├── .github └── workflows │ ├── linux-ci.yml │ └── macos-ci.yml ├── .gitignore ├── CMakeLists.txt ├── DOCS.md ├── LICENSE ├── README.md ├── cmake ├── GtwrapUtils.cmake ├── MatlabWrap.cmake ├── PybindWrap.cmake └── gtwrapConfig.cmake.in ├── docs ├── doc_template.py ├── docs.py └── parser │ ├── doxygen.conf │ ├── parse_doxygen_xml.py │ └── parse_xml.py ├── gtwrap ├── __init__.py ├── interface_parser │ ├── __init__.py │ ├── classes.py │ ├── declaration.py │ ├── enum.py │ ├── function.py │ ├── module.py │ ├── namespace.py │ ├── template.py │ ├── tokens.py │ ├── type.py │ ├── utils.py │ └── variable.py ├── matlab_wrapper │ ├── __init__.py │ ├── mixins.py │ ├── templates.py │ └── wrapper.py ├── pybind_wrapper.py ├── template_instantiator │ ├── __init__.py │ ├── classes.py │ ├── constructor.py │ ├── declaration.py │ ├── function.py │ ├── helpers.py │ ├── method.py │ └── namespace.py └── xml_parser │ ├── __init__.py │ └── xml_parser.py ├── matlab.h ├── pybind11 ├── .appveyor.yml ├── .clang-format ├── .clang-tidy ├── .cmake-format.yaml ├── .codespell-ignore-lines ├── .gitattributes ├── .github │ ├── CODEOWNERS │ ├── CONTRIBUTING.md │ ├── ISSUE_TEMPLATE │ │ ├── bug-report.yml │ │ └── config.yml │ ├── dependabot.yml │ ├── labeler.yml │ ├── labeler_merged.yml │ ├── matchers │ │ └── pylint.json │ ├── pull_request_template.md │ └── workflows │ │ ├── ci.yml │ │ ├── configure.yml │ │ ├── docs-link.yml │ │ ├── format.yml │ │ ├── labeler.yml │ │ ├── nightlies.yml │ │ ├── pip.yml │ │ ├── reusable-standard.yml │ │ ├── tests-cibw.yml │ │ └── upstream.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yml ├── CMakeLists.txt ├── CMakePresets.json ├── LICENSE ├── README.rst ├── SECURITY.md ├── docs │ ├── Doxyfile │ ├── Makefile │ ├── _static │ │ └── css │ │ │ └── custom.css │ ├── advanced │ │ ├── cast │ │ │ ├── chrono.rst │ │ │ ├── custom.rst │ │ │ ├── eigen.rst │ │ │ ├── functional.rst │ │ │ ├── index.rst │ │ │ ├── overview.rst │ │ │ ├── stl.rst │ │ │ └── strings.rst │ │ ├── classes.rst │ │ ├── deadlock.md │ │ ├── deprecated.rst │ │ ├── embedding.rst │ │ ├── exceptions.rst │ │ ├── functions.rst │ │ ├── misc.rst │ │ ├── pycpp │ │ │ ├── index.rst │ │ │ ├── numpy.rst │ │ │ ├── object.rst │ │ │ └── utilities.rst │ │ └── smart_ptrs.rst │ ├── basics.rst │ ├── benchmark.py │ ├── benchmark.rst │ ├── changelog.md │ ├── classes.rst │ ├── cmake │ │ └── index.rst │ ├── compiling.rst │ ├── conf.py │ ├── faq.rst │ ├── index.rst │ ├── installing.rst │ ├── limitations.rst │ ├── pybind11-logo.png │ ├── pybind11_vs_boost_python1.png │ ├── pybind11_vs_boost_python1.svg │ ├── pybind11_vs_boost_python2.png │ ├── pybind11_vs_boost_python2.svg │ ├── reference.rst │ ├── release.rst │ ├── requirements.in │ ├── requirements.txt │ └── upgrade.rst ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── conduit │ │ ├── README.txt │ │ ├── pybind11_conduit_v1.h │ │ ├── pybind11_platform_abi_id.h │ │ └── wrap_include_python_h.h │ │ ├── critical_section.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── cpp_conduit.h │ │ ├── descr.h │ │ ├── dynamic_raw_ptr_cast_if_possible.h │ │ ├── exception_translation.h │ │ ├── function_record_pyobject.h │ │ ├── init.h │ │ ├── internals.h │ │ ├── native_enum_data.h │ │ ├── pybind11_namespace_macros.h │ │ ├── struct_smart_holder.h │ │ ├── type_caster_base.h │ │ ├── typeid.h │ │ ├── using_smart_holder.h │ │ └── value_and_holder.h │ │ ├── eigen.h │ │ ├── eigen │ │ ├── common.h │ │ ├── matrix.h │ │ └── tensor.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── gil.h │ │ ├── gil_safe_call_once.h │ │ ├── gil_simple.h │ │ ├── iostream.h │ │ ├── native_enum.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ ├── stl │ │ └── filesystem.h │ │ ├── stl_bind.h │ │ ├── subinterpreter.h │ │ ├── trampoline_self_life_support.h │ │ ├── type_caster_pyobject_ptr.h │ │ ├── typing.h │ │ └── warnings.h ├── noxfile.py ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ ├── _version.py │ ├── commands.py │ ├── py.typed │ └── setup_helpers.py ├── pyproject.toml ├── tests │ ├── CMakeLists.txt │ ├── conftest.py │ ├── constructor_stats.h │ ├── cross_module_gil_utils.cpp │ ├── cross_module_interleaved_error_already_set.cpp │ ├── custom_exceptions.py │ ├── eigen_tensor_avoid_stl_array.cpp │ ├── env.py │ ├── exo_planet_c_api.cpp │ ├── exo_planet_pybind11.cpp │ ├── extra_python_package │ │ ├── pytest.ini │ │ └── test_files.py │ ├── extra_setuptools │ │ ├── pytest.ini │ │ └── test_setuphelper.py │ ├── home_planet_very_lonely_traveler.cpp │ ├── local_bindings.h │ ├── mod_per_interpreter_gil.cpp │ ├── mod_shared_interpreter_gil.cpp │ ├── object.h │ ├── pure_cpp │ │ ├── CMakeLists.txt │ │ ├── smart_holder_poc.h │ │ └── smart_holder_poc_test.cpp │ ├── pybind11_cross_module_tests.cpp │ ├── pybind11_tests.cpp │ ├── pybind11_tests.h │ ├── pyproject.toml │ ├── pytest.ini │ ├── requirements.txt │ ├── test_async.cpp │ ├── test_async.py │ ├── test_buffers.cpp │ ├── test_buffers.py │ ├── test_builtin_casters.cpp │ ├── test_builtin_casters.py │ ├── test_call_policies.cpp │ ├── test_call_policies.py │ ├── test_callbacks.cpp │ ├── test_callbacks.py │ ├── test_chrono.cpp │ ├── test_chrono.py │ ├── test_class.cpp │ ├── test_class.py │ ├── test_class_release_gil_before_calling_cpp_dtor.cpp │ ├── test_class_release_gil_before_calling_cpp_dtor.py │ ├── test_class_sh_basic.cpp │ ├── test_class_sh_basic.py │ ├── test_class_sh_disowning.cpp │ ├── test_class_sh_disowning.py │ ├── test_class_sh_disowning_mi.cpp │ ├── test_class_sh_disowning_mi.py │ ├── test_class_sh_factory_constructors.cpp │ ├── test_class_sh_factory_constructors.py │ ├── test_class_sh_inheritance.cpp │ ├── test_class_sh_inheritance.py │ ├── test_class_sh_mi_thunks.cpp │ ├── test_class_sh_mi_thunks.py │ ├── test_class_sh_property.cpp │ ├── test_class_sh_property.py │ ├── test_class_sh_property_non_owning.cpp │ ├── test_class_sh_property_non_owning.py │ ├── test_class_sh_shared_ptr_copy_move.cpp │ ├── test_class_sh_shared_ptr_copy_move.py │ ├── test_class_sh_trampoline_basic.cpp │ ├── test_class_sh_trampoline_basic.py │ ├── test_class_sh_trampoline_self_life_support.cpp │ ├── test_class_sh_trampoline_self_life_support.py │ ├── test_class_sh_trampoline_shared_from_this.cpp │ ├── test_class_sh_trampoline_shared_from_this.py │ ├── test_class_sh_trampoline_shared_ptr_cpp_arg.cpp │ ├── test_class_sh_trampoline_shared_ptr_cpp_arg.py │ ├── test_class_sh_trampoline_unique_ptr.cpp │ ├── test_class_sh_trampoline_unique_ptr.py │ ├── test_class_sh_unique_ptr_custom_deleter.cpp │ ├── test_class_sh_unique_ptr_custom_deleter.py │ ├── test_class_sh_unique_ptr_member.cpp │ ├── test_class_sh_unique_ptr_member.py │ ├── test_class_sh_virtual_py_cpp_mix.cpp │ ├── test_class_sh_virtual_py_cpp_mix.py │ ├── test_cmake_build │ │ ├── CMakeLists.txt │ │ ├── embed.cpp │ │ ├── installed_embed │ │ │ └── CMakeLists.txt │ │ ├── installed_function │ │ │ └── CMakeLists.txt │ │ ├── installed_target │ │ │ └── CMakeLists.txt │ │ ├── main.cpp │ │ ├── subdirectory_embed │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_function │ │ │ └── CMakeLists.txt │ │ ├── subdirectory_target │ │ │ └── CMakeLists.txt │ │ └── test.py │ ├── test_const_name.cpp │ ├── test_const_name.py │ ├── test_constants_and_functions.cpp │ ├── test_constants_and_functions.py │ ├── test_copy_move.cpp │ ├── test_copy_move.py │ ├── test_cpp_conduit.cpp │ ├── test_cpp_conduit.py │ ├── test_cpp_conduit_traveler_bindings.h │ ├── test_cpp_conduit_traveler_types.h │ ├── test_cross_module_rtti │ │ ├── CMakeLists.txt │ │ ├── bindings.cpp │ │ ├── catch.cpp │ │ ├── lib.cpp │ │ ├── lib.h │ │ └── test_cross_module_rtti.cpp │ ├── test_custom_type_casters.cpp │ ├── test_custom_type_casters.py │ ├── test_custom_type_setup.cpp │ ├── test_custom_type_setup.py │ ├── test_docs_advanced_cast_custom.cpp │ ├── test_docs_advanced_cast_custom.py │ ├── test_docstring_options.cpp │ ├── test_docstring_options.py │ ├── test_eigen_matrix.cpp │ ├── test_eigen_matrix.py │ ├── test_eigen_tensor.cpp │ ├── test_eigen_tensor.inl │ ├── test_eigen_tensor.py │ ├── test_embed │ │ ├── CMakeLists.txt │ │ ├── catch.cpp │ │ ├── external_module.cpp │ │ ├── test_interpreter.cpp │ │ ├── test_interpreter.py │ │ ├── test_subinterpreter.cpp │ │ └── test_trampoline.py │ ├── test_enum.cpp │ ├── test_enum.py │ ├── test_eval.cpp │ ├── test_eval.py │ ├── test_eval_call.py │ ├── test_exceptions.cpp │ ├── test_exceptions.h │ ├── test_exceptions.py │ ├── test_factory_constructors.cpp │ ├── test_factory_constructors.py │ ├── test_gil_scoped.cpp │ ├── test_gil_scoped.py │ ├── test_iostream.cpp │ ├── test_iostream.py │ ├── test_kwargs_and_defaults.cpp │ ├── test_kwargs_and_defaults.py │ ├── test_local_bindings.cpp │ ├── test_local_bindings.py │ ├── test_methods_and_attributes.cpp │ ├── test_methods_and_attributes.py │ ├── test_modules.cpp │ ├── test_modules.py │ ├── test_multiple_inheritance.cpp │ ├── test_multiple_inheritance.py │ ├── test_multiple_interpreters.py │ ├── test_native_enum.cpp │ ├── test_native_enum.py │ ├── test_numpy_array.cpp │ ├── test_numpy_array.py │ ├── test_numpy_dtypes.cpp │ ├── test_numpy_dtypes.py │ ├── test_numpy_scalars.cpp │ ├── test_numpy_scalars.py │ ├── test_numpy_vectorize.cpp │ ├── test_numpy_vectorize.py │ ├── test_opaque_types.cpp │ ├── test_opaque_types.py │ ├── test_operator_overloading.cpp │ ├── test_operator_overloading.py │ ├── test_pickling.cpp │ ├── test_pickling.py │ ├── test_potentially_slicing_weak_ptr.cpp │ ├── test_potentially_slicing_weak_ptr.py │ ├── test_python_multiple_inheritance.cpp │ ├── test_python_multiple_inheritance.py │ ├── test_pytypes.cpp │ ├── test_pytypes.py │ ├── test_scoped_critical_section.cpp │ ├── test_scoped_critical_section.py │ ├── test_sequences_and_iterators.cpp │ ├── test_sequences_and_iterators.py │ ├── test_smart_ptr.cpp │ ├── test_smart_ptr.py │ ├── test_stl.cpp │ ├── test_stl.py │ ├── test_stl_binders.cpp │ ├── test_stl_binders.py │ ├── test_tagbased_polymorphic.cpp │ ├── test_tagbased_polymorphic.py │ ├── test_thread.cpp │ ├── test_thread.py │ ├── test_type_caster_pyobject_ptr.cpp │ ├── test_type_caster_pyobject_ptr.py │ ├── test_type_caster_std_function_specializations.cpp │ ├── test_type_caster_std_function_specializations.py │ ├── test_union.cpp │ ├── test_union.py │ ├── test_unnamed_namespace_a.cpp │ ├── test_unnamed_namespace_a.py │ ├── test_unnamed_namespace_b.cpp │ ├── test_unnamed_namespace_b.py │ ├── test_vector_unique_ptr_member.cpp │ ├── test_vector_unique_ptr_member.py │ ├── test_virtual_functions.cpp │ ├── test_virtual_functions.py │ ├── test_warnings.cpp │ ├── test_warnings.py │ ├── valgrind-numpy-scipy.supp │ └── valgrind-python.supp └── tools │ ├── FindCatch.cmake │ ├── FindEigen3.cmake │ ├── FindPythonLibsNew.cmake │ ├── JoinPaths.cmake │ ├── check-style.sh │ ├── cmake_uninstall.cmake.in │ ├── codespell_ignore_lines_from_errors.py │ ├── libsize.py │ ├── make_changelog.py │ ├── make_global.py │ ├── pybind11.pc.in │ ├── pybind11Common.cmake │ ├── pybind11Config.cmake.in │ ├── pybind11GuessPythonExtSuffix.cmake │ ├── pybind11NewTools.cmake │ ├── pybind11Tools.cmake │ └── test-pybind11GuessPythonExtSuffix.cmake ├── pyproject.toml ├── scripts ├── matlab_wrap.py └── pybind_wrap.py ├── sphinx ├── Makefile ├── conf.py ├── index.rst ├── make.bat └── wrap.rst ├── templates ├── matlab_wrapper.tpl.in └── pybind_wrapper.tpl.example ├── tests ├── .gitignore ├── CMakeLists.txt ├── actual │ └── .gitignore ├── expected │ ├── matlab │ │ ├── +Pet │ │ │ └── Kind.m │ │ ├── +gtsam │ │ │ ├── +MCU │ │ │ │ ├── Avengers.m │ │ │ │ └── GotG.m │ │ │ ├── +OptimizerGaussNewtonParams │ │ │ │ └── Verbosity.m │ │ │ ├── Class1.m │ │ │ ├── Class2.m │ │ │ ├── ClassA.m │ │ │ ├── GeneralSFMFactorCal3Bundler.m │ │ │ ├── NonlinearFactorGraph.m │ │ │ ├── PinholeCameraCal3Bundler.m │ │ │ ├── Point2.m │ │ │ ├── Point3.m │ │ │ ├── SfmTrack.m │ │ │ ├── Values.m │ │ │ └── VerbosityLM.m │ │ ├── +ns1 │ │ │ ├── ClassA.m │ │ │ ├── ClassB.m │ │ │ └── aGlobalFunction.m │ │ ├── +ns2 │ │ │ ├── +ns3 │ │ │ │ └── ClassB.m │ │ │ ├── ClassA.m │ │ │ ├── ClassC.m │ │ │ ├── aGlobalFunction.m │ │ │ └── overloadedGlobalFunction.m │ │ ├── ClassD.m │ │ ├── Color.m │ │ ├── DefaultFuncInt.m │ │ ├── DefaultFuncObj.m │ │ ├── DefaultFuncString.m │ │ ├── DefaultFuncVector.m │ │ ├── DefaultFuncZero.m │ │ ├── EliminateDiscrete.m │ │ ├── FastSet.m │ │ ├── FindKarcherMeanPoint3.m │ │ ├── FindKarcherMeanPose2.m │ │ ├── FindKarcherMeanPose3.m │ │ ├── FindKarcherMeanRot2.m │ │ ├── FindKarcherMeanRot3.m │ │ ├── FindKarcherMeanSO3.m │ │ ├── FindKarcherMeanSO4.m │ │ ├── ForwardKinematics.m │ │ ├── ForwardKinematicsFactor.m │ │ ├── FunDouble.m │ │ ├── FunRange.m │ │ ├── HessianFactor.m │ │ ├── MultiTemplatedFunctionDoubleSize_tDouble.m │ │ ├── MultiTemplatedFunctionStringSize_tDouble.m │ │ ├── MultipleTemplatesIntDouble.m │ │ ├── MultipleTemplatesIntFloat.m │ │ ├── MyBase.m │ │ ├── MyFactorPosePoint2.m │ │ ├── MyTemplateA.m │ │ ├── MyTemplateMatrix.m │ │ ├── MyTemplatePoint2.m │ │ ├── MyVector12.m │ │ ├── MyVector3.m │ │ ├── ParentHasTemplateDouble.m │ │ ├── Pet.m │ │ ├── PrimitiveRefDouble.m │ │ ├── ScopedTemplateResult.m │ │ ├── SmartProjectionRigFactorPinholeCameraCal3_S2.m │ │ ├── TemplatedConstructor.m │ │ ├── TemplatedFunctionRot3.m │ │ ├── Test.m │ │ ├── aGlobalFunction.m │ │ ├── class_wrapper.cpp │ │ ├── enum_wrapper.cpp │ │ ├── functions_wrapper.cpp │ │ ├── geometry_wrapper.cpp │ │ ├── inheritance_wrapper.cpp │ │ ├── load2D.m │ │ ├── multiple_files_wrapper.cpp │ │ ├── namespaces_wrapper.cpp │ │ ├── overloadedGlobalFunction.m │ │ ├── setPose.m │ │ ├── special_cases_wrapper.cpp │ │ ├── template_wrapper.cpp │ │ └── triangulatePoint3Cal3_S2.m │ ├── python │ │ ├── class_pybind.cpp │ │ ├── enum_pybind.cpp │ │ ├── functions_pybind.cpp │ │ ├── geometry_pybind.cpp │ │ ├── inheritance_pybind.cpp │ │ ├── namespaces_pybind.cpp │ │ ├── operator_pybind.cpp │ │ ├── special_cases_pybind.cpp │ │ └── templates_pybind.cpp │ └── xml │ │ ├── JacobianFactorQ_8h.xml │ │ ├── NonlinearFactor_8h.xml │ │ ├── classgtsam_1_1JacobianFactorQ.xml │ │ ├── classgtsam_1_1NoiseModelFactor.xml │ │ ├── classgtsam_1_1NoiseModelFactor1.xml │ │ ├── classgtsam_1_1NoiseModelFactor2.xml │ │ ├── classgtsam_1_1NoiseModelFactor3.xml │ │ ├── classgtsam_1_1NoiseModelFactor4.xml │ │ ├── classgtsam_1_1NoiseModelFactor5.xml │ │ ├── classgtsam_1_1NoiseModelFactor6.xml │ │ ├── classgtsam_1_1NonlinearFactor.xml │ │ ├── combine.xslt │ │ ├── compound.xsd │ │ ├── deprecated.xml │ │ ├── dir_59425e443f801f1f2fd8bbe4959a3ccf.xml │ │ ├── dir_e4787312bc569bb879bb1171628269de.xml │ │ ├── index.xml │ │ ├── index.xsd │ │ ├── namespacegtsam.xml │ │ ├── structgtsam_1_1traits_3_01JacobianFactorQ_3_01D_00_01ZDim_01_4_01_4.xml │ │ └── structgtsam_1_1traits_3_01NonlinearFactor_01_4.xml ├── fixtures │ ├── class.i │ ├── enum.i │ ├── functions.i │ 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