Detailed Description

template<class GRAPH_t>
struct mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >

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.

Definition at line 102 of file TUserOptionsChecker.h.

#include <mrpt/graphslam/apps_related/TUserOptionsChecker.h>

Inheritance diagram for mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >:

Public Types
handy typedefs for the creation of deciders/optimzer instances from
the corresponding strings
using	constraint_t = typename GRAPH_t::constraint_t

using	pose_t = typename GRAPH_t::constraint_t::type_value

using	node_regs_t = std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > ()()>

using	edge_regs_t = std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > ()()>

using	optimizers_t = std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > ()()>

Public Member Functions
	TUserOptionsChecker ()
	Constructor. More...

virtual	~TUserOptionsChecker ()
	Destructor. More...

virtual void	createDeciderOptimizerMappings ()
	Create the necessary mappings from strings to the corresponding instance creation functors. More...

virtual void	_createDeciderOptimizerMappings ()

virtual void	populateDeciderOptimizerProperties ()
	Populate the available decider, optimizer classes available in user applications. More...

virtual bool	checkRegistrationDeciderExists (std::string given_reg, std::string reg_type) const
	Check if the given registrator decider exists in the vector of deciders. More...

virtual bool	checkOptimizerExists (std::string given_opt) const
	Check if the given optimizer exists in the vector of optimizers. More...

virtual void	dumpRegistrarsToConsole (std::string reg_type="all") const
	Print the registration deciders vector in a formatted manner to the standard output. More...

virtual void	dumpOptimizersToConsole () const
	Print the optimizers vector in a formatted manner to the standard output. More...

template<>
void	_createDeciderOptimizerMappings ()

template<>
void	_createDeciderOptimizerMappings ()

template<>
void	_createDeciderOptimizerMappings ()

Static Public Member Functions
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 ()

template<class T >
static mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *	createEdgeRegistrationDecider ()

template<class T >
static mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *	createGraphSlamOptimizer ()

Public Attributes
const std::string	sep_header

const std::string	sep_subheader

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

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

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_t>

using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::constraint_t = typename GRAPH_t::constraint_t

Definition at line 108 of file TUserOptionsChecker.h.

◆ edge_regs_t

template<class GRAPH_t>

using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_t = std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* (*)()>

Definition at line 115 of file TUserOptionsChecker.h.

◆ node_regs_t

template<class GRAPH_t>

using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_t = std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* (*)()>

Definition at line 112 of file TUserOptionsChecker.h.

◆ optimizers_t

template<class GRAPH_t>

using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_t = std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* (*)()>

Definition at line 118 of file TUserOptionsChecker.h.

◆ pose_t

template<class GRAPH_t>

using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::pose_t = typename GRAPH_t::constraint_t::type_value

Definition at line 109 of file TUserOptionsChecker.h.

Constructor & Destructor Documentation

◆ TUserOptionsChecker()

template<class GRAPH_t >

mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::TUserOptionsChecker ( )

Constructor.

Definition at line 14 of file TUserOptionsChecker_impl.h.

◆ ~TUserOptionsChecker()

template<class GRAPH_t >

mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::~TUserOptionsChecker ( )

virtual

Destructor.

Definition at line 20 of file TUserOptionsChecker_impl.h.

Member Function Documentation

◆ _createDeciderOptimizerMappings() [1/4]

template<>

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf >::_createDeciderOptimizerMappings ( )

inline

Definition at line 78 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [2/4]

template<>

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf_NA >::_createDeciderOptimizerMappings ( )

inline

Definition at line 91 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [3/4]

template<>

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses3DInf >::_createDeciderOptimizerMappings ( )

inline

Definition at line 106 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [4/4]

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::_createDeciderOptimizerMappings ( )

virtual

Definition at line 71 of file TUserOptionsChecker_impl.h.

◆ checkOptimizerExists()

template<class GRAPH_t >

bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkOptimizerExists ( std::string given_opt ) const

virtual

Check if the given optimizer exists in the vector of optimizers.

Returns: True if it exists, false otherwise

Definition at line 270 of file TUserOptionsChecker_impl.h.

Referenced by CGraphSlamHandler< GRAPH_T >::initEngine().

◆ checkRegistrationDeciderExists()

template<class GRAPH_t >

bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkRegistrationDeciderExists	(	std::string	given_reg,
		std::string	reg_type
	)		const

virtual

Check if the given registrator decider exists in the vector of deciders.

Parameters

[in] given_reg String specifying the type of decider - This should either be "node" or "edge"

Returns: True if it exists, false otherwise

Definition at line 222 of file TUserOptionsChecker_impl.h.

Referenced by CGraphSlamHandler< GRAPH_T >::initEngine().

◆ createDeciderOptimizerMappings()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createDeciderOptimizerMappings ( )

virtual

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.

Definition at line 41 of file TUserOptionsChecker_impl.h.

◆ createEdgeRegistrationDecider()

template<class GRAPH_t>

template<class T >

static mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createEdgeRegistrationDecider ( )

inlinestatic

Definition at line 185 of file TUserOptionsChecker.h.

◆ createGraphSlamOptimizer()

template<class GRAPH_t>

template<class T >

static mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createGraphSlamOptimizer ( )

inlinestatic

Definition at line 191 of file TUserOptionsChecker.h.

◆ createNodeRegistrationDecider()

template<class GRAPH_t>

template<class T >

static mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createNodeRegistrationDecider ( )

inlinestatic

Definition at line 179 of file TUserOptionsChecker.h.

◆ dumpOptimizersToConsole()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpOptimizersToConsole ( ) const

virtual

Print the optimizers vector in a formatted manner to the standard output.

Definition at line 183 of file TUserOptionsChecker_impl.h.

◆ dumpRegistrarsToConsole()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpRegistrarsToConsole ( std::string reg_type = "all" ) const

virtual

Print the registration deciders vector in a formatted manner to the standard output.

Parameters

[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"

Definition at line 111 of file TUserOptionsChecker_impl.h.