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>
Public Types | |
handy typedefs for the creation of deciders/optimzer instances from | |
the corresponding strings | |
| using | constraint_t = typename GRAPH_t::constraint_t |
| using | pose_t = typename GRAPH_t::constraint_t::type_value |
| using | node_regs_t = std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *(*)()> |
| using | edge_regs_t = std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *(*)()> |
| using | optimizers_t = std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_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
| |
| 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
| using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::constraint_t = typename GRAPH_t::constraint_t |
Definition at line 112 of file TUserOptionsChecker.h.
◆ edge_regs_t
| using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_t = std::map< std::string, mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t>* (*)()> |
Definition at line 119 of file TUserOptionsChecker.h.
◆ node_regs_t
| using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_t = std::map< std::string, mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t>* (*)()> |
Definition at line 116 of file TUserOptionsChecker.h.
◆ optimizers_t
| using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_t = std::map< std::string, mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t>* (*)()> |
Definition at line 122 of file TUserOptionsChecker.h.
◆ pose_t
| using mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::pose_t = typename GRAPH_t::constraint_t::type_value |
Definition at line 113 of file TUserOptionsChecker.h.
Constructor & Destructor Documentation
◆ TUserOptionsChecker()
| mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::TUserOptionsChecker |
Constructor.
Definition at line 18 of file TUserOptionsChecker_impl.h.
◆ ~TUserOptionsChecker()
|
virtual |
Destructor.
Definition at line 24 of file TUserOptionsChecker_impl.h.
Member Function Documentation
◆ _createDeciderOptimizerMappings() [1/4]
|
inline |
Definition at line 82 of file TUserOptionsChecker_impl.h.
◆ _createDeciderOptimizerMappings() [2/4]
|
inline |
Definition at line 95 of file TUserOptionsChecker_impl.h.
◆ _createDeciderOptimizerMappings() [3/4]
|
inline |
Definition at line 110 of file TUserOptionsChecker_impl.h.
◆ _createDeciderOptimizerMappings() [4/4]
|
virtual |
Definition at line 75 of file TUserOptionsChecker_impl.h.
◆ checkOptimizerExists()
|
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.
◆ checkRegistrationDeciderExists()
|
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.
◆ 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.
◆ createEdgeRegistrationDecider()
|
inlinestatic |
Definition at line 189 of file TUserOptionsChecker.h.
◆ createGraphSlamOptimizer()
|
inlinestatic |
Definition at line 195 of file TUserOptionsChecker.h.
◆ createNodeRegistrationDecider()
|
inlinestatic |
Definition at line 183 of file TUserOptionsChecker.h.
◆ dumpOptimizersToConsole()
|
virtual |
Print the optimizers vector in a formatted manner to the standard output.
Definition at line 187 of file TUserOptionsChecker_impl.h.
◆ dumpRegistrarsToConsole()
|
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.
◆ 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
| edge_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::edge_regs_map |
Definition at line 206 of file TUserOptionsChecker.h.
◆ node_regs_map
| node_regs_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::node_regs_map |
Definition at line 205 of file TUserOptionsChecker.h.
◆ optimizers_descriptions
| std::vector<TOptimizerProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_descriptions |
Definition at line 217 of file TUserOptionsChecker.h.
◆ optimizers_map
| optimizers_t mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::optimizers_map |
Definition at line 207 of file TUserOptionsChecker.h.
◆ regs_descriptions
| std::vector<TRegistrationDeciderProps*> mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::regs_descriptions |
Definition at line 216 of file TUserOptionsChecker.h.
◆ sep_header
| const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_header |
Definition at line 220 of file TUserOptionsChecker.h.
◆ sep_subheader
| const std::string mrpt::graphslam::apps::TUserOptionsChecker< GRAPH_t >::sep_subheader |
Definition at line 221 of file TUserOptionsChecker.h.