CRegistrationDeciderOrOptimizer_impl.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
         |                     Mobile Robot Programming Toolkit (MRPT)               |
         |                          http://www.mrpt.org/                             |
         |                                                                           |
         | Copyright (c) 2005-2016, 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    |
         +---------------------------------------------------------------------------+ */

#ifndef CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H
#define CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H

namespace mrpt { namespace graphslam {

template<class GRAPH_T>
const std::string CRegistrationDeciderOrOptimizer<GRAPH_T>::header_sep = std::string(80, '-');
template<class GRAPH_T>
const std::string CRegistrationDeciderOrOptimizer<GRAPH_T>::report_sep = std::string(2, '\n');

template<class GRAPH_T>
CRegistrationDeciderOrOptimizer<GRAPH_T>::CRegistrationDeciderOrOptimizer():
        m_graph(NULL),
        m_graph_section(NULL),
        m_win_manager(NULL),
        m_win(NULL),
        m_win_observer(NULL),
        m_initialized_visuals(false),
        m_class_name("CRegistrationDeciderOrOptimizer"),
        is_mr_slam_class(false) { }


template<class GRAPH_T>
CRegistrationDeciderOrOptimizer<GRAPH_T>::~CRegistrationDeciderOrOptimizer() {

}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::initializeLoggers(
                const std::string& name) {
        using namespace std;
        using namespace mrpt::utils;

        this->setClassName(name); // all the names in one call
        this->logging_enable_keep_record = true;

        // just for the messages until reading the actual verbosity level, set it to debug.
        this->setMinLoggingLevel(LVL_DEBUG);
        MRPT_LOG_DEBUG_STREAM("Initialized time, output logger instances." << endl);
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::setClassName(
                const std::string& name) {
        this->m_class_name = name;
        this->m_time_logger.setName(this->m_class_name);
        this->setLoggerName(this->m_class_name);
}


template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::setWindowManagerPtr(
                mrpt::graphslam::CWindowManager* win_manager) {
        ASSERT_(win_manager);
        m_win_manager = win_manager;

        if (m_win_manager) {
                m_win = m_win_manager->win;
                m_win_observer = m_win_manager->observer;
        }
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::setCriticalSectionPtr(
                mrpt::synch::CCriticalSection* graph_section) {

        m_graph_section = graph_section;
        this->logFmt(mrpt::utils::LVL_DEBUG, "Fetched the CCRiticalSection successfully");
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::initializeVisuals() {
        this->assertVisualsVars();
        m_initialized_visuals = true;
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::assertVisualsVars() {
        ASSERTMSG_(this->m_win, "No CDisplayWindow3D* was provided");
        ASSERTMSG_(this->m_win_manager, "No CWindowManager* was provided");
        ASSERTMSG_(this->m_win_observer, "No CWindowObserver* was provided");
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::updateVisuals() {
        ASSERT_(m_initialized_visuals);
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::notifyOfWindowEvents(
                const std::map<std::string, bool>& events_occurred) {
        ASSERT_(m_initialized_visuals);
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::loadParams(
                const std::string& source_fname) {
        MRPT_LOG_DEBUG_STREAM("Loading corresponding parameters");
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::printParams() const {
        MRPT_LOG_DEBUG_STREAM("Printing corresponding parameters");
}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::getDescriptiveReport(
                std::string* report_str) const {
        MRPT_LOG_DEBUG_STREAM("Generating corresponding report");
        // TODO - give the compact form here!

}

template<class GRAPH_T>
void CRegistrationDeciderOrOptimizer<GRAPH_T>::setGraphPtr(GRAPH_T* graph) {
        using namespace mrpt::utils;

        m_graph = graph;
        MRPT_LOG_DEBUG_STREAM("Fetched the graph pointer successfully");
}

template<class GRAPH_T>
bool CRegistrationDeciderOrOptimizer<GRAPH_T>::isMultiRobotSlamClass() {
        return is_mr_slam_class;
}

} } // end of namespaces

#endif /* end of include guard: CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H */