TMetricMapInitializer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/maps/TMetricMapTypesRegistry.h>
#include <mrpt/maps/metric_map_types.h>
#include <mrpt/rtti/CObject.h>  // For TRuntimeClassId
#include <deque>

namespace mrpt::maps
{
class TSetOfMetricMapInitializers;

/** Virtual base for specifying the kind and parameters of one map (normally, to
 * be inserted into mrpt::maps::CMultiMetricMap)
 *  See `mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile()` as an
 * easy way of initialize this object, or
 *  construct with the factory methods `<metric_map_class>::MapDefinition()`
 * and `TMetricMapInitializer::factory()`
 *
 * \sa TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap
 * \ingroup mrpt_obs_grp
 */
struct TMetricMapInitializer : public mrpt::config::CLoadableOptions
{
    friend class TSetOfMetricMapInitializers;
    /** Smart pointer to TMetricMapInitializer */
    using Ptr = std::shared_ptr<TMetricMapInitializer>;

    /** Common params for all maps: These are automatically set in
     * TMetricMapTypesRegistry::factoryMapObjectFromDefinition()  */
    mrpt::maps::TMapGenericParams genericMapParams;

    /** Load all params from a config file/source. For examples and format, read
     * the docs of mrpt::maps::CMultiMetricMap
     * Typical section names:
     *  - `<sectionNamePrefix>_creationOpts`
     *  - `<sectionNamePrefix>_insertOpts`
     *  - `<sectionNamePrefix>_likelihoodOpts`
     */
    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionNamePrefix) override;  // See base docs
    void saveToConfigFile(
        mrpt::config::CConfigFileBase& target,
        const std::string& section) const override;
    void dumpToTextStream(std::ostream& out) const override;  // See base docs

    /** Query the map type (C++ class), as set by the factory method
     * MapDefinition() */
    const mrpt::rtti::TRuntimeClassId::Ptr& getMetricMapClassType() const
    {
        return metricMapClassType;
    }

    /** Looks up in the registry of known map types and call the corresponding
     * `<metric_map_class>::MapDefinition()`. */
    static TMetricMapInitializer* factory(const std::string& mapClassName);

   protected:
    TMetricMapInitializer(const mrpt::rtti::TRuntimeClassId* classID);
    /** Derived classes set this to CLASS_ID(< class >) where < class > is any
     * CMetricMap derived class. */
    const mrpt::rtti::TRuntimeClassId::Ptr metricMapClassType;

    /** Load all map-specific params*/
    virtual void loadFromConfigFile_map_specific(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionNamePrefix) = 0;
    virtual void dumpToTextStream_map_specific(std::ostream& out) const = 0;
};  // end TMetricMapInitializer

/** A set of TMetricMapInitializer structures, passed to the constructor
 * CMultiMetricMap::CMultiMetricMap
 *  See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and
 * "CMultiMetricMap::setListOfMaps" for
 *   effectively creating the list of desired maps.
 * \sa CMultiMetricMap::CMultiMetricMap, CLoadableOptions
 * \ingroup mrpt_obs_grp
 */
class TSetOfMetricMapInitializers : public mrpt::config::CLoadableOptions
{
   protected:
    std::deque<TMetricMapInitializer::Ptr> m_list;

   public:
    TSetOfMetricMapInitializers() : m_list() {}
    template <typename MAP_DEFINITION>
    void push_back(const MAP_DEFINITION& o)
    {
        m_list.push_back(TMetricMapInitializer::Ptr(new MAP_DEFINITION(o)));
    }

    void push_back(const TMetricMapInitializer::Ptr& o) { m_list.push_back(o); }
    size_t size() const { return m_list.size(); }
    using iterator = std::deque<TMetricMapInitializer::Ptr>::iterator;
    using const_iterator =
        std::deque<TMetricMapInitializer::Ptr>::const_iterator;
    iterator begin() { return m_list.begin(); }
    iterator end() { return m_list.end(); }
    const_iterator begin() const { return m_list.begin(); }
    const_iterator end() const { return m_list.end(); }
    void clear() { m_list.clear(); }
    /** Loads the configuration for the set of internal maps from a textual
     *definition in an INI-like file.
     *  The format of the ini file is defined in CConfigFile. The list
     *of maps and their options
     *   will be loaded from a handle of sections:
     *
     *  \code
     * [<sectionName>]
     *  // Creation of maps:
     *  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
     *  octoMap_count=<Number of mrpt::maps::COctoMap maps>
     *  colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
     *  gasGrid_count=<Number of mrpt::maps::CGasConcentrationGridMap2D maps>
     *  wifiGrid_count=<Number of mrpt::maps::CWirelessPowerGridMap2D maps>
     *  landmarksMap_count=<0 or 1, for creating a mrpt::maps::CLandmarksMap
     *map>
     *  beaconMap_count=<0 or 1, for creating a mrpt::maps::CBeaconMap map>
     *  pointsMap_count=<Number of mrpt::maps::CSimplePointsMap map>
     *  heightMap_count=<Number of mrpt::maps::CHeightGridMap2D maps>
     *  reflectivityMap_count=<Number of mrpt::maps::CReflectivityGridMap2D
     *maps>
     *  colourPointsMap_count=<0 or 1, for creating a
     *mrpt::maps::CColouredPointsMap map>
     *  weightedPointsMap_count=<0 or 1, for creating a
     *mrpt::maps::CWeightedPointsMap map>
     *
     * // ====================================================
     * //  Creation Options for OccupancyGridMap ##:
     * [<sectionName>+"_occupancyGrid_##_creationOpts"]
     *  min_x=<value>
     *  max_x=<value>
     *  min_y=<value>
     *  max_y=<value>
     *  resolution=<value>
     *  # Common params for all maps:
     *  #enableSaveAs3DObject        = {true|false}
     *  #enableObservationLikelihood = {true|false}
     *  #enableObservationInsertion  = {true|false}
     *
     * // Insertion Options for OccupancyGridMap ##:
     * [<sectionName>+"_occupancyGrid_##_insertOpts"]
     *  <See COccupancyGridMap2D::TInsertionOptions>
     *
     * // Likelihood Options for OccupancyGridMap ##:
     * [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
     *  <See COccupancyGridMap2D::TLikelihoodOptions>
     *
     * // ====================================================
     * //  Creation Options for OctoMap ##:
     * [<sectionName>+"_octoMap_##_creationOpts"]
     *  resolution=<value>
     *
     * // Insertion Options for OctoMap ##:
     * [<sectionName>+"_octoMap_##_insertOpts"]
     *  <See COctoMap::TInsertionOptions>
     *
     * // Likelihood Options for OctoMap ##:
     * [<sectionName>+"_octoMap_##_likelihoodOpts"]
     *  <See COctoMap::TLikelihoodOptions>
     *
     * // ====================================================
     * //  Creation Options for ColourOctoMap ##:
     * [<sectionName>+"_colourOctoMap_##_creationOpts"]
     *  resolution=<value>
     *
     * // Insertion Options for ColourOctoMap ##:
     * [<sectionName>+"_colourOctoMap_##_insertOpts"]
     *  <See CColourOctoMap::TInsertionOptions>
     *
     * // Likelihood Options for ColourOctoMap ##:
     * [<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
     *  <See CColourOctoMap::TLikelihoodOptions>
     *
     *
     * // ====================================================
     * // Insertion Options for mrpt::maps::CSimplePointsMap ##:
     * [<sectionName>+"_pointsMap_##_insertOpts"]
     *  <See CPointsMap::TInsertionOptions>
     *
     * // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
     * [<sectionName>+"_pointsMap_##_likelihoodOpts"]
     *  <See CPointsMap::TLikelihoodOptions>
     *
     *
     * // ====================================================
     * // Creation Options for CGasConcentrationGridMap2D ##:
     * [<sectionName>+"_gasGrid_##_creationOpts"]
     *  mapType= <0-1> ; See
     *CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
     *  min_x=<value>
     *  max_x=<value>
     *  min_y=<value>
     *  max_y=<value>
     *  resolution=<value>
     *
     * // Insertion Options for CGasConcentrationGridMap2D ##:
     * [<sectionName>+"_gasGrid_##_insertOpts"]
     *  <See CGasConcentrationGridMap2D::TInsertionOptions>
     *
     * // ====================================================
     * // Creation Options for CWirelessPowerGridMap2D ##:
     * [<sectionName>+"_wifiGrid_##_creationOpts"]
     *  mapType= <0-1> ; See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
     *  min_x=<value>
     *  max_x=<value>
     *  min_y=<value>
     *  max_y=<value>
     *  resolution=<value>
     *
     * // Insertion Options for CWirelessPowerGridMap2D ##:
     * [<sectionName>+"_wifiGrid_##_insertOpts"]
     *  <See CWirelessPowerGridMap2D::TInsertionOptions>
     *
     *
     * // ====================================================
     * // Creation Options for CLandmarksMap ##:
     * [<sectionName>+"_landmarksMap_##_creationOpts"]
     *  nBeacons=<# of beacons>
     *  beacon_001_ID=67        ; The ID and 3D coordinates of each beacon
     *  beacon_001_X=<x>
     *  beacon_001_Y=<x>
     *  beacon_001_Z=<x>
     *
     * // Insertion Options for CLandmarksMap ##:
     * [<sectionName>+"_landmarksMap_##_insertOpts"]
     *  <See CLandmarksMap::TInsertionOptions>
     *
     * // Likelihood Options for CLandmarksMap ##:
     * [<sectionName>+"_landmarksMap_##_likelihoodOpts"]
     *  <See CLandmarksMap::TLikelihoodOptions>
     *
     *
     * // ====================================================
     * // Insertion Options for CBeaconMap ##:
     * [<sectionName>+"_beaconMap_##_insertOpts"]
     *  <See CBeaconMap::TInsertionOptions>
     *
     * // Likelihood Options for CBeaconMap ##:
     * [<sectionName>+"_beaconMap_##_likelihoodOpts"]
     *  <See CBeaconMap::TLikelihoodOptions>
     *
     * // ====================================================
     * // Creation Options for HeightGridMap ##:
     * [<sectionName>+"_heightGrid_##_creationOpts"]
     *  mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
     *  min_x=<value>
     *  max_x=<value>
     *  min_y=<value>
     *  max_y=<value>
     *  resolution=<value>
     *
     * // Insertion Options for HeightGridMap ##:
     * [<sectionName>+"_heightGrid_##_insertOpts"]
     *  <See CHeightGridMap2D::TInsertionOptions>
     *
     *
     * // ====================================================
     * // Creation Options for ReflectivityGridMap ##:
     * [<sectionName>+"_reflectivityMap_##_creationOpts"]
     *  min_x=<value>  // See CReflectivityGridMap2D::CReflectivityGridMap2D
     *  max_x=<value>
     *  min_y=<value>
     *  max_y=<value>
     *  resolution=<value>
     *
     * // Insertion Options for HeightGridMap ##:
     * [<sectionName>+"_reflectivityMap_##_insertOpts"]
     *  <See CReflectivityGridMap2D::TInsertionOptions>
     *
     *
     * // ====================================================
     * // Insertion Options for CColouredPointsMap ##:
     * [<sectionName>+"_colourPointsMap_##_insertOpts"]
     *  <See CPointsMap::TInsertionOptions>
     *
     *
     * // Color Options for CColouredPointsMap ##:
     * [<sectionName>+"_colourPointsMap_##_colorOpts"]
     *  <See CColouredPointsMap::TColourOptions>
     *
     * // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
     * [<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
     *  <See CPointsMap::TLikelihoodOptions>
     *
     *
     * // ====================================================
     * // Insertion Options for CWeightedPointsMap ##:
     * [<sectionName>+"_weightedPointsMap_##_insertOpts"]
     *  <See CPointsMap::TInsertionOptions>
     *
     *
     * // Likelihood Options for CWeightedPointsMap ##:
     * [<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
     *  <See CPointsMap::TLikelihoodOptions>
     *
     *  \endcode
     *
     *  Where:
     *      - ##: Represents the index of the map (e.g. "00","01",...)
     *      - By default, the variables into each "TOptions" structure of the
     *maps
     *are defined in textual form by the same name of the corresponding C++
     *variable (e.g. "float resolution;" -> "resolution=0.10")
     *
     * \note Examples of map definitions can be found in the '.ini' files
     *provided in the demo directories: "share/mrpt/config-files/"
     */
    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionName) override;
    void saveToConfigFile(
        mrpt::config::CConfigFileBase& target,
        const std::string& section) const override;
    /** This method dumps the options of the multi-metric map AND those of every
     * internal map. */
    void dumpToTextStream(std::ostream& out) const override;
};

}  // namespace mrpt::maps