TMetricMapInitializer.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/config/CConfigFileBase.h>
#include <mrpt/serialization/CArchive.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::rtti::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::config::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);
}
 
void TMetricMapInitializer::saveToConfigFile(
    mrpt::config::CConfigFileBase& target,
    const std::string& section) const
{
    auto s = section + std::string("_") + std::string(this->metricMapClassType->className);
    this->genericMapParams.saveToConfigFile(target, s);
}
 
void TMetricMapInitializer::dumpToTextStream(std::ostream& out) const
{
    out << "-----------------TMetricMapInitializer --------------------\n";
    out << "================ C++ Class: '"
        << this->metricMapClassType->className << "'\n";
    this->genericMapParams.dumpToTextStream(out);
    // Class-specific:
    this->dumpToTextStream_map_specific(out);
}
 
void TSetOfMetricMapInitializers::loadFromConfigFile(
    const mrpt::config::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(TMetricMapInitializer::Ptr(mi));
        }
 
    }  // end for each map kind
 
    MRPT_END
}
 
void TSetOfMetricMapInitializers::saveToConfigFile(
    mrpt::config::CConfigFileBase& target,
    const std::string& section) const
{
    for (auto & mi : *this)
        mi->saveToConfigFile(target, section);
}
 
void TSetOfMetricMapInitializers::dumpToTextStream(std::ostream& out) const
{
    MRPT_START
    out << "===============================================================\n\n"
           "      Set of internal maps for 'CMultiMetricMap' object\n\n"
           "=================================================================\n"
           // Show each map:
           "Showing next the "
        << this->size() << " internal maps:\n\n";
 
    int i = 0;
    for (auto it = begin(); it != end(); ++it, i++)
    {
        out << mrpt::format(
            "------- Internal map %u out of %u:\n", i + 1, (int)size());
        (*it)->dumpToTextStream(out);
    }  // for "it"
    MRPT_END
}