, in+1); break; } } catch(const std::exception& e) { diff --git a/tests/expected/python/class_pybind.cpp b/tests/expected/python/class_pybind.cpp index 86d69c2e0e..2292f46be0 100644 --- a/tests/expected/python/class_pybind.cpp +++ b/tests/expected/python/class_pybind.cpp @@ -91,6 +91,12 @@ PYBIND11_MODULE(class_py, m_) { .def(py::init(), py::arg("arg")) .def(py::init(), py::arg("arg")); + py::class_>(m_, "FastSet") + .def(py::init<>()) + .def("__len__",[](FastSet* self){return std::distance(self->begin(), self->end());}) + .def("__contains__",[](FastSet* self, size_t key){return std::find(self->begin(), self->end(), key) != self->end();}, py::arg("key")) + .def("__iter__",[](FastSet* self){return py::make_iterator(self->begin(), self->end());}); + py::class_, std::shared_ptr>>(m_, "MyFactorPosePoint2") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("measured"), py::arg("noiseModel")) .def("print",[](MyFactor* self, const string& s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) diff --git a/tests/fixtures/class.i b/tests/fixtures/class.i index 766f55329a..775bbc737c 100644 --- a/tests/fixtures/class.i +++ b/tests/fixtures/class.i @@ -145,3 +145,12 @@ class TemplatedConstructor { class SuperCoolFactor; typedef SuperCoolFactor SuperCoolFactorPose3; + +/// @brief class with dunder methods for container behavior +class FastSet { + FastSet(); + + __len__(); + __contains__(size_t key); + __iter__(); +}; \ No newline at end of file diff --git a/tests/test_interface_parser.py b/tests/test_interface_parser.py index 45415995fe..2a923b3c5f 100644 --- a/tests/test_interface_parser.py +++ b/tests/test_interface_parser.py @@ -18,11 +18,12 @@ sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -from gtwrap.interface_parser import (ArgumentList, Class, Constructor, Enum, - Enumerator, ForwardDeclaration, - GlobalFunction, Include, Method, Module, - Namespace, Operator, ReturnType, - StaticMethod, TemplatedType, Type, +from gtwrap.interface_parser import (ArgumentList, Class, Constructor, + DunderMethod, Enum, Enumerator, + ForwardDeclaration, GlobalFunction, + Include, Method, Module, Namespace, + Operator, ReturnType, StaticMethod, + TemplatedType, Type, TypedefTemplateInstantiation, Typename, Variable) from gtwrap.template_instantiator.classes import InstantiatedClass @@ -344,6 +345,17 @@ def test_constructor_templated(self): self.assertEqual(1, len(ret.args)) self.assertEqual("const T & name", ret.args.args_list[0].to_cpp()) + def test_dunder_method(self): + """Test for special python dunder methods.""" + iter_string = "__iter__();" + ret = DunderMethod.rule.parse_string(iter_string)[0] + self.assertEqual("iter", ret.name) + + contains_string = "__contains__(size_t key);" + ret = DunderMethod.rule.parse_string(contains_string)[0] + self.assertEqual("contains", ret.name) + self.assertTrue(len(ret.args) == 1) + def test_operator_overload(self): """Test for operator overloading.""" # Unary operator From f4ea5511535b21b203d9c540bceb4d2c0c80145c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jan 2024 15:17:16 -0500 Subject: [PATCH 2/5] add dunder methods to interface file --- gtsam/gtsam.i | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 834d5a1476..9cead2a1c3 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -39,6 +39,11 @@ class KeyList { void remove(size_t key); void serialize() const; + + // Specual dunder methods for Python wrapping + __len__(); + __contains__(size_t key); + __iter__(); }; // Actually a FastSet @@ -64,6 +69,11 @@ class KeySet { bool count(size_t key) const; // returns true if value exists void serialize() const; + + // Specual dunder methods for Python wrapping + __len__(); + __contains__(size_t key); + __iter__(); }; // Actually a vector, needed for Matlab @@ -85,6 +95,11 @@ class KeyVector { void push_back(size_t key) const; void serialize() const; + + // Specual dunder methods for Python wrapping + __len__(); + __contains__(size_t key); + __iter__(); }; // Actually a FastMap From b2e4fa2112397f5120e113e90670dea6c84d6d07 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jan 2024 15:17:26 -0500 Subject: [PATCH 3/5] tests for dunder methods --- python/gtsam/tests/test_Utilities.py | 36 +++++++++++++++++++++++++++- 1 file changed, 35 insertions(+), 1 deletion(-) diff --git a/python/gtsam/tests/test_Utilities.py b/python/gtsam/tests/test_Utilities.py index 851684f124..3dd472c75e 100644 --- a/python/gtsam/tests/test_Utilities.py +++ b/python/gtsam/tests/test_Utilities.py @@ -12,13 +12,14 @@ import unittest import numpy as np +from gtsam.utils.test_case import GtsamTestCase import gtsam -from gtsam.utils.test_case import GtsamTestCase class TestUtilites(GtsamTestCase): """Test various GTSAM utilities.""" + def test_createKeyList(self): """Test createKeyList.""" I = [0, 1, 2] @@ -28,6 +29,17 @@ def test_createKeyList(self): kl = gtsam.utilities.createKeyList("s", I) self.assertEqual(kl.size(), 3) + def test_KeyList_iteration(self): + """Tests for KeyList iteration""" + I = [0, 1, 2] + kl = gtsam.utilities.createKeyList(I) + + self.assertEqual(len(kl), len(I)) + + for i, key in enumerate(kl): + self.assertTrue(key in kl) + self.assertEqual(I[i], key) + def test_createKeyVector(self): """Test createKeyVector.""" I = [0, 1, 2] @@ -37,6 +49,17 @@ def test_createKeyVector(self): kl = gtsam.utilities.createKeyVector("s", I) self.assertEqual(len(kl), 3) + def test_KeyVector_iteration(self): + """Tests for KeyVector iteration""" + I = [0, 1, 2] + kv = gtsam.utilities.createKeyVector(I) + + self.assertEqual(len(kv), len(I)) + + for i, key in enumerate(kv): + self.assertTrue(key in kv) + self.assertEqual(I[i], key) + def test_createKeySet(self): """Test createKeySet.""" I = [0, 1, 2] @@ -46,6 +69,17 @@ def test_createKeySet(self): kl = gtsam.utilities.createKeySet("s", I) self.assertEqual(kl.size(), 3) + def test_KeySet_iteration(self): + """Tests for KeySet iteration""" + I = [0, 1, 2] + ks = gtsam.utilities.createKeySet(I) + + self.assertEqual(len(ks), len(I)) + + for i, key in enumerate(ks): + self.assertTrue(key in ks) + self.assertEqual(I[i], key) + def test_extractPoint2(self): """Test extractPoint2.""" initial = gtsam.Values() From 1979f027d5994893e952906e8e2d80428cac90a1 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jan 2024 15:46:01 -0500 Subject: [PATCH 4/5] fix comment typo --- gtsam/gtsam.i | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i index 9cead2a1c3..6d77e8eda0 100644 --- a/gtsam/gtsam.i +++ b/gtsam/gtsam.i @@ -40,7 +40,7 @@ class KeyList { void serialize() const; - // Specual dunder methods for Python wrapping + // Special dunder methods for Python wrapping __len__(); __contains__(size_t key); __iter__(); @@ -70,7 +70,7 @@ class KeySet { void serialize() const; - // Specual dunder methods for Python wrapping + // Special dunder methods for Python wrapping __len__(); __contains__(size_t key); __iter__(); @@ -96,7 +96,7 @@ class KeyVector { void serialize() const; - // Specual dunder methods for Python wrapping + // Special dunder methods for Python wrapping __len__(); __contains__(size_t key); __iter__(); From 6cc16a3943f48992c0090e9ebe88f8c13ac7407c Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Tue, 16 Jan 2024 19:32:20 -0500 Subject: [PATCH 5/5] delete cephes_names.h to remove collisions --- gtsam/3rdparty/cephes/CMakeLists.txt | 1 - gtsam/3rdparty/cephes/cephes.h | 1 - gtsam/3rdparty/cephes/cephes/cephes_names.h | 114 -------------------- gtsam/3rdparty/cephes/cephes/mconf.h | 1 - 4 files changed, 117 deletions(-) delete mode 100644 gtsam/3rdparty/cephes/cephes/cephes_names.h diff --git a/gtsam/3rdparty/cephes/CMakeLists.txt b/gtsam/3rdparty/cephes/CMakeLists.txt index 9464481602..5940d39d2d 100644 --- a/gtsam/3rdparty/cephes/CMakeLists.txt +++ b/gtsam/3rdparty/cephes/CMakeLists.txt @@ -8,7 +8,6 @@ project( set(CEPHES_HEADER_FILES cephes.h - cephes/cephes_names.h cephes/dd_idefs.h cephes/dd_real.h cephes/dd_real_idefs.h diff --git a/gtsam/3rdparty/cephes/cephes.h b/gtsam/3rdparty/cephes/cephes.h index d5b59d895a..ed53e521bb 100644 --- a/gtsam/3rdparty/cephes/cephes.h +++ b/gtsam/3rdparty/cephes/cephes.h @@ -1,7 +1,6 @@ #ifndef CEPHES_H #define CEPHES_H -#include "cephes/cephes_names.h" #include "dllexport.h" #ifdef __cplusplus diff --git a/gtsam/3rdparty/cephes/cephes/cephes_names.h b/gtsam/3rdparty/cephes/cephes/cephes_names.h deleted file mode 100644 index 94be8c880a..0000000000 --- a/gtsam/3rdparty/cephes/cephes/cephes_names.h +++ /dev/null @@ -1,114 +0,0 @@ -#ifndef CEPHES_NAMES_H -#define CEPHES_NAMES_H - -#define airy cephes_airy -#define bdtrc cephes_bdtrc -#define bdtr cephes_bdtr -#define bdtri cephes_bdtri -#define besselpoly cephes_besselpoly -#define beta cephes_beta -#define lbeta cephes_lbeta -#define btdtr cephes_btdtr -#define cbrt cephes_cbrt -#define chdtrc cephes_chdtrc -#define chbevl cephes_chbevl -#define chdtr cephes_chdtr -#define chdtri cephes_chdtri -#define dawsn cephes_dawsn -#define ellie cephes_ellie -#define ellik cephes_ellik -#define ellpe cephes_ellpe -#define ellpj cephes_ellpj -#define ellpk cephes_ellpk -#define exp10 cephes_exp10 -#define exp2 cephes_exp2 -#define expn cephes_expn -#define fdtrc cephes_fdtrc -#define fdtr cephes_fdtr -#define fdtri cephes_fdtri -#define fresnl cephes_fresnl -#define Gamma cephes_Gamma -#define lgam cephes_lgam -#define lgam_sgn cephes_lgam_sgn -#define gammasgn cephes_gammasgn -#define gdtr cephes_gdtr -#define gdtrc cephes_gdtrc -#define gdtri cephes_gdtri -#define hyp2f1 cephes_hyp2f1 -#define hyperg cephes_hyperg -#define i0 cephes_i0 -#define i0e cephes_i0e -#define i1 cephes_i1 -#define i1e cephes_i1e -#define igamc cephes_igamc -#define igam cephes_igam -#define igami cephes_igami -#define incbet cephes_incbet -#define incbi cephes_incbi -#define iv cephes_iv -#define j0 cephes_j0 -#define y0 cephes_y0 -#define j1 cephes_j1 -#define y1 cephes_y1 -#define jn cephes_jn -#define jv cephes_jv -#define k0 cephes_k0 -#define k0e cephes_k0e -#define k1 cephes_k1 -#define k1e cephes_k1e -#define kn cephes_kn -#define nbdtrc cephes_nbdtrc -#define nbdtr cephes_nbdtr -#define nbdtri cephes_nbdtri -#define ndtr cephes_ndtr -#define erfc cephes_erfc -#define erf cephes_erf -#define erfinv cephes_erfinv -#define erfcinv cephes_erfcinv -#define ndtri cephes_ndtri -#define pdtrc cephes_pdtrc -#define pdtr cephes_pdtr -#define pdtri cephes_pdtri -#define poch cephes_poch -#define psi cephes_psi -#define rgamma cephes_rgamma -#define riemann_zeta cephes_riemann_zeta -// #define round cephes_round // Commented out since it clashes with std::round -#define shichi cephes_shichi -#define sici cephes_sici -#define radian cephes_radian -#define sindg cephes_sindg -#define sinpi cephes_sinpi -#define cosdg cephes_cosdg -#define cospi cephes_cospi -#define sincos cephes_sincos -#define spence cephes_spence -#define stdtr cephes_stdtr -#define stdtri cephes_stdtri -#define struve_h cephes_struve_h -#define struve_l cephes_struve_l -#define struve_power_series cephes_struve_power_series -#define struve_asymp_large_z cephes_struve_asymp_large_z -#define struve_bessel_series cephes_struve_bessel_series -#define yv cephes_yv -#define tandg cephes_tandg -#define cotdg cephes_cotdg -#define log1p cephes_log1p -#define expm1 cephes_expm1 -#define cosm1 cephes_cosm1 -#define yn cephes_yn -#define zeta cephes_zeta -#define zetac cephes_zetac -#define smirnov cephes_smirnov -#define smirnovc cephes_smirnovc -#define smirnovi cephes_smirnovi -#define smirnovci cephes_smirnovci -#define smirnovp cephes_smirnovp -#define kolmogorov cephes_kolmogorov -#define kolmogi cephes_kolmogi -#define kolmogp cephes_kolmogp -#define kolmogc cephes_kolmogc -#define kolmogci cephes_kolmogci -#define owens_t cephes_owens_t - -#endif diff --git a/gtsam/3rdparty/cephes/cephes/mconf.h b/gtsam/3rdparty/cephes/cephes/mconf.h index c59d17a470..5e971afadf 100644 --- a/gtsam/3rdparty/cephes/cephes/mconf.h +++ b/gtsam/3rdparty/cephes/cephes/mconf.h @@ -56,7 +56,6 @@ #include #include -#include "cephes_names.h" #include "cephes.h" #include "polevl.h" #include "sf_error.h"