TMetricMapInitializer.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 "obs-precomp.h" // Precomp header

#include <mrpt/maps/TMetricMapInitializer.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CStream.h>

using namespace std;
using namespace mrpt;
using namespace mrpt::maps;


/** Looks up in the registry of known map types and call the corresponding `<metric_map_class>::MapDefinition()`. */
TMetricMapInitializer* TMetricMapInitializer::factory(const std::string &mapClassName)
{
        using internal::TMetricMapTypesRegistry;
        TMetricMapTypesRegistry & mmr = TMetricMapTypesRegistry::Instance();
        return mmr.factoryMapDefinition(mapClassName);
}

TMetricMapInitializer::TMetricMapInitializer(const mrpt::utils::TRuntimeClassId* classID ) : 
        metricMapClassType(classID)
{
}

/** Load all params from a config file/source. For examples and format, read the docs of mrpt::maps::CMultiMetricMap */
void  TMetricMapInitializer::loadFromConfigFile(const mrpt::utils::CConfigFileBase  &source, const std::string &sectionNamePrefix)
{
        // Common:
        const std::string sctCreat = sectionNamePrefix + std::string("_creationOpts");
        this->genericMapParams.loadFromConfigFile(source,sctCreat);
        
        // Class-specific:
        this->loadFromConfigFile_map_specific(source,sectionNamePrefix);
}

/** Dump the options of the metric map in human-readable format */
void  TMetricMapInitializer::dumpToTextStream(mrpt::utils::CStream      &out) const
{
        out.printf("-------------------------TMetricMapInitializer --------------------------\n");
        out.printf("================ C++ Class: '%s'\n", this->metricMapClassType->className);
        this->genericMapParams.dumpToTextStream(out);
        
        // Class-specific:
        this->dumpToTextStream_map_specific(out);
}

/*---------------------------------------------------------------
                TSetOfMetricMapInitializers::loadFromConfigFile
 ---------------------------------------------------------------*/
void  TSetOfMetricMapInitializers::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase  &ini,
        const std::string &sectionName )
{
        MRPT_START
        using internal::TMetricMapTypesRegistry;

        // Delete previous contents:
        clear();

        TMetricMapTypesRegistry & mmr = TMetricMapTypesRegistry::Instance();

        const TMetricMapTypesRegistry::TListRegisteredMaps & allMapKinds = mmr.getAllRegistered();
        for (TMetricMapTypesRegistry::TListRegisteredMaps::const_iterator itMapKind=allMapKinds.begin();itMapKind!=allMapKinds.end();++itMapKind)
        {
                //  ; Creation of maps:
                //  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
                const std::string sMapName = itMapKind->first;

                unsigned int n = ini.read_uint64_t(sectionName,sMapName+string("_count"),0);
                for (unsigned int i=0;i<n;i++)
                {
                        TMetricMapInitializer *mi = mmr.factoryMapDefinition(sMapName);
                        ASSERT_(mi);

                        // Load from sections formatted like this:
                        // [<sectionName>+"_occupancyGrid_##_creationOpts"]
                        // [<sectionName>+"_occupancyGrid_##_insertOpts"]
                        // [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
                        // ...
                        // ==> Section prefix:
                        const string sMapSectionsPrefix = mrpt::format("%s_%s_%02u",sectionName.c_str(),sMapName.c_str(),i);
                        mi->loadFromConfigFile(ini,sMapSectionsPrefix);

                        // Add the params to the list:
                        this->push_back( TMetricMapInitializerPtr(mi) );
                }

        }// end for each map kind
        
        MRPT_END
}

/*---------------------------------------------------------------
                TSetOfMetricMapInitializers::dumpToTextStream
 ---------------------------------------------------------------*/
void  TSetOfMetricMapInitializers::dumpToTextStream(mrpt::utils::CStream        &out) const
{
        MRPT_START

        out.printf("====================================================================\n\n");
        out.printf("      Set of internal maps for 'CMultiMetricMap' object\n\n");
        out.printf("====================================================================\n");

        // Show each map:
        out.printf("Showing next the %u internal maps:\n\n", (int)size());

        int i=0;
        for (const_iterator it=begin();it!=end();++it,i++)
        {
                out.printf("------------------------- Internal map %u out of %u --------------------------\n",i+1,(int)size());
                (*it)->dumpToTextStream(out);
        } // for "it"

        MRPT_END
}