Updates to Matlab wrapper

[varunagrawal]

This PR adds support to the Matlab wrapper for handling custom templating within templated types, e.g.

template <T>
FindKarcherMean(std::vector<T>& elements);

It also adds additional features to ensure the wrapper doesn't error out during interface file parsing.

[Copilot]

Pull request overview

This PR enhances the MATLAB wrapper to support custom templating within templated types (e.g., std::vector<T> where T is a template parameter) and improves interface file parsing robustness. The changes enable proper instantiation and wrapping of functions like FindKarcherMean(std::vector<T>& elements) with various template specializations.

Key changes:

• Fixed template parameter substitution for multi-templated functions (T1 -> actual type instead of generic T)
• Added support for templated types with vector arguments in function signatures
• Improved type name handling and formatting in the wrapper generation

Reviewed changes

Copilot reviewed 24 out of 24 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
tests/test_matlab_wrapper.py	Added expected output files for new templated functions
tests/fixtures/functions.i	Fixed template parameter name (T->T1), added triangulatePoint3 and FindKarcherMean test cases
tests/expected/python/functions_pybind.cpp	Fixed type substitution in Python bindings (T->string/double)
tests/expected/matlab/*.m	Generated MATLAB wrapper functions for new templated functions
tests/expected/matlab/functions_wrapper.cpp	Generated C++ wrapper implementations with corrected type handling
gtwrap/template_instantiator/helpers.py	Whitespace formatting changes
gtwrap/template_instantiator/function.py	Refactored to_cpp() and updated repr method
gtwrap/matlab_wrapper/wrapper.py	Improved function name formatting for templated functions
gtwrap/matlab_wrapper/mixins.py	Added type name string conversion for dict key usage
gtwrap/interface_parser/type.py	Refactored get_typename() method and improved code organization
gtwrap/interface_parser/template.py	Updated documentation comment
gtwrap/interface_parser/function.py	Improved string formatting in repr methods

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[dellaert]

Nice!
I had one question but if you think it correct let’s merge.

[dellaert]

Is std.vectorgtsam really what’s intended?

[varunagrawal]

This is not correct, but this is a drawback of the Mex C API since there is no std::vector in C. We will have to migrate to the Mex C++ API (something we discussed in the past as a possible Google Summer of Code project).

This is an issue in other existing classes as well (such as Ordering).