CParameterizedTrajectoryGenerator_factory.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "nav-precomp.h" // Precomp header

#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/utils/CConfigFilePrefixer.h>

using namespace mrpt::nav;

/*---------------------------------------------------------------
                                        Class factory
  ---------------------------------------------------------------*/
CParameterizedTrajectoryGenerator * CParameterizedTrajectoryGenerator::CreatePTG(const std::string &ptgClassName_, const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection,  const std::string &sKeyPrefix)
{
        MRPT_START

        mrpt::utils::registerAllPendingClasses();

        // Special names for backwards compatibility with MRPT < 1.5.0
        std::string ptgClassName = mrpt::system::trim(ptgClassName_);
        if (ptgClassName.size()==1) {
                switch (ptgClassName[0])
                {
                case '1': ptgClassName="CPTG_DiffDrive_C"; break; 
                case '2': ptgClassName="CPTG_DiffDrive_alpha"; break; 
                case '3': ptgClassName="CPTG_DiffDrive_CCS"; break; 
                case '4': ptgClassName="CPTG_DiffDrive_CC"; break; 
                case '5': ptgClassName="CPTG_DiffDrive_CS"; break; 
                };
        }

        // Factory:
        const mrpt::utils::TRuntimeClassId *classId = mrpt::utils::findRegisteredClass( ptgClassName );
        if (!classId) {
                THROW_EXCEPTION_FMT("[CreatePTG] No PTG named `%s` is registered!",ptgClassName.c_str());
        }
        
        CParameterizedTrajectoryGenerator *ptg = dynamic_cast<CParameterizedTrajectoryGenerator*>( classId->createObject() );
        if (!ptg) {
                THROW_EXCEPTION_FMT("[CreatePTG] Object of type `%s` seems not to be a PTG!",ptgClassName.c_str());
        }

        // Wrapper to transparently add prefixes to all config keys:
        mrpt::utils::CConfigFilePrefixer cfp;
        cfp.bind(cfg);
        cfp.setPrefixes("", sKeyPrefix );

        ptg->loadFromConfigFile(cfp,sSection);
        return ptg;
        MRPT_END
}