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mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t > Struct Template Reference

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 106 of file TUserOptionsChecker.h.

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

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

Public Types

handy typedefs for the creation of deciders/optimzer instances from

the corresponding strings

typedef GRAPH_t::constraint_t constraint_t
 
typedef GRAPH_t::constraint_t::type_value pose_t
 
typedef std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *(*)()> node_regs_t
 
typedef std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *(*)()> edge_regs_t
 
typedef std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *(*)()> optimizers_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

template<class GRAPH_t>
typedef GRAPH_t::constraint_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::constraint_t

Definition at line 111 of file TUserOptionsChecker.h.

Definition at line 118 of file TUserOptionsChecker.h.

Definition at line 115 of file TUserOptionsChecker.h.

template<class GRAPH_t>
typedef std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>*(*)()> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_t

Definition at line 121 of file TUserOptionsChecker.h.

template<class GRAPH_t>
typedef GRAPH_t::constraint_t::type_value mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::pose_t

Definition at line 112 of file TUserOptionsChecker.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 14 of file TUserOptionsChecker_impl.h.

template<class GRAPH_t >
mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::~TUserOptionsChecker ( )
virtual

Member Function Documentation

template<>
void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf >::_createDeciderOptimizerMappings ( )
inline
template<>
void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf_NA >::_createDeciderOptimizerMappings ( )
inline
template<>
void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses3DInf >::_createDeciderOptimizerMappings ( )
inline

Definition at line 101 of file TUserOptionsChecker_impl.h.

template<class GRAPH_t >
void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::_createDeciderOptimizerMappings ( )
virtual
template<class GRAPH_t >
bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkOptimizerExists ( std::string  given_opt) const
virtual
template<class GRAPH_t >
bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkRegistrationDeciderExists ( std::string  given_reg,
std::string  reg_type 
) const
virtual
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.

References mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::_createDeciderOptimizerMappings(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_map, MRPT_END, MRPT_START, mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_map, and mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_map.

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 187 of file TUserOptionsChecker.h.

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 192 of file TUserOptionsChecker.h.

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 182 of file TUserOptionsChecker.h.

template<class GRAPH_t >
void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpOptimizersToConsole ( ) const
virtual
template<class GRAPH_t >
void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpRegistrarsToConsole ( std::string  reg_type = "all") const
virtual
template<class GRAPH_t >
void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::populateDeciderOptimizerProperties ( )
virtual

Member Data Documentation

template<class GRAPH_t>
edge_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_map
template<class GRAPH_t>
node_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_map
template<class GRAPH_t>
std::vector<TOptimizerProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_descriptions
template<class GRAPH_t>
optimizers_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_map
template<class GRAPH_t>
std::vector<TRegistrationDeciderProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::regs_descriptions
template<class GRAPH_t>
const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_header
template<class GRAPH_t>
const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_subheader



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