Fix Matlab Wrapper

INSTALL.md

@@ -13,7 +13,7 @@ $ make install
 ## Important Installation Notes
 
 1. GTSAM requires the following libraries to be installed on your system:
-    - BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes).
+    - BOOST version 1.65 or greater (install through Linux repositories or MacPorts). Please see [Boost Notes](#boost-notes) for version recommendations based on your compiler.
 
     - Cmake version 3.0 or higher
     - Support for XCode 4.3 command line tools on Mac requires CMake 2.8.8 or higher
@@ -72,7 +72,7 @@ execute commands as follows for an out-of-source build:
 Versions of Boost prior to 1.65 have a known bug that prevents proper "deep" serialization of objects, which means that objects encapsulated inside other objects don't get serialized.
 This is particularly seen when using `clang` as the C++ compiler.
 
-For this reason we require Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
+For this reason we recommend Boost>=1.65, and recommend installing it through alternative channels when it is not available through your operating system's primary package manager.
 
 ## Known Issues
 

gtsam/nonlinear/LevenbergMarquardtParams.h

@@ -35,7 +35,7 @@ class LevenbergMarquardtOptimizer;
 class GTSAM_EXPORT LevenbergMarquardtParams: public NonlinearOptimizerParams {
 
 public:
-  /** See LevenbergMarquardtParams::lmVerbosity */
+  /** See LevenbergMarquardtParams::verbosityLM */
   enum VerbosityLM {
     SILENT = 0, SUMMARY, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA
   };

matlab/CMakeLists.txt

@@ -92,8 +92,8 @@ if(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
   endif()
 
   # Wrap
-  matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam" ""
-              "${mexFlags}" "${ignore}")
+  matlab_wrap(${GTSAM_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i "gtsam_unstable"
+              "${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}" "${ignore}")
 endif(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX)
 
 # Record the root dir for gtsam - needed during external builds, e.g., ROS

wrap/gtwrap/pybind_wrapper.py

@@ -412,15 +412,15 @@ def wrap_instantiated_class(
 
     def wrap_instantiated_declaration(
             self, instantiated_decl: instantiator.InstantiatedDeclaration):
-        """Wrap the class."""
+        """Wrap the forward declaration."""
         module_var = self._gen_module_var(instantiated_decl.namespaces())
         cpp_class = instantiated_decl.to_cpp()
         if cpp_class in self.ignore_classes:
             return ""
 
         res = (
             '\n    py::class_<{cpp_class}, '
-            '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}")'
+            '{shared_ptr_type}::shared_ptr<{cpp_class}>>({module_var}, "{class_name}");'
         ).format(shared_ptr_type=('boost' if self.use_boost else 'std'),
                  cpp_class=cpp_class,
                  class_name=instantiated_decl.name,

wrap/matlab.h

@@ -37,15 +37,16 @@ extern "C" {
 #include <mex.h>
 }
 
-#include <boost/shared_ptr.hpp>
+#include <boost/cstdint.hpp>
 #include <boost/make_shared.hpp>
+#include <boost/shared_ptr.hpp>
 
 #include <list>
-#include <string>
-#include <sstream>
-#include <typeinfo>
 #include <set>
+#include <sstream>
 #include <streambuf>
+#include <string>
+#include <typeinfo>
 
 using namespace std;
 using namespace boost; // not usual, but for conciseness of generated code

wrap/tests/expected/python/class_pybind.cpp

@@ -105,7 +105,7 @@ PYBIND11_MODULE(class_py, m_) {
                         return redirect.str();
                     }, py::arg("s") = "factor: ", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter);
 
-    py::class_<SuperCoolFactor<gtsam::Pose3>, std::shared_ptr<SuperCoolFactor<gtsam::Pose3>>>(m_, "SuperCoolFactorPose3")
+    py::class_<SuperCoolFactor<gtsam::Pose3>, std::shared_ptr<SuperCoolFactor<gtsam::Pose3>>>(m_, "SuperCoolFactorPose3");
 
 #include "python/specializations.h"
 

wrap/tests/fixtures/inheritance.i

@@ -1,6 +1,5 @@
 // A base class
 virtual class MyBase {
-
 };
 
 // A templated class