g2o::ParameterContainer Class Reference

map id to parameters More...

#include <parameter_container.h>

Inheritance diagram for g2o::ParameterContainer:

Collaboration diagram for g2o::ParameterContainer:

Public Types
typedef std::map< int, Parameter * >	BaseClass

Public Member Functions
	ParameterContainer (bool isMainStorage_=true)
virtual	~ParameterContainer ()
bool	addParameter (Parameter *p)
	add parameter to the container More...
Parameter *	getParameter (int id)
	return a parameter based on its ID More...
const Parameter *	getParameter (int id) const
	return a parameter based on its ID More...
Parameter *	detachParameter (int id)
	remove a parameter from the container, i.e., the user now owns the pointer More...
virtual bool	read (std::istream &is, const std::map< std::string, std::string > *renamedMap=0)
	read parameters from a stream More...
virtual bool	write (std::ostream &os) const
	write the data to a stream More...
bool	isMainStorage () const
void	clear ()

Protected Attributes
bool	_isMainStorage

Detailed Description

map id to parameters

Definition at line 41 of file parameter_container.h.

Member Typedef Documentation

typedef std::map<int, Parameter*> g2o::ParameterContainer::BaseClass

Definition at line 44 of file parameter_container.h.

Constructor & Destructor Documentation

g2o::ParameterContainer::ParameterContainer

(

bool

isMainStorage_ = true

)

create a container for the parameters.

Parameters

isMainStorage_

pointers to the parameters are owned by this container, i.e., freed in its constructor

Definition at line 42 of file parameter_container.cpp.

                                                            :
    _isMainStorage(isMainStorage_)
  {
  }

g2o::ParameterContainer::~ParameterContainer ( )

virtual

Definition at line 56 of file parameter_container.cpp.

References clear().

                                         {
    clear();
  }

Member Function Documentation

bool g2o::ParameterContainer::addParameter

(

Parameter *

p

)

add parameter to the container

Definition at line 60 of file parameter_container.cpp.

References g2o::Parameter::id().

Referenced by read().

                                                   {
    if (p->id()<0)
      return false;
    iterator it=find(p->id());
    if (it!=end())
      return false;
    insert(make_pair(p->id(), p));
    return true;
  }

void g2o::ParameterContainer::clear

(

)

Definition at line 47 of file parameter_container.cpp.

References _isMainStorage.

Referenced by isMainStorage(), and ~ParameterContainer().

                                 {
    if (!_isMainStorage)
      return;
    for (iterator it = begin(); it!=end(); it++){
      delete it->second;
    }
    BaseClass::clear();
  }

Parameter * g2o::ParameterContainer::detachParameter

(

int

id

)

remove a parameter from the container, i.e., the user now owns the pointer

Definition at line 84 of file parameter_container.cpp.

                                                      {
    iterator it=find(id);
    if (it==end())
      return 0;
    Parameter* p=it->second;
    erase(it);
    return p;
  }

Parameter * g2o::ParameterContainer::getParameter

(

int

id

)

return a parameter based on its ID

Definition at line 70 of file parameter_container.cpp.

                                                    {
    iterator it=find(id);
    if (it==end())
      return 0;
    return it->second;
  }

const Parameter * g2o::ParameterContainer::getParameter

(

int

id

)

const

return a parameter based on its ID

Definition at line 77 of file parameter_container.cpp.

                                                                {
    const_iterator it=find(id);
    if (it==end())
      return 0;
    return it->second;
  }

bool g2o::ParameterContainer::isMainStorage ( ) const

inline

Definition at line 64 of file parameter_container.h.

References _isMainStorage, and clear().

{return _isMainStorage;}

bool g2o::ParameterContainer::read ( std::istream &  is, const std::map< std::string, std::string > *  renamedMap = 0  )

virtual

read parameters from a stream

Definition at line 104 of file parameter_container.cpp.

References __PRETTY_FUNCTION__, addParameter(), g2o::Factory::construct(), g2o::HyperGraph::HyperGraphElement::elementType(), HGET_PARAMETER, g2o::Factory::instance(), g2o::readLine(), and g2o::Parameter::setId().

                                                                                                      {
    stringstream currentLine;
    string token;

    Factory* factory = Factory::instance();
    HyperGraph::GraphElemBitset elemBitset;
    elemBitset[HyperGraph::HGET_PARAMETER] = 1;
    
    while (1) {
      int bytesRead = readLine(is, currentLine);
      if (bytesRead == -1)
        break;
      currentLine >> token;
      if (bytesRead == 0 || token.size() == 0 || token[0] == '#')
        continue;
      if (_renamedTypesLookup && _renamedTypesLookup->size()>0){
        map<string, string>::const_iterator foundIt = _renamedTypesLookup->find(token);
        if (foundIt != _renamedTypesLookup->end()) {
          token = foundIt->second;
        }
      }

      HyperGraph::HyperGraphElement* element = factory->construct(token, elemBitset);
      if (! element) // not a parameter or otherwise unknown tag
        continue;
      assert(element->elementType() == HyperGraph::HGET_PARAMETER && "Should be a param");

      Parameter* p = static_cast<Parameter*>(element);
      int pid;
      currentLine >> pid;
      p->setId(pid);
      bool r = p->read(currentLine);
      if (! r) {
        cerr << __PRETTY_FUNCTION__ << ": Error reading data " << token << " for parameter " << pid << endl;
        delete p;
      } else {
        if (! addParameter(p) ){
          cerr << __PRETTY_FUNCTION__ << ": Parameter of type:" << token << " id:" << pid << " already defined" << endl;
        }
      }
    } // while read line
    
    return true;
  }

bool g2o::ParameterContainer::write ( std::ostream &  os ) const

virtual

write the data to a stream

Definition at line 93 of file parameter_container.cpp.

References g2o::Factory::instance(), and g2o::Factory::tag().

                                                    {
    Factory* factory = Factory::instance();
    for (const_iterator it=begin(); it!=end(); it++){
      os << factory->tag(it->second) << " ";
      os << it->second->id() << " ";
      it->second->write(os);
      os << endl;
    }
    return true;
  }

Member Data Documentation

bool g2o::ParameterContainer::_isMainStorage

protected

Definition at line 71 of file parameter_container.h.

Referenced by clear(), and isMainStorage().

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

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