g2o::RobustKernelFactory Class Reference

create robust kernels based on their human readable name More...

#include <robust_kernel_factory.h>

Collaboration diagram for g2o::RobustKernelFactory:

Public Member Functions
void	registerRobustKernel (const std::string &tag, AbstractRobustKernelCreator *c)
void	unregisterType (const std::string &tag)
RobustKernel *	construct (const std::string &tag) const
AbstractRobustKernelCreator *	creator (const std::string &tag) const
void	fillKnownKernels (std::vector< std::string > &types) const

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

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

Protected Member Functions
	RobustKernelFactory ()
	~RobustKernelFactory ()

Protected Attributes
CreatorMap	_creator
	look-up map for the existing creators More...

Static Private Attributes
static RobustKernelFactory *	factoryInstance = 0

Detailed Description

create robust kernels based on their human readable name

Definition at line 68 of file robust_kernel_factory.h.

Member Typedef Documentation

typedef std::map<std::string, AbstractRobustKernelCreator*> g2o::RobustKernelFactory::CreatorMap

protected

Definition at line 105 of file robust_kernel_factory.h.

Constructor & Destructor Documentation

g2o::RobustKernelFactory::RobustKernelFactory ( )

protected

Definition at line 38 of file robust_kernel_factory.cpp.

{
}

g2o::RobustKernelFactory::~RobustKernelFactory ( )

protected

Definition at line 42 of file robust_kernel_factory.cpp.

{
  for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) {
    delete it->second;
  }
  _creator.clear();
}

Member Function Documentation

RobustKernel * g2o::RobustKernelFactory::construct

(

const std::string &

tag

)

const

construct a robust kernel based on its tag

Definition at line 80 of file robust_kernel_factory.cpp.

{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    return foundIt->second->construct();
  }
  return 0;
}

AbstractRobustKernelCreator * g2o::RobustKernelFactory::creator

(

const std::string &

tag

)

const

return the creator for a specific tag

Definition at line 89 of file robust_kernel_factory.cpp.

{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    return foundIt->second;
  }
  return 0;
}

void g2o::RobustKernelFactory::destroy ( )

static

free the instance

Definition at line 105 of file robust_kernel_factory.cpp.

{
  delete factoryInstance;
  factoryInstance = 0;
}

void g2o::RobustKernelFactory::fillKnownKernels

(

std::vector< std::string > &

types

)

const

get a list of all known robust kernels

Definition at line 98 of file robust_kernel_factory.cpp.

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

RobustKernelFactory * g2o::RobustKernelFactory::instance ( )

static

return the instance

Definition at line 50 of file robust_kernel_factory.cpp.

Referenced by g2o::RegisterRobustKernelProxy< T >::RegisterRobustKernelProxy(), and g2o::RegisterRobustKernelProxy< T >::~RegisterRobustKernelProxy().

{
  if (factoryInstance == 0) {
    factoryInstance = new RobustKernelFactory;
  }

  return factoryInstance;
}

void g2o::RobustKernelFactory::registerRobustKernel	(	const std::string &	tag,
		AbstractRobustKernelCreator *	c
	)

register a tag for a specific creator

Definition at line 59 of file robust_kernel_factory.cpp.

Referenced by g2o::RegisterRobustKernelProxy< T >::RegisterRobustKernelProxy().

{
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    cerr << "RobustKernelFactory WARNING: Overwriting robust kernel tag " << tag << endl;
    assert(0);
  }

  _creator[tag] = c;
}

void g2o::RobustKernelFactory::unregisterType

(

const std::string &

tag

)

unregister a tag for a specific creator

Definition at line 70 of file robust_kernel_factory.cpp.

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

{
  CreatorMap::iterator tagPosition = _creator.find(tag);
  if (tagPosition != _creator.end()) {
    AbstractRobustKernelCreator* c = tagPosition->second;
    delete c;
    _creator.erase(tagPosition);
  }
}

Member Data Documentation

CreatorMap g2o::RobustKernelFactory::_creator

protected

look-up map for the existing creators

Definition at line 109 of file robust_kernel_factory.h.

RobustKernelFactory * g2o::RobustKernelFactory::factoryInstance = 0

staticprivate

Definition at line 112 of file robust_kernel_factory.h.

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

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