Rename Python reserved keywords in wrapper interface files

The generated .pyi stub files use `lambda` and `global` as argument
and method names, which are Python reserved keywords. This causes
mypy to report syntax errors on the stubs.

Rename `lambda` to `lambda_` and `global` to `global_` in the .i
wrapper files. The wrapper tool already handles method name mapping
(generating `self->lambda()` calls under a `lambda_` Python name),
so no C++ changes are needed.

Fixes #2322

Author: jashshah999

gtsam/nonlinear/nonlinear.i

@@ -406,7 +406,7 @@ virtual class LevenbergMarquardtOptimizer : gtsam::NonlinearOptimizer {
                               const gtsam::LevenbergMarquardtParams& params =
                                   gtsam::LevenbergMarquardtParams());
 
-  double lambda() const;
+  double lambda_() const;
   void print(string str = "") const;
 };
 

gtsam/slam/slam.i

@@ -223,24 +223,24 @@ virtual class SmartProjectionFactor : gtsam::SmartFactorBase<CAMERA> {
   bool triangulateForLinearize(const gtsam::CameraSet<CAMERA>& cameras) const;
 
   gtsam::HessianFactor* createHessianFactor(
-      const gtsam::CameraSet<CAMERA>& cameras, const double lambda = 0.0,
+      const gtsam::CameraSet<CAMERA>& cameras, const double lambda_ = 0.0,
       bool diagonalDamping = false) const;
   gtsam::JacobianFactor* createJacobianQFactor(
-      const gtsam::CameraSet<CAMERA>& cameras, double lambda) const;
+      const gtsam::CameraSet<CAMERA>& cameras, double lambda_) const;
   gtsam::JacobianFactor* createJacobianQFactor(
-      const gtsam::Values& values, double lambda) const;
+      const gtsam::Values& values, double lambda_) const;
   gtsam::JacobianFactor* createJacobianSVDFactor(
-      const gtsam::CameraSet<CAMERA>& cameras, double lambda) const;
+      const gtsam::CameraSet<CAMERA>& cameras, double lambda_) const;
   gtsam::HessianFactor* linearizeToHessian(
-      const gtsam::Values& values, double lambda = 0.0) const;
+      const gtsam::Values& values, double lambda_ = 0.0) const;
   gtsam::JacobianFactor* linearizeToJacobian(
-      const gtsam::Values& values, double lambda = 0.0) const;
+      const gtsam::Values& values, double lambda_ = 0.0) const;
 
   gtsam::GaussianFactor* linearizeDamped(const gtsam::CameraSet<CAMERA>& cameras,
-      const double lambda = 0.0) const;
+      const double lambda_ = 0.0) const;
 
   gtsam::GaussianFactor* linearizeDamped(const gtsam::Values& values,
-      const double lambda = 0.0) const;
+      const double lambda_ = 0.0) const;
 
   gtsam::GaussianFactor* linearize(
       const gtsam::Values& values) const;
@@ -355,7 +355,7 @@ class ReferenceFrameFactor : gtsam::NoiseModelFactor {
   ReferenceFrameFactor(gtsam::Key globalKey, gtsam::Key transKey, 
                        gtsam::Key localKey, const gtsam::noiseModel::Base* model);
 
-  gtsam::Vector evaluateError(const LANDMARK& global, const POSE& trans, const LANDMARK& local);
+  gtsam::Vector evaluateError(const LANDMARK& global_, const POSE& trans, const LANDMARK& local);
 
   void print(const std::string& s="",
     const gtsam::KeyFormatter& keyFormatter = gtsam::DefaultKeyFormatter);

gtsam_unstable/gtsam_unstable.i

@@ -760,9 +760,9 @@ virtual class SmartStereoProjectionFactor : gtsam::NonlinearFactor {
   bool isFarPoint() const;
 
   gtsam::GaussianFactor linearizeDamped(const gtsam::CameraSet<gtsam::StereoCamera>& cameras,
-      const double lambda) const;
+      const double lambda_) const;
   gtsam::GaussianFactor linearizeDamped(const gtsam::Values& values,
-      const double lambda) const;
+      const double lambda_) const;
 };
 
 #include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>

wrap/tests/fixtures/class.i

@@ -82,8 +82,7 @@ class Test {
 
   // This should be callable as .print() in python
   void print() const;
-  // Since this is a reserved keyword, it should be updated to `lambda_`
-  void lambda() const;
+  void lambda_() const;
 
   void set_container(std::vector<testing::Test> container);
   void set_container(std::vector<testing::Test*> container);