WorldElementBase.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2023  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#include <mrpt/core/format.h>
#include <mvsim/WorldElements/ElevationMap.h>
#include <mvsim/WorldElements/GroundGrid.h>
#include <mvsim/WorldElements/HorizontalPlane.h>
#include <mvsim/WorldElements/OccupancyGridMap.h>
#include <mvsim/WorldElements/PointCloud.h>
#include <mvsim/WorldElements/SkyBox.h>
#include <mvsim/WorldElements/VerticalPlane.h>

#include <map>
#include <rapidxml.hpp>
#include <rapidxml_print.hpp>
#include <rapidxml_utils.hpp>
#include <sstream>      // std::stringstream
#include <string>

using namespace mvsim;

TClassFactory_worldElements mvsim::classFactory_worldElements;

// Explicit registration calls seem to be one (the unique?) way to assure
// registration takes place:
void register_all_world_elements()
{
        static bool done = false;
        if (done)
                return;
        else
                done = true;

        REGISTER_WORLD_ELEMENT("ground_grid", GroundGrid)
        REGISTER_WORLD_ELEMENT("occupancy_grid", OccupancyGridMap)
        REGISTER_WORLD_ELEMENT("elevation_map", ElevationMap)
        REGISTER_WORLD_ELEMENT("horizontal_plane", HorizontalPlane)
        REGISTER_WORLD_ELEMENT("vertical_plane", VerticalPlane)
        REGISTER_WORLD_ELEMENT("pointcloud", PointCloud)
        REGISTER_WORLD_ELEMENT("skybox", SkyBox)
}

WorldElementBase::Ptr WorldElementBase::factory(
        World* parent, const rapidxml::xml_node<char>* root, const char* class_name)
{
        register_all_world_elements();

        using namespace std;
        using namespace rapidxml;

        string sName;
        if (!root)
        {
                sName = string(class_name);
        }
        else
        {
                if (0 != strcmp(root->name(), "element"))
                        throw runtime_error(mrpt::format(
                                "[WorldElementBase::factory] XML root element is '%s' "
                                "('<element>' expected)",
                                root->name()));

                // Get class name:
                const xml_attribute<>* attrib_class = root->first_attribute("class");
                if (!attrib_class || !attrib_class->value())
                        throw runtime_error(
                                "[WorldElementBase::factory] Missing mandatory attribute "
                                "'class' in node <element>");

                sName = string(attrib_class->value());
        }
        auto we = classFactory_worldElements.create(sName, parent, root);

        if (!we)
                throw runtime_error(mrpt::format(
                        "[WorldElementBase::factory] Unknown world element type '%s'",
                        root ? root->name() : "(root=nullptr)"));

        return we;
}