CObject.h File Reference

#include <mrpt/core/aligned_allocator.h>
#include <mrpt/core/safe_pointers.h>
#include <mrpt/typemeta/static_string.h>
#include <functional>
#include <memory>
#include <vector>

Include dependency graph for CObject.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	mrpt::rtti::TRuntimeClassId
	A structure that holds runtime class type information. More...
struct	mrpt::rtti::CLASS_ID_impl< T >
struct	mrpt::rtti::IS_CLASS_impl< T >
struct	mrpt::rtti::internal::CopyCtor< is_copy_ctrtible >
struct	mrpt::rtti::internal::CopyCtor< true >
struct	mrpt::rtti::internal::CopyCtor< false >
class	mrpt::rtti::CObject
	Virtual base to provide a compiler-independent RTTI system. More...
struct	mrpt::ptr_cast< CAST_TO >
	Converts a polymorphic smart pointer Base::Ptr to Derived::Ptr, in a way compatible with MRPT >=1.5.4 and MRPT 2.x series. More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::rtti
	mrpt::rtti::internal

RTTI classes and functions for polymorphic hierarchies
#define	CLASS_ID(T)   mrpt::rtti::CLASS_ID_impl<T>::get()
	Access to runtime class ID for a defined class name. More...
#define	CLASS_ID_TEMPLATE(class_name, T)   mrpt::rtti::CLASS_ID_impl<T>::get()
#define	CLASS_ID_NAMESPACE(class_name, namespaceName)   mrpt::rtti::CLASS_ID_impl<namespaceName::class_name>::get()
#define	IS_CLASS(obj, class_name)   mrpt::rtti::IS_CLASS_impl<class_name>::check(obj)
	True if the given reference to object (derived from mrpt::rtti::CObject) is of the given class. More...
#define	IS_DERIVED(obj, class_name)   ((obj).GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))
	True if the given reference to object (derived from mrpt::rtti::CObject) is an instance of the given class OR any of its derived classes. More...
#define	DEFINE_MRPT_OBJECT(class_name, NameSpace)
	This declaration must be inserted in all CObject classes definition, within the class declaration. More...
#define	INTERNAL_IMPLEMENTS_MRPT_OBJECT( class_name, base, NameSpace, class_registry_name)
#define	IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace)
	Must be added to all CObject-derived classes implementation file. More...
#define	DEFINE_VIRTUAL_MRPT_OBJECT(class_name)
	This declaration must be inserted in virtual CObject classes definition: More...
#define	INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT( class_name, base_name, NS, registered_name)
	This must be inserted as implementation of some required members for virtual CObject classes: More...
#define	IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base, NS)
void	mrpt::rtti::registerClass (const mrpt::rtti::TRuntimeClassId *pNewClass)
	Register a class into the MRPT internal list of "CObject" descendents. More...
void	mrpt::rtti::registerClassCustomName (const char *customName, const TRuntimeClassId *pNewClass)
	Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,...) More...
std::vector< const mrpt::rtti::TRuntimeClassId * >	mrpt::rtti::getAllRegisteredClasses ()
	Returns a list with all the classes registered in the system through mrpt::rtti::registerClass. More...
std::vector< const TRuntimeClassId * >	mrpt::rtti::getAllRegisteredClassesChildrenOf (const TRuntimeClassId *parent_id)
	Like getAllRegisteredClasses(), but filters the list to only include children clases of a given base one. More...
const TRuntimeClassId *	mrpt::rtti::findRegisteredClass (const std::string &className, const bool allow_ignore_namespace=true)
	Return info about a given class by its name, or nullptr if the class is not registered. More...
void	mrpt::rtti::registerAllPendingClasses ()
	Register all pending classes - to be called just before de-serializing an object, for example. More...
mrpt::rtti::CObject::Ptr	mrpt::rtti::classFactory (const std::string &className)
	Creates an object given by its registered name. More...

Macro Definition Documentation

CLASS_ID

#define CLASS_ID

(

T

)

mrpt::rtti::CLASS_ID_impl<T>::get()

Access to runtime class ID for a defined class name.

Examples:

rtti_example1/test.cpp.

Definition at line 102 of file CObject.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::hwdrivers::CGenericSensor::appendObservations(), mrpt::poses::CPose3DPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPointPDFSOG::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin(), mrpt::maps::CBeaconMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith2D(), mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPose3DPDFSOG::copyFrom(), mrpt::poses::CPointPDFSOG::copyFrom(), mrpt::poses::CPosePDFSOG::copyFrom(), mrpt::poses::CPose3DPDF::createFrom2D(), mrpt::maps::CBeaconMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::obs::CRawlog::findObservationsByClassInRange(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::obs::CRawlog::getAsAction(), mrpt::obs::CRawlog::getAsObservation(), mrpt::obs::CRawlog::getAsObservations(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::obs::CActionRobotMovement2D::getDescriptionAsText(), mrpt::obs::CActionCollection::getMovementEstimationByType(), mrpt::rtti::CObject::GetRuntimeClass(), mrpt::obs::CRawlog::getType(), mrpt::obs::CRawlog::iterator::getType(), mrpt::obs::CRawlog::const_iterator::getType(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CLandmarksMap::internal_insertObservation(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPose3DPDFSOG::inverse(), mrpt::poses::CPose3DPDFGaussianInf::inverse(), mrpt::poses::CPosePDFParticles::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFSOG::inverse(), mrpt::obs::CRawlog::loadFromRawLogFile(), MRPT_INITIALIZER(), mrpt::topography::path_from_rtk_gps(), mrpt::detectors::CDetectorDoorCrossing::process(), mrpt::obs::CRawlog::readActionObservationPair(), mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile(), mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams::saveToConfigFile(), TEST(), and mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

CLASS_ID_NAMESPACE

#define CLASS_ID_NAMESPACE	(		class_name,
			namespaceName
	)		mrpt::rtti::CLASS_ID_impl<namespaceName::class_name>::get()

Examples:

rtti_example1/test.cpp.

Definition at line 105 of file CObject.h.

Referenced by do_register(), mrpt::opengl::CSetOfObjects::dumpListOfObjects(), mrpt::opengl::COpenGLViewport::dumpListOfObjects(), mrpt::opengl::CSetOfObjects::getByClass(), mrpt::opengl::COpenGLViewport::getByClass(), mrpt::opengl::CSetOfObjects::getByName(), mrpt::opengl::COpenGLViewport::getByName(), mrpt::opengl::CSetOfObjects::removeObject(), and mrpt::opengl::COpenGLViewport::removeObject().

CLASS_ID_TEMPLATE

#define CLASS_ID_TEMPLATE	(		class_name,
			T
	)		mrpt::rtti::CLASS_ID_impl<T>::get()

Definition at line 104 of file CObject.h.

DEFINE_MRPT_OBJECT

#define DEFINE_MRPT_OBJECT	(		class_name,
			NameSpace
	)

This declaration must be inserted in all CObject classes definition, within the class declaration.

Examples:

rtti_example1/test.cpp.

Definition at line 211 of file CObject.h.

DEFINE_VIRTUAL_MRPT_OBJECT

#define DEFINE_VIRTUAL_MRPT_OBJECT

(

class_name

)

Value:

/*! @name RTTI stuff  */                                             \
    /*! @{  */                                                           \
   protected:                                                            \
    static const mrpt::rtti::TRuntimeClassId* _GetBaseClass();           \
    static const mrpt::rtti::TRuntimeClassId runtimeClassId;             \
                                                                         \
   public:                                                               \
    using Ptr = std::shared_ptr<class_name>;                             \
    using ConstPtr = std::shared_ptr<const class_name>;                  \
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass()         \
        const override;                                                  \
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic(); \
    /*! @}  */

This declaration must be inserted in virtual CObject classes definition:

Examples:

rtti_example1/test.cpp.

Definition at line 293 of file CObject.h.

IMPLEMENTS_MRPT_OBJECT

#define IMPLEMENTS_MRPT_OBJECT	(		class_name,
			base,
			NameSpace
	)

Value:

INTERNAL_IMPLEMENTS_MRPT_OBJECT(                        \
        class_name, base, NameSpace, #NameSpace "::" #class_name)

Must be added to all CObject-derived classes implementation file.

This registers class ns1::Foo as "ns1::Foo".

Definition at line 286 of file CObject.h.

IMPLEMENTS_VIRTUAL_MRPT_OBJECT

#define IMPLEMENTS_VIRTUAL_MRPT_OBJECT	(		class_name,
			base,
			NS
	)

Value:

INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT(                 \
        class_name, base, NS, #NS "::" #class_name)

Definition at line 329 of file CObject.h.

INTERNAL_IMPLEMENTS_MRPT_OBJECT

#define INTERNAL_IMPLEMENTS_MRPT_OBJECT	(		class_name,
			base,
			NameSpace,
			class_registry_name
	)

Value:

mrpt::rtti::CObject::Ptr NameSpace::class_name::CreateObject()            \
    {                                                                         \
        return std::static_pointer_cast<CObject>(                             \
            std::make_shared<NameSpace::class_name>());                       \
    }                                                                         \
    const mrpt::rtti::TRuntimeClassId* NameSpace::class_name::_GetBaseClass() \
    {                                                                         \
        return CLASS_ID(base);                                                \
    }                                                                         \
    const mrpt::rtti::TRuntimeClassId&                                        \
        NameSpace::class_name::GetRuntimeClassIdStatic()                      \
    {                                                                         \
        return NameSpace::class_name::runtimeClassId;                         \
    }                                                                         \
    const mrpt::rtti::TRuntimeClassId NameSpace::class_name::runtimeClassId = \
        {class_registry_name, NameSpace::class_name::CreateObject,            \
         &class_name::_GetBaseClass};                                         \
    const mrpt::rtti::TRuntimeClassId*                                        \
        NameSpace::class_name::GetRuntimeClass() const                        \
    {                                                                         \
        return CLASS_ID_NAMESPACE(class_name, NameSpace);                     \
    }                                                                         \
    mrpt::rtti::CObject* NameSpace::class_name::clone() const                 \
    {                                                                         \
        return mrpt::rtti::internal::CopyCtor<std::is_copy_constructible<     \
            NameSpace::class_name>::value>::clone(*this);                     \
    }

Definition at line 253 of file CObject.h.

INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT

#define INTERNAL_IMPLEMENTS_VIRTUAL_MRPT_OBJECT	(		class_name,
			base_name,
			NS,
			registered_name
	)

Value:

const mrpt::rtti::TRuntimeClassId* NS::class_name::_GetBaseClass()         \
    {                                                                          \
        return CLASS_ID(base_name);                                            \
    }                                                                          \
    const mrpt::rtti::TRuntimeClassId NS::class_name::runtimeClassId = {       \
        registered_name, nullptr, &NS::class_name::_GetBaseClass};             \
    const mrpt::rtti::TRuntimeClassId* NS::class_name::GetRuntimeClass() const \
    {                                                                          \
        return CLASS_ID(class_name);                                           \
    }                                                                          \
    const mrpt::rtti::TRuntimeClassId&                                         \
        NS::class_name::GetRuntimeClassIdStatic()                              \
    {                                                                          \
        return NS::class_name::runtimeClassId;                                 \
    }

This must be inserted as implementation of some required members for virtual CObject classes:

Definition at line 311 of file CObject.h.

IS_CLASS

#define IS_CLASS	(		obj,
			class_name
	)		mrpt::rtti::IS_CLASS_impl<class_name>::check(obj)

True if the given reference to object (derived from mrpt::rtti::CObject) is of the given class.

Examples:

rtti_example1/test.cpp.

Definition at line 146 of file CObject.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T >::checkOptimizerExists(), mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_T >::checkRegistrationDeciderExists(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation(), mrpt::detectors::CCascadeClassifierDetection::detectObjects_Impl(), mrpt::detectors::CFaceDetection::detectObjects_Impl(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), mrpt::apps::ICP_SLAM_App_Live::impl_get_next_observations(), mrpt::obs::CRawlog::insert(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::obs::CSensoryFrame::internal_buildAuxPointsMap(), mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::COccupancyGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::opengl::COpenGLScene::internal_visitAllObjects(), mrpt::obs::CRawlog::loadFromRawLogFile(), main(), mrpt::slam::observationsOverlap(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::apps::RawlogGrabberApp::process_observations_for_sf(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::serialization::CArchive::ReadVariant_helper(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::hmtslam::CHMTSLAM::TBI_main_method(), mrpt::hwdrivers::CCameraSensor::thread_save_images(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

IS_DERIVED

#define IS_DERIVED	(		obj,
			class_name
	)		((obj).GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))

True if the given reference to object (derived from mrpt::rtti::CObject) is an instance of the given class OR any of its derived classes.

Examples:

rtti_example1/test.cpp.

Definition at line 151 of file CObject.h.

Referenced by mrpt::maps::CPointsMap::determineMatching2D(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), mrpt::apps::RawlogGrabberApp::process_observations_for_sf(), mrpt::slam::CMetricMapBuilderICP::processObservation(), TEST(), and mrpt::hwdrivers::CCameraSensor::thread_save_images().