CParameterizedTrajectoryGenerator_factory.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "nav-precomp.h"  // Precomp header
 
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/config/CConfigFilePrefixer.h>
 
using namespace mrpt::nav;
 
/*---------------------------------------------------------------
                                        Class factory
  ---------------------------------------------------------------*/
CParameterizedTrajectoryGenerator* CParameterizedTrajectoryGenerator::CreatePTG(
        const std::string& ptgClassName_, const mrpt::config::CConfigFileBase& cfg,
        const std::string& sSection, const std::string& sKeyPrefix)
{
        MRPT_START
 
        mrpt::rtti::registerAllPendingClasses();
 
        // Special names for backwards compatibility with MRPT < 1.5.0
        std::string ptgClassName = mrpt::system::trim(ptgClassName_);
        if (ptgClassName.size() == 1)
        {
                switch (ptgClassName[0])
                {
                        case '1':
                                ptgClassName = "CPTG_DiffDrive_C";
                                break;
                        case '2':
                                ptgClassName = "CPTG_DiffDrive_alpha";
                                break;
                        case '3':
                                ptgClassName = "CPTG_DiffDrive_CCS";
                                break;
                        case '4':
                                ptgClassName = "CPTG_DiffDrive_CC";
                                break;
                        case '5':
                                ptgClassName = "CPTG_DiffDrive_CS";
                                break;
                };
        }
 
        // Factory:
        const mrpt::rtti::TRuntimeClassId* classId =
                mrpt::rtti::findRegisteredClass(ptgClassName);
        if (!classId)
        {
                THROW_EXCEPTION_FMT(
                        "[CreatePTG] No PTG named `%s` is registered!",
                        ptgClassName.c_str());
        }
 
        CParameterizedTrajectoryGenerator* ptg =
                dynamic_cast<CParameterizedTrajectoryGenerator*>(
                        classId->createObject());
        if (!ptg)
        {
                THROW_EXCEPTION_FMT(
                        "[CreatePTG] Object of type `%s` seems not to be a PTG!",
                        ptgClassName.c_str());
        }
 
        // Wrapper to transparently add prefixes to all config keys:
        mrpt::config::CConfigFilePrefixer cfp;
        cfp.bind(cfg);
        cfp.setPrefixes("", sKeyPrefix);
 
        ptg->loadFromConfigFile(cfp, sSection);
        return ptg;
        MRPT_END
}