TMetricMapInitializer.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 "obs-precomp.h"  // Precomp header
 
#include <mrpt/maps/TMetricMapInitializer.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/serialization/CArchive.h>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::maps;
 
/** Looks up in the registry of known map types and call the corresponding
 * `<metric_map_class>::MapDefinition()`. */
TMetricMapInitializer* TMetricMapInitializer::factory(
        const std::string& mapClassName)
{
        using internal::TMetricMapTypesRegistry;
        TMetricMapTypesRegistry& mmr = TMetricMapTypesRegistry::Instance();
        return mmr.factoryMapDefinition(mapClassName);
}
 
TMetricMapInitializer::TMetricMapInitializer(
        const mrpt::rtti::TRuntimeClassId* classID)
        : metricMapClassType(classID)
{
}
 
/** Load all params from a config file/source. For examples and format, read the
 * docs of mrpt::maps::CMultiMetricMap */
void TMetricMapInitializer::loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& sectionNamePrefix)
{
        // Common:
        const std::string sctCreat =
                sectionNamePrefix + std::string("_creationOpts");
        this->genericMapParams.loadFromConfigFile(source, sctCreat);
 
        // Class-specific:
        this->loadFromConfigFile_map_specific(source, sectionNamePrefix);
}
 
void TMetricMapInitializer::saveToConfigFile(
        mrpt::config::CConfigFileBase& target,
        const std::string& section) const
{
        auto s = section + std::string("_") + std::string(this->metricMapClassType->className);
        this->genericMapParams.saveToConfigFile(target, s);
}
 
void TMetricMapInitializer::dumpToTextStream(std::ostream& out) const
{
        out << "-----------------TMetricMapInitializer --------------------\n";
        out << "================ C++ Class: '"
                << this->metricMapClassType->className << "'\n";
        this->genericMapParams.dumpToTextStream(out);
        // Class-specific:
        this->dumpToTextStream_map_specific(out);
}
 
void TSetOfMetricMapInitializers::loadFromConfigFile(
        const mrpt::config::CConfigFileBase& ini, const std::string& sectionName)
{
        MRPT_START
 
        using internal::TMetricMapTypesRegistry;
 
        // Delete previous contents:
        clear();
 
        TMetricMapTypesRegistry& mmr = TMetricMapTypesRegistry::Instance();
 
        const TMetricMapTypesRegistry::TListRegisteredMaps& allMapKinds =
                mmr.getAllRegistered();
        for (TMetricMapTypesRegistry::TListRegisteredMaps::const_iterator
                         itMapKind = allMapKinds.begin();
                 itMapKind != allMapKinds.end(); ++itMapKind)
        {
                //  ; Creation of maps:
                //  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
                const std::string sMapName = itMapKind->first;
 
                unsigned int n =
                        ini.read_uint64_t(sectionName, sMapName + string("_count"), 0);
                for (unsigned int i = 0; i < n; i++)
                {
                        TMetricMapInitializer* mi = mmr.factoryMapDefinition(sMapName);
                        ASSERT_(mi);
 
                        // Load from sections formatted like this:
                        // [<sectionName>+"_occupancyGrid_##_creationOpts"]
                        // [<sectionName>+"_occupancyGrid_##_insertOpts"]
                        // [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
                        // ...
                        // ==> Section prefix:
                        const string sMapSectionsPrefix = mrpt::format(
                                "%s_%s_%02u", sectionName.c_str(), sMapName.c_str(), i);
                        mi->loadFromConfigFile(ini, sMapSectionsPrefix);
 
                        // Add the params to the list:
                        this->push_back(TMetricMapInitializer::Ptr(mi));
                }
 
        }  // end for each map kind
 
        MRPT_END
}
 
void TSetOfMetricMapInitializers::saveToConfigFile(
        mrpt::config::CConfigFileBase& target,
        const std::string& section) const
{
        for (auto & mi : *this)
                mi->saveToConfigFile(target, section);
}
 
void TSetOfMetricMapInitializers::dumpToTextStream(std::ostream& out) const
{
        MRPT_START
        out << "===============================================================\n\n"
                   "      Set of internal maps for 'CMultiMetricMap' object\n\n"
                   "=================================================================\n"
                   // Show each map:
                   "Showing next the "
                << this->size() << " internal maps:\n\n";
 
        int i = 0;
        for (auto it = begin(); it != end(); ++it, i++)
        {
                out << mrpt::format(
                        "------- Internal map %u out of %u:\n", i + 1, (int)size());
                (*it)->dumpToTextStream(out);
        }  // for "it"
        MRPT_END
}