create solvers based on their short name More...

#include <optimization_algorithm_factory.h>

Collaboration diagram for g2o::OptimizationAlgorithmFactory:

Public Types
typedef std::list< AbstractOptimizationAlgorithmCreator * >	CreatorList

Public Member Functions
void	registerSolver (AbstractOptimizationAlgorithmCreator *c)

void	unregisterSolver (AbstractOptimizationAlgorithmCreator *c)

OptimizationAlgorithm *	construct (const std::string &tag, OptimizationAlgorithmProperty &solverProperty) const

void	listSolvers (std::ostream &os) const
	list the known solvers into a stream More...

const CreatorList &	creatorList () const
	return the underlying list of creators More...

Static Public Member Functions
static OptimizationAlgorithmFactory *	instance ()
	return the instance More...

static void	destroy ()
	free the instance More...

Protected Member Functions
	OptimizationAlgorithmFactory ()

	~OptimizationAlgorithmFactory ()

CreatorList::const_iterator	findSolver (const std::string &name) const

CreatorList::iterator	findSolver (const std::string &name)

Protected Attributes
CreatorList	_creator

Static Private Attributes
static OptimizationAlgorithmFactory *	factoryInstance = 0

Detailed Description

create solvers based on their short name

Factory to allocate solvers based on their short name. The Factory is implemented as a sigleton and the single instance can be accessed via the instance() function.

Definition at line 75 of file optimization_algorithm_factory.h.

Member Typedef Documentation

typedef std::list<AbstractOptimizationAlgorithmCreator*> g2o::OptimizationAlgorithmFactory::CreatorList

Definition at line 78 of file optimization_algorithm_factory.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmFactory::OptimizationAlgorithmFactory ( )

protected

Definition at line 44 of file optimization_algorithm_factory.cpp.

45 {

46 }

g2o::OptimizationAlgorithmFactory::~OptimizationAlgorithmFactory ( )

protected

Definition at line 48 of file optimization_algorithm_factory.cpp.

   {
     for (CreatorList::iterator it = _creator.begin(); it != _creator.end(); ++it)
       delete *it;
   }

Member Function Documentation

OptimizationAlgorithm * g2o::OptimizationAlgorithmFactory::construct	(	const std::string &	tag,
		OptimizationAlgorithmProperty &	solverProperty
	)		const

construct a solver based on its name, e.g., var, fix3_2_cholmod

Definition at line 84 of file optimization_algorithm_factory.cpp.

Referenced by MainWindow::allocateSolver(), g2o::SparseOptimizerOnline::initSolver(), and main().

   {
     CreatorList::const_iterator foundIt = findSolver(name);
     if (foundIt != _creator.end()) {
       solverProperty = (*foundIt)->property();
       return (*foundIt)->construct();
     }
     cerr << "SOLVER FACTORY WARNING: Unable to create solver " << name << endl;
     return 0;
   }

const CreatorList& g2o::OptimizationAlgorithmFactory::creatorList ( ) const

inline

return the underlying list of creators

Definition at line 105 of file optimization_algorithm_factory.h.

105 { return _creator;}

g2o::OptimizationAlgorithmFactory::_creator

CreatorList _creator

Definition: optimization_algorithm_factory.h:111

void g2o::OptimizationAlgorithmFactory::destroy ( )

static

free the instance

Definition at line 95 of file optimization_algorithm_factory.cpp.

   {
     delete factoryInstance;
     factoryInstance = 0;
   }

OptimizationAlgorithmFactory::CreatorList::const_iterator g2o::OptimizationAlgorithmFactory::findSolver ( const std::string & name ) const

protected

Definition at line 117 of file optimization_algorithm_factory.cpp.

References g2o::OptimizationAlgorithmProperty::name.

   {
     for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it) {
       const OptimizationAlgorithmProperty& sp = (*it)->property();
       if (sp.name == name)
         return it;
     }
     return _creator.end();
   }

OptimizationAlgorithmFactory::CreatorList::iterator g2o::OptimizationAlgorithmFactory::findSolver ( const std::string & name )

protected

Definition at line 127 of file optimization_algorithm_factory.cpp.

References g2o::OptimizationAlgorithmProperty::name.

   {
     for (CreatorList::iterator it = _creator.begin(); it != _creator.end(); ++it) {
       const OptimizationAlgorithmProperty& sp = (*it)->property();
       if (sp.name == name)
         return it;
     }
     return _creator.end();
   }

OptimizationAlgorithmFactory * g2o::OptimizationAlgorithmFactory::instance ( )

static

return the instance

Definition at line 54 of file optimization_algorithm_factory.cpp.

Referenced by g2o::SparseOptimizerOnline::initSolver(), main(), g2o::RegisterOptimizationAlgorithmProxy::RegisterOptimizationAlgorithmProxy(), and g2o::RegisterOptimizationAlgorithmProxy::~RegisterOptimizationAlgorithmProxy().

   {
     if (factoryInstance == 0) {
       factoryInstance = new OptimizationAlgorithmFactory;
     }
     return factoryInstance;
   }

void g2o::OptimizationAlgorithmFactory::listSolvers ( std::ostream & os ) const

list the known solvers into a stream

Definition at line 101 of file optimization_algorithm_factory.cpp.

References g2o::OptimizationAlgorithmProperty::desc, and g2o::OptimizationAlgorithmProperty::name.

Referenced by main().

   {
     size_t solverNameColumnLength = 0;
     for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it)
       solverNameColumnLength = std::max(solverNameColumnLength, (*it)->property().name.size());
     solverNameColumnLength += 4;
 
     for (CreatorList::const_iterator it = _creator.begin(); it != _creator.end(); ++it) {
       const OptimizationAlgorithmProperty& sp = (*it)->property();
       os << sp.name;
       for (size_t i = sp.name.size(); i < solverNameColumnLength; ++i)
         os << ' ';
       os << sp.desc << endl;
     }
   }

void g2o::OptimizationAlgorithmFactory::registerSolver ( AbstractOptimizationAlgorithmCreator * c )

register a specific creator for allocating a solver

Definition at line 62 of file optimization_algorithm_factory.cpp.

References g2o::OptimizationAlgorithmProperty::name, and g2o::AbstractOptimizationAlgorithmCreator::property().

Referenced by g2o::RegisterOptimizationAlgorithmProxy::RegisterOptimizationAlgorithmProxy().

   {
     const string& name = c->property().name;
     CreatorList::iterator foundIt = findSolver(name);
     if (foundIt != _creator.end()) {
       _creator.erase(foundIt);
       cerr << "SOLVER FACTORY WARNING: Overwriting Solver creator " << name << endl;
       assert(0);
     }
     _creator.push_back(c);
   }

void g2o::OptimizationAlgorithmFactory::unregisterSolver ( AbstractOptimizationAlgorithmCreator * c )

unregister a specific creator for allocating a solver

Definition at line 74 of file optimization_algorithm_factory.cpp.

References g2o::OptimizationAlgorithmProperty::name, and g2o::AbstractOptimizationAlgorithmCreator::property().

Referenced by g2o::RegisterOptimizationAlgorithmProxy::~RegisterOptimizationAlgorithmProxy().

   {
     const string& name = c->property().name;
     CreatorList::iterator foundIt = findSolver(name);
     if (foundIt != _creator.end()) {
       delete *foundIt;
       _creator.erase(foundIt);
     }
   }