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CRegistrationDeciderOrOptimizer_impl.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #ifndef CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H
11 #define CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H
12 
13 namespace mrpt
14 {
15 namespace graphslam
16 {
17 template <class GRAPH_T>
19  std::string(80, '-');
20 template <class GRAPH_T>
22  std::string(2, '\n');
23 
24 template <class GRAPH_T>
26  : m_graph(NULL),
27  m_graph_section(NULL),
28  m_win_manager(NULL),
29  m_win(NULL),
30  m_win_observer(NULL),
31  m_initialized_visuals(false),
32  m_class_name("CRegistrationDeciderOrOptimizer"),
33  is_mr_slam_class(false)
34 {
35 }
36 
37 template <class GRAPH_T>
39 {
40 }
41 
42 template <class GRAPH_T>
44  const std::string& name)
45 {
46  using namespace std;
47 
48  this->setClassName(name); // all the names in one call
49  this->logging_enable_keep_record = true;
50 
51  // just for the messages until reading the actual verbosity level, set it to
52  // debug.
53  this->setMinLoggingLevel(mrpt::system::LVL_DEBUG);
54  MRPT_LOG_DEBUG_STREAM("Initialized time, output logger instances." << endl);
55 }
56 
57 template <class GRAPH_T>
59  const std::string& name)
60 {
61  this->m_class_name = name;
62  this->m_time_logger.setName(this->m_class_name);
63  this->setLoggerName(this->m_class_name);
64 }
65 
66 template <class GRAPH_T>
69 {
70  ASSERTDEB_(win_manager);
71  m_win_manager = win_manager;
72 
73  if (m_win_manager)
74  {
75  m_win = m_win_manager->win;
76  m_win_observer = m_win_manager->observer;
77  }
78 }
79 
80 template <class GRAPH_T>
82  std::mutex* graph_section)
83 {
84  m_graph_section = graph_section;
85  this->logFmt(
86  mrpt::system::LVL_DEBUG, "Fetched the CCRiticalSection successfully");
87 }
88 
89 template <class GRAPH_T>
91 {
92  this->assertVisualsVars();
93  m_initialized_visuals = true;
94 }
95 
96 template <class GRAPH_T>
98 {
99  ASSERTDEBMSG_(this->m_win, "No CDisplayWindow3D* was provided");
100  ASSERTDEBMSG_(this->m_win_manager, "No CWindowManager* was provided");
101  ASSERTDEBMSG_(this->m_win_observer, "No CWindowObserver* was provided");
102 }
103 
104 template <class GRAPH_T>
106 {
107  ASSERTDEB_(m_initialized_visuals);
108 }
109 
110 template <class GRAPH_T>
112  const std::map<std::string, bool>& events_occurred)
113 {
114  ASSERTDEB_(m_initialized_visuals);
115 }
116 
117 template <class GRAPH_T>
119  const std::string& source_fname)
120 {
121  MRPT_LOG_DEBUG_STREAM("Loading corresponding parameters");
122 }
123 
124 template <class GRAPH_T>
126 {
127  MRPT_LOG_DEBUG_STREAM("Printing corresponding parameters");
128 }
129 
130 template <class GRAPH_T>
132  std::string* report_str) const
133 {
134  MRPT_LOG_DEBUG_STREAM("Generating corresponding report");
135  // TODO - give the compact form here!
136 }
137 
138 template <class GRAPH_T>
140 {
141  m_graph = graph;
142  MRPT_LOG_DEBUG_STREAM("Fetched the graph pointer successfully");
143 }
144 
145 template <class GRAPH_T>
147 {
148  return is_mr_slam_class;
149 }
150 }
151 } // end of namespaces
152 
153 #endif /* end of include guard: CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H */
static const std::string header_sep
Separator string to be used in debugging messages.
STL namespace.
mrpt::gui::CDisplayWindow3D * win
CDisplayWindow instance.
Interface for implementing node/edge registration deciders or optimizer classes.
#define MRPT_LOG_DEBUG_STREAM(__CONTENTS)
Use: MRPT_LOG_DEBUG_STREAM("Var=" << value << " foo=" << foo_var);
GLsizei const GLchar ** string
Definition: glext.h:4101
#define ASSERTDEBMSG_(f, __ERROR_MSG)
Definition: exceptions.h:208
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
Definition: exceptions.h:205
GLuint const GLchar * name
Definition: glext.h:4054
Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWind...



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