TUserOptionsChecker.h

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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    |
   +---------------------------------------------------------------------------+ */
 
#ifndef TUSEROPTIONSCHECKER_H
#define TUSEROPTIONSCHECKER_H
 
#include <mrpt/system/filesystem.h>
#include <mrpt/utils/mrpt_macros.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/poses/CPosePDFGaussianInf.h>
#include <mrpt/poses/CPose3DPDFGaussianInf.h>
 
#include <mrpt/graphslam/link_pragmas.h>
#include <mrpt/graphslam/NRD/CFixedIntervalsNRD.h>
#include <mrpt/graphslam/NRD/CEmptyNRD.h>
#include <mrpt/graphslam/NRD/CICPCriteriaNRD.h>
#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>
#include <mrpt/graphslam/ERD/CEmptyERD.h>
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
#include <mrpt/graphslam/GSO/CLevMarqGSO.h>
 
#include <string>
#include <iostream>
#include <vector>
 
namespace mrpt { namespace graphslam { namespace apps {
 
/**\brief Properties struct for both the Registration Decider and Optimizer
        * classes
        */
struct GRAPHSLAM_IMPEXP TRegistrationDeciderOrOptimizerProps {
        TRegistrationDeciderOrOptimizerProps():
                name(""),
                description(""),
                is_mr_slam_class(false),
                is_slam_2d(true), // by default the decider/optimizer is considered 2D
                is_slam_3d(false) {}
        ~TRegistrationDeciderOrOptimizerProps() {}
 
  /**\brief Name of the decider or optimizer class
   */
  std::string name;
  /**\brief General description of the decicder or optimizer class*/
  std::string description;
  /**\brief Class indicating if the current decider/optimizer class can be used
   * in a multi-robot SLAM operation
   */
  bool is_mr_slam_class;
  bool is_slam_2d;
  bool is_slam_3d;
 
};
 
/**\brief Properties struct for the Registration Decider classes.
 *
 * \ingroup mrpt_graphslam_grp
 */
struct GRAPHSLAM_IMPEXP TRegistrationDeciderProps :
        public TRegistrationDeciderOrOptimizerProps
{
        TRegistrationDeciderProps():
                type(""),
                rawlog_format("") {}
        ~TRegistrationDeciderProps() {}
 
  /**\brief Type of decider.
   *
   * Available options are:
   * - node
   * - edge
   */
  std::string type;
        /**\brief Rawlog formats that the decider can be used in */
  std::string rawlog_format;
  /**\brief Measurements that the current decider class can utilize */
  std::vector<std::string> observations_used;
};
 
/**\brief Properties struct for the Optimizer classes.
 *
 * \ingroup mrpt_graphslam_grp
 */
struct GRAPHSLAM_IMPEXP TOptimizerProps :
        public TRegistrationDeciderOrOptimizerProps
{
        TOptimizerProps() {}
        ~TOptimizerProps() {}
};
 
 
/**\brief Class containing the declarations of supplementary methods that can
 * be used in application-related code.
 * Class instance can be handy for adding keeping the available
 * deciders/optimizers in a compact manner and for verifying whether a given
 * decider can be used.
 *
 * \ingroup mrpt_graphslam_grp
 */
template<class GRAPH_t>
struct TUserOptionsChecker {
        /**\name handy typedefs for the creation of deciders/optimzer instances from
         * the corresponding strings
         */
        /**\{*/
        typedef typename GRAPH_t::constraint_t constraint_t;
                typedef typename GRAPH_t::constraint_t::type_value pose_t;
        typedef std::map<
                std::string,
                mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>*(*)()> node_regs_t;
        typedef std::map<
                std::string,
                mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>*(*)()> edge_regs_t;
        typedef std::map<
                std::string,
                mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>*(*)()> optimizers_t;
 
        /**\}*/
 
        //
        // methods
        //
        /**\brief Constructor */
        TUserOptionsChecker();
        /**\brief Destructor */
        virtual ~TUserOptionsChecker();
        /**\brief Create the necessary mappings from strings to the corresponding
         * instance creation functors.
         *
         * Method is used for populating a map from string to instance creation
         * function. The decider/optimzer can then be spawned according to the user
         * selection.
         *
         */
        virtual void createDeciderOptimizerMappings();
        virtual void _createDeciderOptimizerMappings();
        /**\brief Populate the available decider, optimizer classes available in
         * user applications
         */
        virtual void populateDeciderOptimizerProperties();
        /**\brief Check if the given registrator decider exists in the vector of
         * deciders.
         * \param[in] given_reg String specifying the type of decider - This should
         * either be "node" or "edge"
         * \return True if it exists, false otherwise
         */
        virtual bool checkRegistrationDeciderExists(
                        std::string given_reg,
                        std::string reg_type) const;
 
        /**\brief Check if the given optimizer exists in the vector of optimizers.
         * \return True if it exists, false otherwise
         */
        virtual bool checkOptimizerExists(
                        std::string given_opt) const;
 
        /**\brief Print the registration deciders vector in a formatted manner to the
         * standard output
         * \param[in] reg_type Method prints both the node registration
         * and edge registration deciders of the given vector unless specified
         * otherwise. The available argument options are "node", "edge", "all"
         */
        virtual void dumpRegistrarsToConsole(std::string reg_type="all") const;
        /**\brief Print the optimizers vector in a formatted manner to the standard
         * output.
         */
        virtual void dumpOptimizersToConsole() const;
 
        /**\name Methods for initializing decider/optimizer instances based on the user
         * command line choices - http://stackoverflow.com/a/582456/2843583
         *
         * \warning Caller is responsible for deleting the initialized instances
         */
        /**\{*/
        template<class T>
        static mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>*
        createNodeRegistrationDecider() {
                return new T;
        }
        template<class T>
        static mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>*
        createEdgeRegistrationDecider() {
                return new T;
        }
        template<class T>
        static mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>*
        createGraphSlamOptimizer() {
                return new T;
        }
        /**}*/
 
        /**\name Mappings from registration decider/optimizer names to functors
         * for creating instances of the corresponding classes
         */
        /**\{*/
        node_regs_t node_regs_map;
        edge_regs_t edge_regs_map;
        optimizers_t optimizers_map;
        /**\}*/
 
        /**\name Vectors containing descriptions about the available
         * deciders/optimizers.
         *
         * Handy for displaying information to the user (e.g. in help text)
         */
        /**\{*/
        std::vector<TRegistrationDeciderProps*> regs_descriptions;
        std::vector<TOptimizerProps*> optimizers_descriptions;
        /**\}*/
 
        const std::string sep_header;
        const std::string sep_subheader;
 
};
 
 
} } } // END OF NAMESPACES
#include "TUserOptionsChecker_impl.h"
 
#endif /* end of include guard: TUSEROPTIONSCHECKER_H */