CObject.h File Reference

#include <mrpt/system/memory.h>
#include <mrpt/utils/safe_pointers.h>
#include <mrpt/utils/aligned_allocator.h>
#include <vector>
#include <memory>

Go to the source code of this file.

Classes
struct	mrpt::utils::TRuntimeClassId
	A structure that holds runtime class type information. More...
struct	mrpt::utils::IS_CLASS_impl< T >
struct	mrpt::utils::CLASSINIT
	Auxiliary structure used for CObject-based RTTI. More...
struct	mrpt::utils::is_shared_ptr< T >
	This is useful for checking ::Ptr types. More...
struct	mrpt::utils::is_shared_ptr< std::shared_ptr< T > >
class	mrpt::utils::CObject
	The virtual base class of all MRPT classes with a unified RTTI system. More...
struct	mrpt::ptr_cast< CAST_TO >
	Converts a 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::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Functions
void	mrpt::utils::registerAllPendingClasses ()
	Register all pending classes - to be called just before de-serializing an object, for example. More...

RTTI classes and functions
#define	CLASS_ID(T)   mrpt::utils::CLASS_ID_impl<T>()
	Access to runtime class ID for a defined class name. More...
#define	CLASS_ID_TEMPLATE(class_name, T)   mrpt::utils::CLASS_ID_impl<T>()
#define	CLASS_ID_NAMESPACE(class_name, namespaceName)   mrpt::utils::CLASS_ID_impl<namespaceName::class_name>()
#define	IS_CLASS(ptrObj, class_name)   mrpt::utils::IS_CLASS_impl<class_name>::check(ptrObj)
	Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of the given class. More...
#define	IS_DERIVED(ptrObj, class_name)   ((ptrObj)->GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))
	Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is an instance of the given class or any of its derived classes. More...
#define	DEFINE_MRPT_OBJECT(class_name)
	This declaration must be inserted in all CObject classes definition, within the class declaration. More...
#define	IMPLEMENTS_MRPT_OBJECT(class_name, base, NameSpace)
	This must be inserted in all CObject classes implementation files. More...
#define	DEFINE_VIRTUAL_MRPT_OBJECT(class_name)
	This declaration must be inserted in virtual CSerializable classes definition: More...
#define	IMPLEMENTS_VIRTUAL_MRPT_OBJECT(class_name, base_class_name, NameSpace)
	This must be inserted as implementation of some required members for virtual CSerializable classes: More...
void	mrpt::utils::registerClass (const mrpt::utils::TRuntimeClassId *pNewClass)
	Register a class into the MRPT internal list of "CSerializable" descendents. More...
void	mrpt::utils::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::utils::TRuntimeClassId * >	mrpt::utils::getAllRegisteredClasses ()
	Returns a list with all the classes registered in the system through mrpt::utils::registerClass. More...
std::vector< const TRuntimeClassId * >	mrpt::utils::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::utils::findRegisteredClass (const std::string &className)
	Return info about a given class by its name, or nullptr if the class is not registered. More...
template<typename T >
constexpr const mrpt::utils::TRuntimeClassId *	mrpt::utils::CLASS_ID_impl ()

Macro Definition Documentation

CLASS_ID

#define CLASS_ID

(

T

)

mrpt::utils::CLASS_ID_impl<T>()

Access to runtime class ID for a defined class name.

Definition at line 85 of file CObject.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::hwdrivers::CGenericSensor::appendObservations(), mrpt::poses::CPoint2DPDFGaussian::bayesianFusion(), mrpt::poses::CPose3DPDFSOG::bayesianFusion(), mrpt::poses::CPointPDFGaussian::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::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), 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::CPointsMap::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::CActionCollection::getMovementEstimationByType(), mrpt::utils::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::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::COccupancyGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CLandmarksMap::internal_insertObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), mrpt::poses::CPose3DQuatPDFGaussian::inverse(), mrpt::poses::CPose3DPDFSOG::inverse(), mrpt::poses::CPosePDFParticles::inverse(), mrpt::poses::CPose3DPDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFSOG::inverse(), mrpt::obs::CRawlog::loadFromRawLogFile(), 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::utils::CLASS_ID_impl<namespaceName::class_name>()

Definition at line 88 of file CObject.h.

Referenced by 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::utils::CLASS_ID_impl<T>()

Definition at line 87 of file CObject.h.

DEFINE_MRPT_OBJECT

#define DEFINE_MRPT_OBJECT

(

class_name

)

Value:

/*! @name RTTI stuff  */                                              \
        /*! @{  */                                                            \
   protected:                                                             \
        static const mrpt::utils::TRuntimeClassId* _GetBaseClass();           \
        static mrpt::utils::CLASSINIT _init_##class_name;                     \
        static const mrpt::utils::TRuntimeClassId runtimeClassId;             \
                                                                          \
   public:                                                                \
        /*! A typedef for the associated smart pointer */                     \
        using Ptr = std::shared_ptr<class_name>;                              \
        using ConstPtr = std::shared_ptr<const class_name>;                   \
        static constexpr const char* className = #class_name;                 \
        static const mrpt::utils::TRuntimeClassId& GetRuntimeClassIdStatic(); \
        virtual const mrpt::utils::TRuntimeClassId* GetRuntimeClass()         \
                const override;                                                   \
        static mrpt::utils::CObject* CreateObject();                          \
        virtual mrpt::utils::CObject* clone() const override;                 \
        template <typename... Args>                                           \
        static Ptr Create(Args&&... args)                                     \
        {                                                                     \
                return mrpt::make_aligned_shared<class_name>(                     \
                        std::forward<Args>(args)...);                                 \
        }                                                                     \
        /*! @} */                                                             \
   public:                                                                \
        MRPT_MAKE_ALIGNED_OPERATOR_NEW

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

Definition at line 186 of file CObject.h.

DEFINE_VIRTUAL_MRPT_OBJECT

#define DEFINE_VIRTUAL_MRPT_OBJECT

(

class_name

)

Value:

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

This declaration must be inserted in virtual CSerializable classes definition:

Definition at line 249 of file CObject.h.

IMPLEMENTS_MRPT_OBJECT

#define IMPLEMENTS_MRPT_OBJECT	(		class_name,
			base,
			NameSpace
	)

Value:

mrpt::utils::CObject* NameSpace::class_name::CreateObject()                \
        {                                                                          \
                return static_cast<mrpt::utils::CObject*>(new NameSpace::class_name);  \
        }                                                                          \
        const mrpt::utils::TRuntimeClassId* NameSpace::class_name::_GetBaseClass() \
        {                                                                          \
                return CLASS_ID(base);                                                 \
        }                                                                          \
        const mrpt::utils::TRuntimeClassId&                                        \
                NameSpace::class_name::GetRuntimeClassIdStatic()                       \
        {                                                                          \
                return NameSpace::class_name::runtimeClassId;                          \
        }                                                                          \
        const mrpt::utils::TRuntimeClassId NameSpace::class_name::runtimeClassId = \
                {#class_name, NameSpace::class_name::CreateObject,                     \
                 &class_name::_GetBaseClass};                                          \
        const mrpt::utils::TRuntimeClassId*                                        \
                NameSpace::class_name::GetRuntimeClass() const                         \
        {                                                                          \
                return CLASS_ID_NAMESPACE(class_name, NameSpace);                      \
        }                                                                          \
        mrpt::utils::CLASSINIT NameSpace::class_name::_init_##class_name(          \
                CLASS_ID(base));                                                       \
        mrpt::utils::CObject* NameSpace::class_name::clone() const                 \
        {                                                                          \
                return static_cast<mrpt::utils::CObject*>(                             \
                        new NameSpace::class_name(*this));                                 \
        }

This must be inserted in all CObject classes implementation files.

Definition at line 216 of file CObject.h.

IMPLEMENTS_VIRTUAL_MRPT_OBJECT

#define IMPLEMENTS_VIRTUAL_MRPT_OBJECT	(		class_name,
			base_class_name,
			NameSpace
	)

Value:

const mrpt::utils::TRuntimeClassId* class_name::_GetBaseClass()            \
        {                                                                          \
                return CLASS_ID(base_class_name);                                      \
        }                                                                          \
        const mrpt::utils::TRuntimeClassId class_name::runtimeClassId = {          \
                #class_name, nullptr, &class_name::_GetBaseClass};                     \
        const mrpt::utils::TRuntimeClassId* class_name::GetRuntimeClass() const    \
        {                                                                          \
                return CLASS_ID(class_name);                                           \
        }                                                                          \
        const mrpt::utils::TRuntimeClassId&                                        \
                NameSpace::class_name::GetRuntimeClassIdStatic()                       \
        {                                                                          \
                return NameSpace::class_name::runtimeClassId;                          \
        }

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

Definition at line 268 of file CObject.h.

IS_CLASS

#define IS_CLASS	(		ptrObj,
			class_name
	)		mrpt::utils::IS_CLASS_impl<class_name>::check(ptrObj)

Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of the given class.

Definition at line 103 of file CObject.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep(), mrpt::obs::CRawlog::addObservationMemoryReference(), 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::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), 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::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPoseRandomSampler::do_sample_3D(), mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile(), mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), mrpt::opengl::CSetOfObjects::initializeAllTextures(), mrpt::opengl::COpenGLViewport::initializeAllTextures(), mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation(), mrpt::obs::CSensoryFrame::internal_buildAuxPointsMap(), mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::maps::CReflectivityGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), mrpt::opengl::COpenGLScene::internal_visitAllObjects(), mrpt::obs::CRawlog::loadFromRawLogFile(), mrpt::slam::observationsOverlap(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::utils::CStream::ReadVariant_helper(), mrpt::poses::CPoseRandomSampler::setPosePDF(), mrpt::hmtslam::CHMTSLAM::TBI_main_method(), TEST(), 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	(		ptrObj,
			class_name
	)		((ptrObj)->GetRuntimeClass()->derivedFrom(CLASS_ID(class_name)))

Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is an instance of the given class or any of its derived classes.

Definition at line 109 of file CObject.h.

Referenced by mrpt::obs::CRawlog::getActionObservationPairOrObservation(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), mrpt::opengl::CSetOfObjects::initializeAllTextures(), mrpt::opengl::COpenGLViewport::initializeAllTextures(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::hwdrivers::CCameraSensor::thread_save_images().