Template Struct TUserOptionsChecker

Struct Documentation

template<class GRAPH_t>
struct TUserOptionsChecker

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.

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> *(*)()>

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

Methods for initializing decider/optimizer instances based on the

user command line choices - http://stackoverflow.com/a/582456/2843583

Warning

Caller is responsible for deleting the initialized instances

template<class T>
static inline mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_t> *createNodeRegistrationDecider()
template<class T>
static inline mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_t> *createEdgeRegistrationDecider()
template<class T>
static inline mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_t> *createGraphSlamOptimizer()

Public Functions

TUserOptionsChecker()

Constructor.

virtual ~TUserOptionsChecker()

Destructor.

virtual void createDeciderOptimizerMappings()

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.

virtual void _createDeciderOptimizerMappings()
virtual void populateDeciderOptimizerProperties()

Populate the available decider, optimizer classes available in user applications.

virtual bool checkRegistrationDeciderExists(std::string given_reg, std::string reg_type) const

Check if the given registrator decider exists in the vector of deciders.

Parameters:

given_reg – [in] String specifying the type of decider - This should either be “node” or “edge”

Returns:

True if it exists, false otherwise

virtual bool checkOptimizerExists(std::string given_opt) const

Check if the given optimizer exists in the vector of optimizers.

Returns:

True if it exists, false otherwise

virtual void dumpRegistrarsToConsole(std::string reg_type = "all") const

Print the registration deciders vector in a formatted manner to the standard output.

Parameters:

reg_type – [in] 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”

virtual void dumpOptimizersToConsole() const

Print the optimizers vector in a formatted manner to the standard output.

void _createDeciderOptimizerMappings()
void _createDeciderOptimizerMappings()
void _createDeciderOptimizerMappings()

Public Members

const std::string sep_header
const std::string sep_subheader