solver_factory.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef SOLVER_FACTORY_H
#define SOLVER_FACTORY_H

#include "solver_property.h"

#include <list>

namespace g2o {

  // forward decl
  class Solver;
  struct SparseOptimizer;

  class AbstractSolverCreator
  {
    public:
      AbstractSolverCreator(const SolverProperty& p);
      virtual Solver* construct(SparseOptimizer* optimizer) = 0;
      const SolverProperty& property() const { return _property;}
    protected:
      SolverProperty _property;
  };
  
  class SolverFactory
  {
    public:
      typedef std::list<AbstractSolverCreator*>      CreatorList;

      static SolverFactory* instance();

      static void destroy();

      void registerSolver(AbstractSolverCreator* c);

      Solver* construct(const std::string& tag, SparseOptimizer* optimizer, SolverProperty& solverProperty) const;

      void listSolvers(std::ostream& os) const;

      const CreatorList& creatorList() const { return _creator;}

    protected:
      SolverFactory();
      ~SolverFactory();

      CreatorList _creator;

      CreatorList::const_iterator findSolver(const std::string& name) const;
      CreatorList::iterator findSolver(const std::string& name);

    private:
      static SolverFactory* factoryInstance;
  };

}

#endif