CParameterizedTrajectoryGenerator_factory.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/config/CConfigFilePrefixer.h>
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
#include <mrpt/system/string_utils.h>

using namespace mrpt::nav;

/*---------------------------------------------------------------
                    Class factory
  ---------------------------------------------------------------*/
CParameterizedTrajectoryGenerator::Ptr
    CParameterizedTrajectoryGenerator::CreatePTG(
        const std::string& ptgClassName_,
        const mrpt::config::CConfigFileBase& cfg, const std::string& sSection,
        const std::string& sKeyPrefix)
{
    MRPT_START

    mrpt::rtti::registerAllPendingClasses();

    // Special names for backwards compatibility with MRPT < 1.5.0
    std::string ptgClassName = mrpt::system::trim(ptgClassName_);
    if (ptgClassName.size() == 1)
    {
        switch (ptgClassName[0])
        {
            case '1':
                ptgClassName = "CPTG_DiffDrive_C";
                break;
            case '2':
                ptgClassName = "CPTG_DiffDrive_alpha";
                break;
            case '3':
                ptgClassName = "CPTG_DiffDrive_CCS";
                break;
            case '4':
                ptgClassName = "CPTG_DiffDrive_CC";
                break;
            case '5':
                ptgClassName = "CPTG_DiffDrive_CS";
                break;
        };
    }

    // Factory:
    const mrpt::rtti::TRuntimeClassId* classId =
        mrpt::rtti::findRegisteredClass(ptgClassName);
    if (!classId)
    {
        THROW_EXCEPTION_FMT(
            "[CreatePTG] No PTG named `%s` is registered!",
            ptgClassName.c_str());
    }

    auto ptg = mrpt::ptr_cast<CParameterizedTrajectoryGenerator>::from(
        classId->createObject());
    if (!ptg)
    {
        THROW_EXCEPTION_FMT(
            "[CreatePTG] Object of type `%s` seems not to be a PTG!",
            ptgClassName.c_str());
    }

    // Wrapper to transparently add prefixes to all config keys:
    mrpt::config::CConfigFilePrefixer cfp;
    cfp.bind(cfg);
    cfp.setPrefixes("", sKeyPrefix);

    ptg->loadFromConfigFile(cfp, sSection);
    return ptg;
    MRPT_END
}