g2o::Factory Class Reference

create vertices and edges based on TAGs in, for example, a file More...

#include <factory.h>

Collaboration diagram for g2o::Factory:

Classes
class	CreatorInformation

Public Member Functions
void	registerType (const std::string &tag, AbstractHyperGraphElementCreator *c)
void	unregisterType (const std::string &tag)
HyperGraph::HyperGraphElement *	construct (const std::string &tag) const
HyperGraph::HyperGraphElement *	construct (const std::string &tag, const HyperGraph::GraphElemBitset &elemsToConstruct) const
bool	knowsTag (const std::string &tag, int *elementType=0) const
const std::string &	tag (const HyperGraph::HyperGraphElement *v) const
	return the TAG given a vertex More...
void	fillKnownTypes (std::vector< std::string > &types) const
void	printRegisteredTypes (std::ostream &os, bool comment=false) const

Static Public Member Functions
static Factory *	instance ()
	return the instance More...
static void	destroy ()
	free the instance More...

Protected Types
typedef std::map< std::string, CreatorInformation * >	CreatorMap
typedef std::map< std::string, std::string >	TagLookup

Protected Member Functions
	Factory ()
	~Factory ()

Protected Attributes
CreatorMap	_creator
	look-up map for the existing creators More...
TagLookup	_tagLookup
	reverse look-up, class name to tag More...

Static Private Attributes
static Factory *	factoryInstance = 0

Detailed Description

create vertices and edges based on TAGs in, for example, a file

Definition at line 49 of file factory.h.

Member Typedef Documentation

typedef std::map<std::string, CreatorInformation*> g2o::Factory::CreatorMap

protected

Definition at line 118 of file factory.h.

typedef std::map<std::string, std::string> g2o::Factory::TagLookup

protected

Definition at line 119 of file factory.h.

Constructor & Destructor Documentation

g2o::Factory::Factory ( )

protected

Definition at line 45 of file factory.cpp.

{
}

g2o::Factory::~Factory ( )

protected

Definition at line 49 of file factory.cpp.

{
# ifdef G2O_DEBUG_FACTORY
  cerr << "# Factory destroying " << (void*)this << endl;
# endif
  for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) {
    delete it->second->creator;
  }
  _creator.clear();
  _tagLookup.clear();
}

Member Function Documentation

HyperGraph::HyperGraphElement * g2o::Factory::construct

(

const std::string &

tag

)

const

construct a graph element based on its tag

Definition at line 147 of file factory.cpp.

Referenced by g2o::CacheContainer::createCache(), g2o::EdgeCreator::createEdge(), g2o::ParameterContainer::read(), and g2o::OptimizableGraph::setFixed().

{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    //cerr << "tag " << tag << " -> " << (void*) foundIt->second->creator << " " << foundIt->second->creator->name() << endl;
    return foundIt->second->creator->construct();
  }
  return 0;
}

HyperGraph::HyperGraphElement * g2o::Factory::construct	(	const std::string &	tag,
		const HyperGraph::GraphElemBitset &	elemsToConstruct
	)		const

construct a graph element based on its tag, but only if it's type (a bitmask) matches. A bitmask without any bit set will construct any item. Otherwise a bit has to be set to allow construction of a graph element.

Definition at line 204 of file factory.cpp.

{
  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 0;
}

void g2o::Factory::destroy ( )

static

free the instance

Definition at line 186 of file factory.cpp.

{
  delete factoryInstance;
  factoryInstance = 0;
}

void g2o::Factory::fillKnownTypes

(

std::vector< std::string > &

types

)

const

get a list of all known types

Definition at line 166 of file factory.cpp.

{
  types.clear();
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it)
    types.push_back(it->first);
}

Factory * g2o::Factory::instance ( )

static

return the instance

Definition at line 61 of file factory.cpp.

Referenced by g2o::assignHierarchicalEdges(), g2o::BackBoneTreeAction::BackBoneTreeAction(), g2o::CacheContainer::createCache(), g2o::EdgeCreator::createEdge(), g2o::G2O_ATTRIBUTE_CONSTRUCTOR(), g2o::Cache::key(), g2o::ParameterContainer::read(), g2o::RegisterTypeProxy< T >::RegisterTypeProxy(), g2o::OptimizableGraph::saveEdge(), g2o::OptimizableGraph::saveParameter(), g2o::OptimizableGraph::saveUserData(), g2o::OptimizableGraph::saveVertex(), g2o::OptimizableGraph::setFixed(), g2o::OptimizableGraph::setRenamedTypesFromString(), g2o::ParameterContainer::write(), and g2o::RegisterTypeProxy< T >::~RegisterTypeProxy().

{
  if (factoryInstance == 0) {
    factoryInstance = new Factory;
#  ifdef G2O_DEBUG_FACTORY
    cerr << "# Factory allocated " << (void*)factoryInstance << endl;
#  endif
  }

  return factoryInstance;
}

bool g2o::Factory::knowsTag	(	const std::string &	tag,
		int *	elementType = 0
	)		const

return whether the factory knows this tag or not

Definition at line 173 of file factory.cpp.

Referenced by g2o::OptimizableGraph::setFixed(), and g2o::OptimizableGraph::setRenamedTypesFromString().

{
  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 g2o::Factory::printRegisteredTypes	(	std::ostream &	os,
		bool	comment = false
	)		const

print a list of the known registered types to the given stream

Definition at line 192 of file factory.cpp.

{
  if (comment)
    os << "# ";
  os << "types:" << endl;
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it) {
    if (comment)
      os << "#";
    cerr << "\t" << it->first << endl;
  }
}

void g2o::Factory::registerType	(	const std::string &	tag,
		AbstractHyperGraphElementCreator *	c
	)

register a tag for a specific creator

Definition at line 73 of file factory.cpp.

References g2o::AbstractHyperGraphElementCreator::construct(), g2o::Factory::CreatorInformation::creator, g2o::Factory::CreatorInformation::elementTypeBit, HGET_CACHE, HGET_DATA, HGET_EDGE, HGET_PARAMETER, HGET_VERTEX, and g2o::AbstractHyperGraphElementCreator::name().

Referenced by g2o::G2O_ATTRIBUTE_CONSTRUCTOR(), and g2o::RegisterTypeProxy< T >::RegisterTypeProxy().

{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    cerr << "FACTORY WARNING: Overwriting Vertex tag " << tag << endl;
    assert(0);
  }
  TagLookup::const_iterator tagIt = _tagLookup.find(c->name());
  if (tagIt != _tagLookup.end()) {
    cerr << "FACTORY WARNING: Registering same class for two tags " << c->name() << endl;
    assert(0);
  }

  CreatorInformation* ci = new CreatorInformation();
  ci->creator = c;

#ifdef G2O_DEBUG_FACTORY
  cerr << "# Factory " << (void*)this << " constructing type " << tag << " ";
#endif
  // construct an element once to figure out its type
  HyperGraph::HyperGraphElement* element = c->construct();
  ci->elementTypeBit = element->elementType();

#ifdef G2O_DEBUG_FACTORY
  cerr << "done." << endl;
  cerr << "# Factory " << (void*)this << " registering " << tag;
  cerr << " " << (void*) c << " ";
  switch (element->elementType()) {
    case HyperGraph::HGET_VERTEX:
      cerr << " -> Vertex";
      break;
    case HyperGraph::HGET_EDGE:
      cerr << " -> Edge";
      break;
    case HyperGraph::HGET_PARAMETER:
      cerr << " -> Parameter";
      break;
    case HyperGraph::HGET_CACHE:
      cerr << " -> Cache";
      break;
    case HyperGraph::HGET_DATA:
      cerr << " -> Data";
      break;
    default:
      assert(0 && "Unknown element type occured, fix elementTypes");
      break;
  }
  cerr << endl;
#endif

  _creator[tag] = ci;
  _tagLookup[c->name()] = tag;
  delete element;
}

const std::string & g2o::Factory::tag

(

const HyperGraph::HyperGraphElement *

v

)

const

return the TAG given a vertex

Definition at line 157 of file factory.cpp.

Referenced by g2o::EdgeCreator::createEdge(), g2o::Cache::key(), g2o::EdgeTypesCostFunction::operator()(), g2o::BackBoneTreeAction::perform(), g2o::OptimizableGraph::saveEdge(), g2o::OptimizableGraph::saveParameter(), g2o::OptimizableGraph::saveUserData(), g2o::OptimizableGraph::saveVertex(), g2o::ParameterContainer::write(), and g2o::Gm2dlIO::writeGm2dl().

{
  static std::string emptyStr("");
  TagLookup::const_iterator foundIt = _tagLookup.find(typeid(*e).name());
  if (foundIt != _tagLookup.end())
    return foundIt->second;
  return emptyStr;
}

void g2o::Factory::unregisterType

(

const std::string &

tag

)

unregister a tag for a specific creator

Definition at line 128 of file factory.cpp.

References g2o::AbstractHyperGraphElementCreator::name().

Referenced by g2o::RegisterTypeProxy< T >::~RegisterTypeProxy().

  {
    // Look for the tag
    CreatorMap::iterator tagPosition = _creator.find(tag);

    if (tagPosition != _creator.end()) {

      AbstractHyperGraphElementCreator* 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);
    }
  }

Member Data Documentation

CreatorMap g2o::Factory::_creator

protected

look-up map for the existing creators

Definition at line 123 of file factory.h.

TagLookup g2o::Factory::_tagLookup

protected

reverse look-up, class name to tag

Definition at line 124 of file factory.h.

Factory * g2o::Factory::factoryInstance = 0

staticprivate

Definition at line 127 of file factory.h.

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The documentation for this class was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/core/factory.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/factory.cpp