CRegistrationDeciderOrOptimizer_impl.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 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(
        std::mutex* 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 */