ObjectDatabaseConfig.cpp

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#include <iostream>
#include <ros/ros.h>
#include <stdlib.h>
#include <boost/foreach.hpp>
#include "object_database/ObjectDatabaseConfig.h"
#include "object_database/ObjectDatabaseRecognizer.h"

namespace object_database {
        ObjectDatabaseConfig::ObjectDatabaseConfig(const fs::path configFile) {
                if (configFile != fs::path()) {
                        this->read(configFile);
                }
        }

        bool ObjectDatabaseConfig::read(const fs::path configFile) {
                try {
            std::unique_ptr<configuration> config = configuration_(configFile.string());

                        for (configuration::database_iterator iter = config->database().begin(); iter != config->database().end(); iter++) {
                                database db = *iter;

                                ObjectDatabaseRecognizerPtr recognizerItemPtr(new ObjectDatabaseRecognizer(db));

                                mObjectCategories[db.uniqueName()] = recognizerItemPtr;
                        }
                } catch (xml_schema::exception& e) {
                        std::cerr << e << std::endl;
                        return false;
                }
                return true;
        }

        const ObjectDatabaseRecognizerPtrMap ObjectDatabaseConfig::getObjectCategories() {
                return mObjectCategories;
        }

        const ObjectDatabaseRecognizerPtr ObjectDatabaseConfig::getRecognizer(const std::string recognizerName) {
                ObjectDatabaseRecognizerPtr ptr = mObjectCategories[recognizerName];
                return ptr;
        }
}