TMetricMapInitializer.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 |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CObject.h>  // For TRuntimeClassId
#include <mrpt/maps/TMetricMapTypesRegistry.h>
#include <mrpt/maps/metric_map_types.h>
#include <deque>

namespace mrpt
{
namespace maps
{
class TSetOfMetricMapInitializers;

/** Virtual base for specifying the kind and parameters of one map (normally, to
 * be inserted into mrpt::maps::CMultiMetricMap)
  *  See `mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile()` as an
 * easy way of initialize this object, or
  *  construct with the factory methods `<metric_map_class>::MapDefinition()`
 * and `TMetricMapInitializer::factory()`
  *
  * \sa TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap
  * \ingroup mrpt_obs_grp
  */
struct TMetricMapInitializer : public mrpt::utils::CLoadableOptions
{
        friend class TSetOfMetricMapInitializers;
        /** Smart pointer to TMetricMapInitializer */
        using Ptr = std::shared_ptr<TMetricMapInitializer>;

        /** Common params for all maps: These are automatically set in
         * TMetricMapTypesRegistry::factoryMapObjectFromDefinition()  */
        mrpt::maps::TMapGenericParams genericMapParams;

        /** Load all params from a config file/source. For examples and format, read
         * the docs of mrpt::maps::CMultiMetricMap
          * Typical section names:
          *  - `<sectionNamePrefix>_creationOpts`
          *  - `<sectionNamePrefix>_insertOpts`
          *  - `<sectionNamePrefix>_likelihoodOpts`
          */
        void loadFromConfigFile(
                const mrpt::utils::CConfigFileBase& source,
                const std::string& sectionNamePrefix) override;  // See base docs
        void dumpToTextStream(
                mrpt::utils::CStream& out) const override;  // See base docs

        /** Query the map type (C++ class), as set by the factory method
         * MapDefinition() */
        const mrpt::utils::TRuntimeClassId::Ptr& getMetricMapClassType() const
        {
                return metricMapClassType;
        }

        /** Looks up in the registry of known map types and call the corresponding
         * `<metric_map_class>::MapDefinition()`. */
        static TMetricMapInitializer* factory(const std::string& mapClassName);

   protected:
        TMetricMapInitializer(const mrpt::utils::TRuntimeClassId* classID);
        /** Derived classes set this to CLASS_ID(< class >) where < class > is any
         * CMetricMap derived class. */
        const mrpt::utils::TRuntimeClassId::Ptr metricMapClassType;

        /** Load all map-specific params*/
        virtual void loadFromConfigFile_map_specific(
                const mrpt::utils::CConfigFileBase& source,
                const std::string& sectionNamePrefix) = 0;
        virtual void dumpToTextStream_map_specific(
                mrpt::utils::CStream& out) const = 0;
};  // end TMetricMapInitializer

/** A set of TMetricMapInitializer structures, passed to the constructor
 * CMultiMetricMap::CMultiMetricMap
  *  See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and
 * "CMultiMetricMap::setListOfMaps" for
  *   effectively creating the list of desired maps.
  * \sa CMultiMetricMap::CMultiMetricMap, utils::CLoadableOptions
  * \ingroup mrpt_obs_grp
  */
class TSetOfMetricMapInitializers : public mrpt::utils::CLoadableOptions
{
   protected:
        std::deque<TMetricMapInitializer::Ptr> m_list;

   public:
        TSetOfMetricMapInitializers() : m_list() {}
        template <typename MAP_DEFINITION>
        void push_back(const MAP_DEFINITION& o)
        {
                m_list.push_back(TMetricMapInitializer::Ptr(new MAP_DEFINITION(o)));
        }

        void push_back(const TMetricMapInitializer::Ptr& o) { m_list.push_back(o); }
        size_t size() const { return m_list.size(); }
        typedef std::deque<TMetricMapInitializer::Ptr>::iterator iterator;
        typedef std::deque<TMetricMapInitializer::Ptr>::const_iterator
                const_iterator;
        iterator begin() { return m_list.begin(); }
        iterator end() { return m_list.end(); }
        const_iterator begin() const { return m_list.begin(); }
        const_iterator end() const { return m_list.end(); }
        void clear() { m_list.clear(); }
        /** Loads the configuration for the set of internal maps from a textual
          *definition in an INI-like file.
          *  The format of the ini file is defined in utils::CConfigFile. The list
          *of maps and their options
          *   will be loaded from a handle of sections:
          *
          *  \code
          * [<sectionName>]
          *  // Creation of maps:
          *  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
          *  octoMap_count=<Number of mrpt::maps::COctoMap maps>
          *  colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
          *  gasGrid_count=<Number of mrpt::maps::CGasConcentrationGridMap2D maps>
          *  wifiGrid_count=<Number of mrpt::maps::CWirelessPowerGridMap2D maps>
          *  landmarksMap_count=<0 or 1, for creating a mrpt::maps::CLandmarksMap
          *map>
          *  beaconMap_count=<0 or 1, for creating a mrpt::maps::CBeaconMap map>
          *  pointsMap_count=<Number of mrpt::maps::CSimplePointsMap map>
          *  heightMap_count=<Number of mrpt::maps::CHeightGridMap2D maps>
          *  reflectivityMap_count=<Number of mrpt::maps::CReflectivityGridMap2D
          *maps>
          *  colourPointsMap_count=<0 or 1, for creating a
          *mrpt::maps::CColouredPointsMap map>
          *  weightedPointsMap_count=<0 or 1, for creating a
          *mrpt::maps::CWeightedPointsMap map>
          *
          * // ====================================================
          * //  Creation Options for OccupancyGridMap ##:
          * [<sectionName>+"_occupancyGrid_##_creationOpts"]
          *  min_x=<value>
          *  max_x=<value>
          *  min_y=<value>
          *  max_y=<value>
          *  resolution=<value>
          *  # Common params for all maps:
          *  #enableSaveAs3DObject        = {true|false}
          *  #enableObservationLikelihood = {true|false}
          *  #enableObservationInsertion  = {true|false}
          *
          * // Insertion Options for OccupancyGridMap ##:
          * [<sectionName>+"_occupancyGrid_##_insertOpts"]
          *  <See COccupancyGridMap2D::TInsertionOptions>
          *
          * // Likelihood Options for OccupancyGridMap ##:
          * [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
          *  <See COccupancyGridMap2D::TLikelihoodOptions>
          *
          * // ====================================================
          * //  Creation Options for OctoMap ##:
          * [<sectionName>+"_octoMap_##_creationOpts"]
          *  resolution=<value>
          *
          * // Insertion Options for OctoMap ##:
          * [<sectionName>+"_octoMap_##_insertOpts"]
          *  <See COctoMap::TInsertionOptions>
          *
          * // Likelihood Options for OctoMap ##:
          * [<sectionName>+"_octoMap_##_likelihoodOpts"]
          *  <See COctoMap::TLikelihoodOptions>
          *
          * // ====================================================
          * //  Creation Options for ColourOctoMap ##:
          * [<sectionName>+"_colourOctoMap_##_creationOpts"]
          *  resolution=<value>
          *
          * // Insertion Options for ColourOctoMap ##:
          * [<sectionName>+"_colourOctoMap_##_insertOpts"]
          *  <See CColourOctoMap::TInsertionOptions>
          *
          * // Likelihood Options for ColourOctoMap ##:
          * [<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
          *  <See CColourOctoMap::TLikelihoodOptions>
          *
          *
          * // ====================================================
          * // Insertion Options for mrpt::maps::CSimplePointsMap ##:
          * [<sectionName>+"_pointsMap_##_insertOpts"]
          *  <See CPointsMap::TInsertionOptions>
          *
          * // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
          * [<sectionName>+"_pointsMap_##_likelihoodOpts"]
          *  <See CPointsMap::TLikelihoodOptions>
          *
          *
          * // ====================================================
          * // Creation Options for CGasConcentrationGridMap2D ##:
          * [<sectionName>+"_gasGrid_##_creationOpts"]
          *  mapType= <0-1> ; See
          *CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
          *  min_x=<value>
          *  max_x=<value>
          *  min_y=<value>
          *  max_y=<value>
          *  resolution=<value>
          *
          * // Insertion Options for CGasConcentrationGridMap2D ##:
          * [<sectionName>+"_gasGrid_##_insertOpts"]
          *  <See CGasConcentrationGridMap2D::TInsertionOptions>
          *
          * // ====================================================
          * // Creation Options for CWirelessPowerGridMap2D ##:
          * [<sectionName>+"_wifiGrid_##_creationOpts"]
          *  mapType= <0-1> ; See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
          *  min_x=<value>
          *  max_x=<value>
          *  min_y=<value>
          *  max_y=<value>
          *  resolution=<value>
          *
          * // Insertion Options for CWirelessPowerGridMap2D ##:
          * [<sectionName>+"_wifiGrid_##_insertOpts"]
          *  <See CWirelessPowerGridMap2D::TInsertionOptions>
          *
          *
          * // ====================================================
          * // Creation Options for CLandmarksMap ##:
          * [<sectionName>+"_landmarksMap_##_creationOpts"]
          *  nBeacons=<# of beacons>
          *  beacon_001_ID=67           ; The ID and 3D coordinates of each beacon
          *  beacon_001_X=<x>
          *  beacon_001_Y=<x>
          *  beacon_001_Z=<x>
          *
          * // Insertion Options for CLandmarksMap ##:
          * [<sectionName>+"_landmarksMap_##_insertOpts"]
          *  <See CLandmarksMap::TInsertionOptions>
          *
          * // Likelihood Options for CLandmarksMap ##:
          * [<sectionName>+"_landmarksMap_##_likelihoodOpts"]
          *  <See CLandmarksMap::TLikelihoodOptions>
          *
          *
          * // ====================================================
          * // Insertion Options for CBeaconMap ##:
          * [<sectionName>+"_beaconMap_##_insertOpts"]
          *  <See CBeaconMap::TInsertionOptions>
          *
          * // Likelihood Options for CBeaconMap ##:
          * [<sectionName>+"_beaconMap_##_likelihoodOpts"]
          *  <See CBeaconMap::TLikelihoodOptions>
          *
          * // ====================================================
          * // Creation Options for HeightGridMap ##:
          * [<sectionName>+"_heightGrid_##_creationOpts"]
          *  mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
          *  min_x=<value>
          *  max_x=<value>
          *  min_y=<value>
          *  max_y=<value>
          *  resolution=<value>
          *
          * // Insertion Options for HeightGridMap ##:
          * [<sectionName>+"_heightGrid_##_insertOpts"]
          *  <See CHeightGridMap2D::TInsertionOptions>
          *
          *
          * // ====================================================
          * // Creation Options for ReflectivityGridMap ##:
          * [<sectionName>+"_reflectivityMap_##_creationOpts"]
          *  min_x=<value>  // See CReflectivityGridMap2D::CReflectivityGridMap2D
          *  max_x=<value>
          *  min_y=<value>
          *  max_y=<value>
          *  resolution=<value>
          *
          * // Insertion Options for HeightGridMap ##:
          * [<sectionName>+"_reflectivityMap_##_insertOpts"]
          *  <See CReflectivityGridMap2D::TInsertionOptions>
          *
          *
          * // ====================================================
          * // Insertion Options for CColouredPointsMap ##:
          * [<sectionName>+"_colourPointsMap_##_insertOpts"]
          *  <See CPointsMap::TInsertionOptions>
          *
          *
          * // Color Options for CColouredPointsMap ##:
          * [<sectionName>+"_colourPointsMap_##_colorOpts"]
          *  <See CColouredPointsMap::TColourOptions>
          *
          * // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
          * [<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
          *  <See CPointsMap::TLikelihoodOptions>
          *
          *
          * // ====================================================
          * // Insertion Options for CWeightedPointsMap ##:
          * [<sectionName>+"_weightedPointsMap_##_insertOpts"]
          *  <See CPointsMap::TInsertionOptions>
          *
          *
          * // Likelihood Options for CWeightedPointsMap ##:
          * [<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
          *  <See CPointsMap::TLikelihoodOptions>
          *
          *  \endcode
          *
          *  Where:
          *             - ##: Represents the index of the map (e.g. "00","01",...)
          *             - By default, the variables into each "TOptions" structure of the
          *maps
          *are defined in textual form by the same name of the corresponding C++
          *variable (e.g. "float resolution;" -> "resolution=0.10")
          *
          * \note Examples of map definitions can be found in the '.ini' files
          *provided in the demo directories: "share/mrpt/config-files/"
          */
        void loadFromConfigFile(
                const mrpt::utils::CConfigFileBase& source,
                const std::string& sectionName) override;

        /** This method dumps the options of the multi-metric map AND those of every
         * internal map. */
        void dumpToTextStream(mrpt::utils::CStream& out) const override;
};

}  // End of namespace
}  // End of namespace