setup.h

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//
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#ifndef EXOTICA_CORE_SETUP_H_
#define EXOTICA_CORE_SETUP_H_
 
#include <memory>
#include <vector>
 
#include <exotica_core/dynamics_solver.h>
#include <exotica_core/factory.h>
#include <exotica_core/motion_solver.h>
#include <exotica_core/object.h>
#include <exotica_core/planning_problem.h>
#include <exotica_core/property.h>
 
#include <pluginlib/class_loader.h>
 
namespace exotica
{
class Setup : public Object, Uncopyable
{
public:
    ~Setup() noexcept
    {
        Destroy();
    }
 
    static std::shared_ptr<Setup> Instance()
    {
        if (!singleton_initialiser_) singleton_initialiser_.reset(new Setup);
        return singleton_initialiser_;
    }
 
    static void Destroy();
 
    static void PrintSupportedClasses();
    static std::shared_ptr<exotica::MotionSolver> CreateSolver(const std::string& type, bool prepend = true) { return ToStdPtr(Instance()->solvers_.createInstance((prepend ? "exotica/" : "") + type)); }
    static std::shared_ptr<exotica::TaskMap> CreateMap(const std::string& type, bool prepend = true) { return ToStdPtr(Instance()->maps_.createInstance((prepend ? "exotica/" : "") + type)); }
    static std::shared_ptr<exotica::PlanningProblem> CreateProblem(const std::string& type, bool prepend = true) { return Instance()->problems_.CreateInstance((prepend ? "exotica/" : "") + type); }
    static std::shared_ptr<exotica::CollisionScene> CreateCollisionScene(const std::string& type, bool prepend = true) { return ToStdPtr(Instance()->collision_scenes_.createInstance((prepend ? "exotica/" : "") + type)); }
    static std::shared_ptr<exotica::DynamicsSolver> CreateDynamicsSolver(const std::string& type, bool prepend = true) { return ToStdPtr(Instance()->dynamics_solvers_.createInstance((prepend ? "exotica/" : "") + type)); }
    static std::vector<std::string> GetSolvers();
    static std::vector<std::string> GetProblems();
    static std::vector<std::string> GetMaps();
    static std::vector<std::string> GetCollisionScenes();
    static std::vector<std::string> GetDynamicsSolvers();
    static std::vector<Initializer> GetInitializers();
 
    static std::shared_ptr<exotica::MotionSolver> CreateSolver(const Initializer& init)
    {
        std::shared_ptr<exotica::MotionSolver> ret = ToStdPtr(Instance()->solvers_.createInstance(init.GetName()));
        ret->InstantiateInternal(init);
        return ret;
    }
    static std::shared_ptr<exotica::PlanningProblem> CreateProblem(const Initializer& init)
    {
        std::shared_ptr<exotica::PlanningProblem> ret = Instance()->problems_.CreateInstance(init.GetName());
        ret->InstantiateInternal(init);
        return ret;
    }
 
    static exotica::ScenePtr CreateScene(const Initializer& init)
    {
        exotica::ScenePtr ret = std::make_shared<exotica::Scene>();
        ret->InstantiateInternal(init);
        return ret;
    }
 
    static std::shared_ptr<exotica::DynamicsSolver> CreateDynamicsSolver(const Initializer& init)
    {
        auto ret = ToStdPtr(Instance()->dynamics_solvers_.createInstance(init.GetName()));
        ret->InstantiateInternal(init);
        return ret;
    }
 
    static std::shared_ptr<exotica::CollisionScene> CreateCollisionScene(const Initializer& init)
    {
        auto ret = ToStdPtr(Instance()->collision_scenes_.createInstance(init.GetName()));
        ret->InstantiateInternal(init);
        return ret;
    }
 
private:
    friend PlanningProblem;
    Setup();
    static std::shared_ptr<Setup> singleton_initialiser_;
    // Make sure the singleton does not get copied
    Setup(Setup const&) = delete;
    void operator=(Setup const&) = delete;
 
    static std::shared_ptr<exotica::TaskMap> CreateMap(const Initializer& init)
    {
        std::shared_ptr<exotica::TaskMap> ret = ToStdPtr(Instance()->maps_.createInstance(init.GetName()));
        ret->InstantiateInternal(init);
        return ret;
    }
 
    pluginlib::ClassLoader<exotica::MotionSolver> solvers_;
    pluginlib::ClassLoader<exotica::TaskMap> maps_;
    pluginlib::ClassLoader<exotica::CollisionScene> collision_scenes_;
    pluginlib::ClassLoader<exotica::DynamicsSolver> dynamics_solvers_;
    PlanningProblemFac problems_;
};
 
typedef std::shared_ptr<Setup> SetupPtr;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_SETUP_H_