TMetricMapInitializer.h

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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 |
   +------------------------------------------------------------------------+ */
 
#pragma once
 
#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/rtti/CObject.h>  // For TRuntimeClassId
#include <mrpt/maps/TMetricMapTypesRegistry.h>
#include <mrpt/maps/metric_map_types.h>
#include <deque>
 
namespace mrpt
{
namespace 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 maps
}  // namespace mrpt