Merging 'master' into 'wrap'

Author: varunagrawal

wrap/.github/workflows/linux-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/.github/workflows/macos-ci.yml

@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.5, 3.6, 3.7, 3.8, 3.9]
+        python-version: [3.6, 3.7, 3.8, 3.9]
 
     steps:
       - name: Checkout

wrap/.gitignore

@@ -8,4 +8,4 @@ __pycache__/
 # Files related to code coverage stats
 **/.coverage
 
-gtwrap/matlab_wrapper.tpl
+gtwrap/matlab_wrapper/matlab_wrapper.tpl

wrap/CMakeLists.txt

@@ -58,7 +58,7 @@ if(NOT DEFINED GTWRAP_INCLUDE_NAME)
 endif()
 
 configure_file(${PROJECT_SOURCE_DIR}/templates/matlab_wrapper.tpl.in
-               ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper.tpl)
+               ${PROJECT_SOURCE_DIR}/gtwrap/matlab_wrapper/matlab_wrapper.tpl)
 
 # Install the gtwrap python package as a directory so it can be found  by CMake
 # for wrapping.

wrap/DOCS.md

@@ -192,12 +192,14 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
 
    - **DO NOT** re-define an overriden function already declared in the external (forward-declared) base class. This will cause an ambiguity problem in the Pybind header file.
 
+- Splitting wrapper over multiple files
+    - The Pybind11 wrapper supports splitting the wrapping code over multiple files.
+    - To be able to use classes from another module, simply import the C++ header file in that wrapper file.
+    - Unfortunately, this means that aliases can no longer be used.
+    - Similarly, there can be multiple `preamble.h` and `specializations.h` files. Each of these should match the module file name.
 
 ### TODO
-- Default values for arguments.
-    - WORKAROUND: make multiple versions of the same function for different configurations of default arguments.
 - Handle `gtsam::Rot3M` conversions to quaternions.
 - Parse return of const ref arguments.
 - Parse `std::string` variants and convert directly to special string.
-- Add enum support.
 - Add generalized serialization support via `boost.serialization` with hooks to MATLAB save/load.

wrap/README.md

@@ -29,8 +29,10 @@ Using `wrap` in your project is straightforward from here. In your `CMakeLists.t
 ```cmake
 find_package(gtwrap)
 
+set(interface_files ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h)
+
 pybind_wrap(${PROJECT_NAME}_py # target
-            ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h # interface header file
+            "${interface_files}" # list of interface header files
             "${PROJECT_NAME}.cpp" # the generated cpp
             "${PROJECT_NAME}" # module_name
             "${PROJECT_MODULE_NAME}" # top namespace in the cpp file e.g. gtsam

wrap/gtwrap/interface_parser/__init__.py

@@ -12,7 +12,7 @@
 
 import sys
 
-import pyparsing
+import pyparsing  # type: ignore
 
 from .classes import *
 from .declaration import *

wrap/gtwrap/interface_parser/classes.py

@@ -12,7 +12,7 @@
 
 from typing import Iterable, List, Union
 
-from pyparsing import Literal, Optional, ZeroOrMore
+from pyparsing import Literal, Optional, ZeroOrMore  # type: ignore
 
 from .enum import Enum
 from .function import ArgumentList, ReturnType
@@ -233,7 +233,7 @@ def __init__(self,
             self.static_methods = []
             self.properties = []
             self.operators = []
-            self.enums = []
+            self.enums: List[Enum] = []
             for m in members:
                 if isinstance(m, Constructor):
                     self.ctors.append(m)
@@ -274,7 +274,7 @@ def __init__(self,
 
     def __init__(
         self,
-        template: Template,
+        template: Union[Template, None],
         is_virtual: str,
         name: str,
         parent_class: list,
@@ -292,16 +292,16 @@ def __init__(
         if parent_class:
             # If it is in an iterable, extract the parent class.
             if isinstance(parent_class, Iterable):
-                parent_class = parent_class[0]
+                parent_class = parent_class[0]  # type: ignore
 
             # If the base class is a TemplatedType,
             # we want the instantiated Typename
             if isinstance(parent_class, TemplatedType):
-                parent_class = parent_class.typename
+                parent_class = parent_class.typename  # type: ignore
 
             self.parent_class = parent_class
         else:
-            self.parent_class = ''
+            self.parent_class = ''  # type: ignore
 
         self.ctors = ctors
         self.methods = methods

wrap/gtwrap/interface_parser/declaration.py

@@ -10,7 +10,7 @@
 Author: Duy Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal, and Frank Dellaert
 """
 
-from pyparsing import CharsNotIn, Optional
+from pyparsing import CharsNotIn, Optional  # type: ignore
 
 from .tokens import (CLASS, COLON, INCLUDE, LOPBRACK, ROPBRACK, SEMI_COLON,
                      VIRTUAL)

wrap/gtwrap/interface_parser/enum.py

@@ -10,7 +10,7 @@
 Author: Varun Agrawal
 """
 
-from pyparsing import delimitedList
+from pyparsing import delimitedList  # type: ignore
 
 from .tokens import ENUM, IDENT, LBRACE, RBRACE, SEMI_COLON
 from .type import Typename