Wrapper Update

gtsam/geometry/geometry.i

@@ -1123,7 +1123,7 @@ class StereoCamera {
 #include <gtsam/geometry/triangulation.h>
 class TriangulationResult {
   enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
-  Status status;
+  gtsam::TriangulationResult::Status status;
   TriangulationResult(const gtsam::Point3& p);
   const gtsam::Point3& get() const;
   static gtsam::TriangulationResult Degenerate();
@@ -1142,7 +1142,7 @@ class TriangulationParameters {
   bool enableEPI;
   double landmarkDistanceThreshold;
   double dynamicOutlierRejectionThreshold;
-  SharedNoiseModel noiseModel;
+  gtsam::SharedNoiseModel noiseModel;
   TriangulationParameters(const double rankTolerance = 1.0,
                           const bool enableEPI = false,
                           double landmarkDistanceThreshold = -1,

gtsam/inference/inference.i

@@ -168,7 +168,7 @@ class DotWriter {
 
   std::map<gtsam::Key, gtsam::Vector2> variablePositions;
   std::map<char, double> positionHints;
-  std::set<Key> boxes;
+  std::set<gtsam::Key> boxes;
   std::map<size_t, gtsam::Vector2> factorPositions;
 };
 

gtsam/nonlinear/nonlinear.i

@@ -32,8 +32,8 @@ class GraphvizFormatting : gtsam::DotWriter {
   GraphvizFormatting();
 
   enum Axis { X, Y, Z, NEGX, NEGY, NEGZ };
-  Axis paperHorizontalAxis;
-  Axis paperVerticalAxis;
+  gtsam::GraphvizFormatting::Axis paperHorizontalAxis;
+  gtsam::GraphvizFormatting::Axis paperVerticalAxis;
 
   double scale;
   bool mergeSimilarFactors;
@@ -522,13 +522,13 @@ template<PARAMS>
 virtual class GncParams {
   GncParams(const PARAMS& baseOptimizerParams);
   GncParams();
-  BaseOptimizerParameters baseOptimizerParams;
+  PARAMS baseOptimizerParams;
   gtsam::GncLossType lossType;
   size_t maxIterations;
   double muStep;
   double relativeCostTol;
   double weightsTol;
-  Verbosity verbosity;
+  gtsam::This::Verbosity verbosity;
   gtsam::KeyVector knownInliers;
   gtsam::KeyVector knownOutliers;
 
@@ -680,7 +680,7 @@ class ISAM2Params {
   bool findUnusedFactorSlots;
 
   enum Factorization { CHOLESKY, QR };
-  Factorization factorization;
+  gtsam::ISAM2Params::Factorization factorization;
 };
 
 class ISAM2Clique {

matlab/gtsam_tests/testProperties.m

@@ -0,0 +1,12 @@
+% test property reading and writing
+import gtsam.*;
+
+isamParams = ISAM2Params;
+
+isamParams.relinearizeSkip = 123;
+EXPECT('isamParams.relinearizeSkip',isamParams.relinearizeSkip==123);
+
+isamParams.enableRelinearization = false;
+EXPECT('isamParams.enableRelinearization_false',isamParams.enableRelinearization==false);
+isamParams.enableRelinearization = true;
+EXPECT('isamParams.enableRelinearization_true',isamParams.enableRelinearization==true);

matlab/gtsam_tests/test_gtsam.m

@@ -44,6 +44,9 @@
 display 'Starting: testVisualISAMExample'
 testVisualISAMExample
 
+display 'Starting: testProperties'
+testProperties
+
 %% MATLAB specific
 display 'Starting: testUtilities'
 testUtilities

wrap/DOCS.md

@@ -50,6 +50,32 @@ The python wrapper supports keyword arguments for functions/methods. Hence, the
     ```
 
     - Class variables are read-write so they can be updated directly in Python.
+    - For the Matlab wrapper, specifying the full property type (including namespaces) is required.
+
+    ```cpp
+    class TriangulationResult {
+      gtsam::SharedNoiseModel noiseModel;
+    };
+    ```
+
+    - If the property is part of an enum within the class, the type should be specified as `gtsam::Class::Enum`. Similarly for templated types where `This` is used, e.g. `gtsam::This::Enum`.
+
+    ```cpp
+    class TriangulationResult {
+      enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
+      gtsam::TriangulationResult::Status status;
+    };
+
+    template<PARAMS>
+    virtual class GncParams {
+      enum Verbosity {
+        SILENT,
+        SUMMARY,
+        VALUES
+      };
+      gtsam::This::Verbosity verbosity;
+    };
+    ```
 
 - Operator Overloading (Python only)
     - You can overload operators just like in C++.

wrap/gtwrap/interface_parser/classes.py

@@ -299,7 +299,7 @@ def __init__(
             # If the base class is a TemplatedType,
             # we want the instantiated Typename
             if isinstance(parent_class, TemplatedType):
-                parent_class = parent_class.typename  # type: ignore
+                pass  # Note: this must get handled in InstantiatedClass
 
             self.parent_class = parent_class
         else: