TMetricMapInitializer.cpp

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/* +------------------------------------------------------------------------+
   |                     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 "obs-precomp.h"  // Precomp header

#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/maps/TMetricMapInitializer.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 mrpt::maps::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 mrpt::maps::internal::TMetricMapTypesRegistry;

    // Delete previous contents:
    clear();

    TMetricMapTypesRegistry& mmr = TMetricMapTypesRegistry::Instance();

    const auto& allMapKinds = mmr.getAllRegistered();
    for (const auto& allMapKind : allMapKinds)
    {
        //  ; Creation of maps:
        //  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
        const std::string sMapName = allMapKind.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"
           "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
}