factory.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "factory.h"
 
#include <cassert>
#include <iostream>
#include <typeinfo>
 
#include "cache.h"
#include "creators.h"
#include "g2o/stuff/color_macros.h"
#include "g2o/stuff/logger.h"
#include "optimizable_graph.h"
#include "parameter.h"
 
using namespace std;
 
namespace g2o {
 
std::unique_ptr<Factory> Factory::factoryInstance;
 
Factory* Factory::instance() {
  if (factoryInstance.get() == nullptr) {
    factoryInstance.reset(new Factory);
#ifdef G2O_DEBUG_FACTORY
    G2O_DEBUG("Factory allocated {}",
              static_cast<void*>(factoryInstance.get()));
#endif
  }
 
  return factoryInstance.get();
}
 
void Factory::registerType(
    const std::string& tag,
    const std::shared_ptr<AbstractHyperGraphElementCreator>& c) {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    G2O_WARN("Factory: Overwriting Vertex tag {}", tag);
    assert(0);
  }
  TagLookup::const_iterator tagIt = _tagLookup.find(c->name());
  if (tagIt != _tagLookup.end()) {
    G2O_WARN("factory: Registering same class for two tags {}", c->name());
    assert(0);
  }
 
  CreatorInformation* ci = new CreatorInformation();
  ci->creator = c;
 
#ifdef G2O_DEBUG_FACTORY
  G2O_DEBUG("Factory {} constructing type {}", static_cast<void*>(this), tag);
#endif
  // construct an element once to figure out its type
  HyperGraph::HyperGraphElement* element = c->construct();
  ci->elementTypeBit = element->elementType();
 
#ifdef G2O_DEBUG_FACTORY
  G2O_DEBUG("done.");
  G2O_DEBUG("Factory {} registering {}", static_cast<void*>(this), tag);
  G2O_DEBUG("{}", static_cast<void*>(c));
  switch (element->elementType()) {
    case HyperGraph::HGET_VERTEX:
      G2O_DEBUG(" -> Vertex");
      break;
    case HyperGraph::HGET_EDGE:
      G2O_DEBUG(" -> Edge");
      break;
    case HyperGraph::HGET_PARAMETER:
      G2O_DEBUG(" -> Parameter");
      break;
    case HyperGraph::HGET_CACHE:
      G2O_DEBUG(" -> Cache");
      break;
    case HyperGraph::HGET_DATA:
      G2O_DEBUG(" -> Data");
      break;
    default:
      assert(0 && "Unknown element type occurred, fix elementTypes");
      break;
  }
#endif
 
  _creator[tag] = std::unique_ptr<CreatorInformation>(ci);
  _tagLookup[c->name()] = tag;
  delete element;
}
 
void Factory::unregisterType(const std::string& tag) {
  // Look for the tag
  CreatorMap::iterator tagPosition = _creator.find(tag);
 
  if (tagPosition != _creator.end()) {
    const auto& c = tagPosition->second->creator;
 
    // If we found it, remove the creator from the tag lookup map
    TagLookup::iterator classPosition = _tagLookup.find(c->name());
    if (classPosition != _tagLookup.end()) {
      _tagLookup.erase(classPosition);
    }
    _creator.erase(tagPosition);
  }
}
 
HyperGraph::HyperGraphElement* Factory::construct(
    const std::string& tag) const {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    return foundIt->second->creator->construct();
  }
  return nullptr;
}
 
const std::string& Factory::tag(const HyperGraph::HyperGraphElement* e) const {
  static std::string emptyStr("");
  TagLookup::const_iterator foundIt = _tagLookup.find(typeid(*e).name());
  if (foundIt != _tagLookup.end()) return foundIt->second;
  return emptyStr;
}
 
void Factory::fillKnownTypes(std::vector<std::string>& types) const {
  types.clear();
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end();
       ++it)
    types.push_back(it->first);
}
 
bool Factory::knowsTag(const std::string& tag, int* elementType) const {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt == _creator.end()) {
    if (elementType) *elementType = -1;
    return false;
  }
  if (elementType) *elementType = foundIt->second->elementTypeBit;
  return true;
}
 
void Factory::destroy() {
  std::unique_ptr<Factory> aux;
  factoryInstance.swap(aux);
}
 
void Factory::printRegisteredTypes(std::ostream& os, bool comment) const {
  if (comment) os << "# ";
  os << "types:" << endl;
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end();
       ++it) {
    if (comment) os << "#";
    os << "\t" << it->first << endl;
  }
}
 
HyperGraph::HyperGraphElement* Factory::construct(
    const std::string& tag,
    const HyperGraph::GraphElemBitset& elemsToConstruct) const {
  if (elemsToConstruct.none()) {
    return construct(tag);
  }
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end() && foundIt->second->elementTypeBit >= 0 &&
      elemsToConstruct.test(foundIt->second->elementTypeBit)) {
    return foundIt->second->creator->construct();
  }
  return nullptr;
}
 
}  // namespace g2o