Registrar.h
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5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef __POINTMATCHER_REGISTRAR_H
37 #define __POINTMATCHER_REGISTRAR_H
38 
39 #include "Parametrizable.h"
40 #include "PointMatcher.h"
41 
42 #include <yaml-cpp/yaml.h>
43 #include <boost/format.hpp>
44 #include <boost/typeof/typeof.hpp>
45 
46 namespace PointMatcherSupport
47 {
49  void getNameParamsFromYAML(const YAML::Node& module, std::string& name, Parametrizable::Parameters& params);
50 
52  struct InvalidElement: std::runtime_error
53  {
54  InvalidElement(const std::string& reason);
55  };
56 
58  template<typename Interface>
59  struct Registrar
60  {
61  public:
62  typedef Interface TargetType;
63 
66  {
68  virtual ~ClassDescriptor() {}
70  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const = 0;
72  virtual const std::string description() const = 0;
74  virtual const Parametrizable::ParametersDoc availableParameters() const = 0;
75  };
76 
78  template<typename C>
80  {
81  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
82  {
83  std::shared_ptr<C> instance = std::make_shared<C>(params);
84 
85  // check that all parameters were set
86  for (const auto& param : params)
87  {
88  if (instance->parametersUsed.find(param.first) == instance->parametersUsed.end()){
90  (boost::format("Parameter %1% for module %2% was set but is not used") % param.first % className).str()
91  );
92  }
93  }
94  return instance;
95  }
96 
97  virtual const std::string description() const
98  {
99  return C::description();
100  }
101 
103  {
104  return C::availableParameters();
105  }
106  };
107 
109  template<typename C>
111  {
112  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
113  {
114  for (const auto& param : params)
116  (boost::format("Parameter %1% was set but module %2% does not use any parameter") % param.first % className).str()
117  );
118 
119  return std::make_shared<C>();
120  }
121 
122  virtual const std::string description() const
123  {
124  return C::description();
125  }
126 
128  {
130  }
131  };
132 
133  protected:
134  typedef std::map<std::string, std::shared_ptr<ClassDescriptor>> DescriptorMap;
136 
137  public:
139  void reg(const std::string &name, std::shared_ptr<ClassDescriptor> descriptor)
140  {
141  classes.insert(std::make_pair(name, descriptor));
142  }
143 
145  std::shared_ptr<ClassDescriptor> getDescriptor(const std::string& name) const
146  {
147  auto it = classes.find(name);
148 
149  if (it == classes.end())
150  {
151  std::cerr << "No element named " << name << " is registered. Known ones are:\n";
152  dump(std::cerr);
153  throw InvalidElement(
154  (boost::format("Trying to instanciate unknown element %1% from registrar") % name).str()
155  );
156  }
157  return it->second;
158  }
159 
161  std::shared_ptr<Interface> create(const std::string& name, const Parametrizable::Parameters& params = Parametrizable::Parameters()) const
162  {
163  return getDescriptor(name)->createInstance(name, params);
164  }
165 
167  std::shared_ptr<Interface> createFromYAML(const YAML::Node& module) const
168  {
171 
173 
174  return create(name, params);
175  }
176 
179  {
180  return getDescriptor(name)->description();
181  }
182 
184  void dump(std::ostream &stream) const
185  {
186  for (const auto& it : classes)
187  stream << "- " << it.first << "\n";
188  }
189 
191  typename DescriptorMap::const_iterator begin() const
192  {
193  return classes.begin();
194  }
195 
197  typename DescriptorMap::const_iterator end() const
198  {
199  return classes.end();
200  }
201  };
202 
203  #define REG(name) name##Registrar
204  #define DEF_REGISTRAR(name) PointMatcherSupport::Registrar< name > name##Registrar;
205  #define DEF_REGISTRAR_IFACE(name, ifaceName) PointMatcherSupport::Registrar< ifaceName > name##Registrar;
206  #define ADD_TO_REGISTRAR(name, elementName, element) { \
207  typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptor< element > Desc; \
208  name##Registrar.reg(# elementName, std::make_shared<Desc>() ); \
209  }
210  #define ADD_TO_REGISTRAR_NO_PARAM(name, elementName, element) { \
211  typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptorNoParam< element > Desc; \
212  name##Registrar.reg(# elementName, std::make_shared<Desc>() ); \
213  }
214 } // namespace PointMatcherSupport
215 
216 #endif // __POINTMATCHER_REGISTRAR_H
PointMatcherSupport::Registrar::getDescription
const std::string getDescription(const std::string &name) const
Get the description of a class.
Definition: Registrar.h:178
PointMatcherSupport::Registrar::GenericClassDescriptorNoParam::availableParameters
virtual const Parametrizable::ParametersDoc availableParameters() const
Return the available parameters for this class.
Definition: Registrar.h:127
PointMatcherSupport::Registrar::GenericClassDescriptor::description
virtual const std::string description() const
Return the description of this class.
Definition: Registrar.h:97
PointMatcherSupport::InvalidElement::InvalidElement
InvalidElement(const std::string &reason)
Construct an invalid-element exception.
Definition: Registry.cpp:55
PointMatcherSupport::Registrar::ClassDescriptor
The interface for class descriptors.
Definition: Registrar.h:65
icp_customized.name
string name
Definition: icp_customized.py:45
PointMatcherSupport::Registrar::TargetType
Interface TargetType
alias to recover the template parameter
Definition: Registrar.h:62
PointMatcherSupport::Registrar::classes
DescriptorMap classes
known classes that can be constructed
Definition: Registrar.h:135
PointMatcherSupport::Registrar::ClassDescriptor::createInstance
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const =0
Create an instance of Interface using params.
PointMatcherSupport::Registrar::getDescriptor
std::shared_ptr< ClassDescriptor > getDescriptor(const std::string &name) const
Return a descriptor following a name, throw an exception if name is invalid.
Definition: Registrar.h:145
Parametrizable.h
PointMatcherSupport::Registrar::ClassDescriptor::availableParameters
virtual const Parametrizable::ParametersDoc availableParameters() const =0
Return the available parameters for this class.
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcherSupport::Registrar::GenericClassDescriptor::availableParameters
virtual const Parametrizable::ParametersDoc availableParameters() const
Return the available parameters for this class.
Definition: Registrar.h:102
PointMatcherSupport::Registrar::createFromYAML
std::shared_ptr< Interface > createFromYAML(const YAML::Node &module) const
Create an instance from a YAML node.
Definition: Registrar.h:167
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcherSupport::Registrar::create
std::shared_ptr< Interface > create(const std::string &name, const Parametrizable::Parameters &params=Parametrizable::Parameters()) const
Create an instance.
Definition: Registrar.h:161
PointMatcherSupport::Registrar::end
DescriptorMap::const_iterator end() const
end for const iterator over classes descriptions
Definition: Registrar.h:197
PointMatcherSupport::Registrar::GenericClassDescriptorNoParam::createInstance
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const
Create an instance of Interface using params.
Definition: Registrar.h:112
PointMatcherSupport::getNameParamsFromYAML
void getNameParamsFromYAML(const YAML::Node &module, std::string &name, Parametrizable::Parameters &params)
Retrieve name and parameters from a yaml node.
Definition: Registrar.cpp:7
InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
Definition: pypoint_matcher_helper.h:42
PointMatcherSupport::Registrar::begin
DescriptorMap::const_iterator begin() const
begin for const iterator over classes descriptions
Definition: Registrar.h:191
PointMatcherSupport::Registrar::GenericClassDescriptor::createInstance
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const
Create an instance of Interface using params.
Definition: Registrar.h:81
PointMatcherSupport::Registrar::ClassDescriptor::~ClassDescriptor
virtual ~ClassDescriptor()
Virtual destructor, do nothing.
Definition: Registrar.h:68
PointMatcherSupport::Registrar::GenericClassDescriptorNoParam
A descriptor for a class C that does not provide any parameter.
Definition: Registrar.h:110
PointMatcherSupport::Registrar::dump
void dump(std::ostream &stream) const
Print the list of registered classes to stream.
Definition: Registrar.h:184
PointMatcherSupport::Registrar::ClassDescriptor::description
virtual const std::string description() const =0
Return the description of this class.
PointMatcherSupport::Registrar::GenericClassDescriptor
A descriptor for a class C that provides parameters.
Definition: Registrar.h:79
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
PointMatcherSupport::Registrar::DescriptorMap
std::map< std::string, std::shared_ptr< ClassDescriptor > > DescriptorMap
descriptors for sub-classes of Interface, indexed by their names
Definition: Registrar.h:134
PointMatcher.h
public interface
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointMatcherSupport::Registrar::GenericClassDescriptorNoParam::description
virtual const std::string description() const
Return the description of this class.
Definition: Registrar.h:122
PointMatcherSupport::InvalidElement
An exception thrown when one tries to instanciate an element that does not exist in the registrar.
Definition: Registrar.h:52
PointMatcherSupport::Registrar
A factor for subclasses of Interface.
Definition: Registrar.h:59
PointMatcherSupport::Registrar::reg
void reg(const std::string &name, std::shared_ptr< ClassDescriptor > descriptor)
Register a class by storing an instance of a descriptor helper class.
Definition: Registrar.h:139


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autogenerated on Mon Jan 1 2024 03:24:43