Detailed Description

template<class GRAPH_t>
struct mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >

Class containing the declarations of supplementary methods that can be used in application-related code.

Class instance can be handy for adding keeping the available deciders/optimizers in a compact manner and for verifying whether a given decider can be used.

Definition at line 106 of file TUserOptionsChecker.h.

#include <mrpt/graphslam/apps_related/TUserOptionsChecker.h>

Inheritance diagram for mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >:

Public Types
handy typedefs for the creation of deciders/optimzer instances from
the corresponding strings
typedef GRAPH_t::constraint_t	constraint_t

typedef GRAPH_t::constraint_t::type_value	pose_t

typedef std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > ()()>	node_regs_t

typedef std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > ()()>	edge_regs_t

typedef std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > ()()>	optimizers_t

Public Member Functions
	TUserOptionsChecker ()
	Constructor. More...

virtual	~TUserOptionsChecker ()
	Destructor. More...

virtual void	createDeciderOptimizerMappings ()
	Create the necessary mappings from strings to the corresponding instance creation functors. More...

virtual void	_createDeciderOptimizerMappings ()

virtual void	populateDeciderOptimizerProperties ()
	Populate the available decider, optimizer classes available in user applications. More...

virtual bool	checkRegistrationDeciderExists (std::string given_reg, std::string reg_type) const
	Check if the given registrator decider exists in the vector of deciders. More...

virtual bool	checkOptimizerExists (std::string given_opt) const
	Check if the given optimizer exists in the vector of optimizers. More...

virtual void	dumpRegistrarsToConsole (std::string reg_type="all") const
	Print the registration deciders vector in a formatted manner to the standard output. More...

virtual void	dumpOptimizersToConsole () const
	Print the optimizers vector in a formatted manner to the standard output. More...

void	_createDeciderOptimizerMappings ()

void	_createDeciderOptimizerMappings ()

void	_createDeciderOptimizerMappings ()

Static Public Member Functions
Methods for initializing decider/optimizer instances based on the
user command line choices - http://stackoverflow.com/a/582456/2843583 Warning Caller is responsible for deleting the initialized instances
template<class T >
static mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *	createNodeRegistrationDecider ()

template<class T >
static mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *	createEdgeRegistrationDecider ()

template<class T >
static mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *	createGraphSlamOptimizer ()

Public Attributes
const std::string	sep_header

const std::string	sep_subheader

Mappings from registration decider/optimizer names to functors
} for creating instances of the corresponding classes
node_regs_t	node_regs_map

edge_regs_t	edge_regs_map

optimizers_t	optimizers_map

Vectors containing descriptions about the available
deciders/optimizers. Handy for displaying information to the user (e.g. in help text)
std::vector< TRegistrationDeciderProps * >	regs_descriptions

std::vector< TOptimizerProps * >	optimizers_descriptions

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_t >

typedef GRAPH_t::constraint_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::constraint_t

Definition at line 112 of file TUserOptionsChecker.h.

◆ edge_regs_t

template<class GRAPH_t >

typedef std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* (*)()> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_t

Definition at line 121 of file TUserOptionsChecker.h.

◆ node_regs_t

template<class GRAPH_t >

typedef std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* (*)()> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_t

Definition at line 117 of file TUserOptionsChecker.h.

◆ optimizers_t

template<class GRAPH_t >

typedef std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* (*)()> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_t

Definition at line 125 of file TUserOptionsChecker.h.

◆ pose_t

template<class GRAPH_t >

typedef GRAPH_t::constraint_t::type_value mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::pose_t

Definition at line 113 of file TUserOptionsChecker.h.

Constructor & Destructor Documentation

◆ TUserOptionsChecker()

template<class GRAPH_t >

mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::TUserOptionsChecker

Constructor.

Definition at line 18 of file TUserOptionsChecker_impl.h.

◆ ~TUserOptionsChecker()

template<class GRAPH_t >

mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::~TUserOptionsChecker

virtual

Destructor.

Definition at line 24 of file TUserOptionsChecker_impl.h.

Member Function Documentation

◆ _createDeciderOptimizerMappings() [1/4]

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::_createDeciderOptimizerMappings

virtual

Definition at line 75 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [2/4]

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf >::_createDeciderOptimizerMappings ( )

inline

Definition at line 82 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [3/4]

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses2DInf_NA >::_createDeciderOptimizerMappings ( )

inline

Definition at line 95 of file TUserOptionsChecker_impl.h.

◆ _createDeciderOptimizerMappings() [4/4]

void mrpt::graphslam::apps::TUserOptionsChecker< mrpt::graphs::CNetworkOfPoses3DInf >::_createDeciderOptimizerMappings ( )

inline

Definition at line 110 of file TUserOptionsChecker_impl.h.

◆ checkOptimizerExists()

template<class GRAPH_t >

bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkOptimizerExists ( std::string given_opt ) const

virtual

Check if the given optimizer exists in the vector of optimizers.

Returns: True if it exists, false otherwise

Definition at line 274 of file TUserOptionsChecker_impl.h.

References IS_CLASS, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_2d, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_3d, MRPT_END, MRPT_START, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::name, and mrpt::system::strCmpI().

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◆ checkRegistrationDeciderExists()

template<class GRAPH_t >

bool mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::checkRegistrationDeciderExists	(	std::string	given_reg,
		std::string	reg_type
	)		const

virtual

Check if the given registrator decider exists in the vector of deciders.

Parameters

[in] given_reg String specifying the type of decider - This should either be "node" or "edge"

Returns: True if it exists, false otherwise

Definition at line 226 of file TUserOptionsChecker_impl.h.

References ASSERTMSG_, mrpt::format(), IS_CLASS, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_2d, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_3d, MRPT_END, MRPT_START, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::name, mrpt::system::strCmpI(), and mrpt::graphslam::apps::TRegistrationDeciderProps::type.

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◆ createDeciderOptimizerMappings()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createDeciderOptimizerMappings

virtual

Create the necessary mappings from strings to the corresponding instance creation functors.

Method is used for populating a map from string to instance creation function. The decider/optimzer can then be spawned according to the user selection.

Definition at line 45 of file TUserOptionsChecker_impl.h.

References MRPT_END, and MRPT_START.

◆ createEdgeRegistrationDecider()

template<class GRAPH_t >

template<class T >

static mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createEdgeRegistrationDecider ( )

inlinestatic

Definition at line 192 of file TUserOptionsChecker.h.

◆ createGraphSlamOptimizer()

template<class GRAPH_t >

template<class T >

static mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createGraphSlamOptimizer ( )

inlinestatic

Definition at line 198 of file TUserOptionsChecker.h.

◆ createNodeRegistrationDecider()

template<class GRAPH_t >

template<class T >

static mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::createNodeRegistrationDecider ( )

inlinestatic

Definition at line 186 of file TUserOptionsChecker.h.

◆ dumpOptimizersToConsole()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpOptimizersToConsole

virtual

Print the optimizers vector in a formatted manner to the standard output.

Definition at line 187 of file TUserOptionsChecker_impl.h.

References mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::description, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_mr_slam_class, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_2d, mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::is_slam_3d, MRPT_END, MRPT_START, and mrpt::graphslam::apps::TRegistrationDeciderOrOptimizerProps::name.

◆ dumpRegistrarsToConsole()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::dumpRegistrarsToConsole ( std::string reg_type = "all" ) const

virtual

Print the registration deciders vector in a formatted manner to the standard output.

Parameters

[in] reg_type Method prints both the node registration and edge registration deciders of the given vector unless specified otherwise. The available argument options are "node", "edge", "all"

Definition at line 115 of file TUserOptionsChecker_impl.h.

References ASSERTMSG_, mrpt::format(), MRPT_START, and mrpt::system::strCmpI().

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◆ populateDeciderOptimizerProperties()

template<class GRAPH_t >

void mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::populateDeciderOptimizerProperties

virtual

Populate the available decider, optimizer classes available in user applications.

Definition at line 310 of file TUserOptionsChecker_impl.h.

Member Data Documentation

◆ edge_regs_map

template<class GRAPH_t >

edge_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_map

Definition at line 209 of file TUserOptionsChecker.h.

◆ node_regs_map

template<class GRAPH_t >

node_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_map

Definition at line 208 of file TUserOptionsChecker.h.

◆ optimizers_descriptions

template<class GRAPH_t >

std::vector<TOptimizerProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_descriptions

Definition at line 220 of file TUserOptionsChecker.h.

◆ optimizers_map

template<class GRAPH_t >

optimizers_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_map

Definition at line 210 of file TUserOptionsChecker.h.

◆ regs_descriptions

template<class GRAPH_t >

std::vector<TRegistrationDeciderProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::regs_descriptions

Definition at line 219 of file TUserOptionsChecker.h.

◆ sep_header

template<class GRAPH_t >

const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_header

Definition at line 223 of file TUserOptionsChecker.h.

◆ sep_subheader

template<class GRAPH_t >

const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_subheader

Definition at line 224 of file TUserOptionsChecker.h.

Detailed Description

template<class GRAPH_t> struct mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Typedef Documentation

◆ constraint_t

◆ edge_regs_t

◆ node_regs_t

◆ optimizers_t

◆ pose_t

Constructor & Destructor Documentation

◆ TUserOptionsChecker()

◆ ~TUserOptionsChecker()

Member Function Documentation

◆ _createDeciderOptimizerMappings() [1/4]

◆ _createDeciderOptimizerMappings() [2/4]

◆ _createDeciderOptimizerMappings() [3/4]

◆ _createDeciderOptimizerMappings() [4/4]

◆ checkOptimizerExists()

◆ checkRegistrationDeciderExists()

◆ createDeciderOptimizerMappings()

◆ createEdgeRegistrationDecider()

◆ createGraphSlamOptimizer()

◆ createNodeRegistrationDecider()

◆ dumpOptimizersToConsole()

◆ dumpRegistrarsToConsole()

◆ populateDeciderOptimizerProperties()

Member Data Documentation

◆ edge_regs_map

◆ node_regs_map

◆ optimizers_descriptions

◆ optimizers_map

◆ regs_descriptions

◆ sep_header

◆ sep_subheader

template<class GRAPH_t>
struct mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >