CEdgeCounter.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/gui/CDisplayWindow3D.h>

#include "CWindowManager.h"

#include <map>
#include <string>

namespace mrpt::graphslam::detail
{
/**\brief Generic class for tracking the total number of edges for different
 * tpes of edges and for storing visualization-related information for each
 * type
 *
 * \ingroup mrpt_graphslam_grp
 */
class CEdgeCounter
{
   public:
    using iterator = std::map<std::string, int>::iterator;
    using const_iterator = std::map<std::string, int>::const_iterator;

    CEdgeCounter();
    ~CEdgeCounter() = default;
    /**\brief Provide the instance with a CWindowManager.
     */
    void setWindowManagerPtr(mrpt::graphslam::CWindowManager* win_manager);
    /**\brief State how many of the existing edges have been removed.
     *
     * Method is to be called after CNetworkOfPoses::collapseDuplicatedEdges
     * method has been executed.
     */
    void setRemovedEdges(int removed_edges);
    /**\brief Method for manually setting the number of loop closures
     * registered so far.
     */
    void setLoopClosureEdgesManually(int num_loop_closures);
    /**\brief Returns the edges that form loop closures in the current graph.
     */
    int getLoopClosureEdges() const;
    /**\brief Return the total amount of registered edges.
     * \sa getNumForEdgeType, getLoopClosureEdges
     */
    int getTotalNumOfEdges() const;
    /**\brief Return the total amount of registered edges.
     *
     * \sa getNumForEdgeType, getLoopClosureEdges
     */
    void getTotalNumOfEdges(int* total_num_edges) const;
    /**\brief Return the number of edges for the specified type.
     *
     * \exception std::exception If edge is not found
     * \sa getTotalNumOfEdges
     */
    int getNumForEdgeType(const std::string& name) const;
    /** Return the number of edges for the specified type.
     *
     * \exception std::exception If edge is not found
     * \sa getTotalNumOfEdges
     */
    void getNumForEdgeType(const std::string& name, int* total_num);
    /**\brief Set number of a specific edge type manually.
     *
     * Handy for not having to call addEdge multiple times in a row.
     *
     * \sa addEdge
     */
    void setEdgesManually(const std::string& name, int num_of_edges);
    /**\brief Increment the number of edges for the specified type.
     *
     * \exception std::exception If edge exists and \b is_new is True
     *
     * \sa setEdgesManually
     */
    void addEdge(
        const std::string& name, bool is_loop_closure = false,
        bool is_new = false);
    /**\brief Explicitly register a new edge type.
     */
    void addEdgeType(const std::string& name);
    /**\brief Reset the state of the CEdgeCounter instance.
     */
    void clearAllEdges();
    /**\brief Dump a report of the registered, so far, edges to the console.
     *
     * \sa getAsString
     */
    void dumpToConsole() const;
    /**\brief Fill the provided string with a detailed report of the
     * registered, so far, edges.
     */
    void getAsString(std::string* str_out) const;
    /**\brief Return a detailed report of the registered, so far, edges in a
     * string representation.
     */
    std::string getAsString() const;

    // VISUALIZATION RELATED METHODS
    // ////////////////////////////

    /**\brief Add the textMessage parameters to the object
     * All the names in the given std::maps have to be already
     * specified and added in the object via addEdge with is_new=true or
     * addEdgeType
     *
     * \exception std::exception If a name in the provided std::map doesn't
     * already exist
     */
    void setTextMessageParams(
        const std::map<std::string, double>& name_to_offset_y,
        const std::map<std::string, int>& name_to_text_index);

    /**\brief Handle the extra visualization parameters for the total number of
     * edges and for loop closures and then passes execution to the other
     * setTextMessageParams function.
     */
    void setTextMessageParams(
        const std::map<std::string, double>& name_to_offset_y,
        const std::map<std::string, int>& name_to_text_index,
        double offset_y_total_edges, int text_index_total_edges,
        double offset_y_loop_closures, int text_index_loop_closures);

    /**\brief Instance Iterators */
    inline iterator begin() { return m_name_to_edges_num.begin(); }
    inline const_iterator cbegin() const
    {
        return m_name_to_edges_num.cbegin();
    }
    inline iterator end() { return m_name_to_edges_num.end(); }
    inline const_iterator cend() const { return m_name_to_edges_num.cend(); }

   private:
    /**\brief Update the given CDisplayWindow3D with the edges registered so
     * far.
     */
    void updateTextMessages() const;

    mrpt::gui::CDisplayWindow3D* m_win = nullptr;
    mrpt::graphslam::CWindowManager* m_win_manager = nullptr;

    /**\brief Map edge name <=> num of edges
     *
     * Tracking number of edges
     */
    std::map<std::string, int> m_name_to_edges_num;
    int m_num_loop_closures = 0;
    int m_unique_edges = 0;

    // visualization std::maps
    std::map<std::string, double> m_name_to_offset_y;
    std::map<std::string, int> m_name_to_text_index;

    bool m_has_read_textmessage_params;

    // specifics to loop closures, total edges
    bool m_display_total_edges = false;
    bool m_display_loop_closures = false;
    int m_offset_y_total_edges = 0;
    int m_offset_y_loop_closures = 0;
    int m_text_index_total_edges = 0;
    int m_text_index_loop_closures = 0;
};
}  // namespace mrpt::graphslam::detail