g2o::Factory Class Reference

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

#include <factory.h>

Classes
class	CreatorInformation

Public Member Functions
	Factory (Factory const &)=delete
Factory &	operator= (Factory const &)=delete
void	registerType (const std::string &tag, const std::shared_ptr< 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
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
static void	destroy ()
	free the instance

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

Protected Member Functions
	Factory ()=default

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

Static Private Attributes
static std::unique_ptr< Factory >	factoryInstance

Detailed Description

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

Definition at line 48 of file factory.h.

Member Typedef Documentation

CreatorMap

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

protected

Definition at line 109 of file factory.h.

TagLookup

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

protected

Definition at line 110 of file factory.h.

Constructor & Destructor Documentation

Factory() [1/2]

g2o::Factory::Factory ( Factory const &  )

delete

Factory() [2/2]

g2o::Factory::Factory ( )

protecteddefault

Member Function Documentation

construct() [1/2]

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

(

const std::string &

tag

)

const

construct a graph element based on its tag

Definition at line 129 of file factory.cpp.

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

References _creator, and tag().

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

construct() [2/2]

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 177 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 nullptr;
}

References _creator, construct(), and tag().

destroy()

void g2o::Factory::destroy ( )

static

free the instance

Definition at line 162 of file factory.cpp.

                      {
  std::unique_ptr<Factory> aux;
  factoryInstance.swap(aux);
}

References factoryInstance.

fillKnownTypes()

void g2o::Factory::fillKnownTypes

(

std::vector< std::string > &

types

)

const

get a list of all known types

Definition at line 145 of file factory.cpp.

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

References _creator.

instance()

Factory * g2o::Factory::instance ( )

static

return the instance

Definition at line 46 of file factory.cpp.

                           {
  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();
}

References factoryInstance, and G2O_DEBUG.

Referenced by g2o::assignHierarchicalEdges(), g2o::BackBoneTreeAction::BackBoneTreeAction(), g2o::CacheContainer::createCache(), g2o::EdgeCreator::createEdge(), g2o::Cache::key(), main(), g2o::ParameterContainer::read(), g2o::RegisterTypeProxy< T >::RegisterTypeProxy(), g2o::OptimizableGraph::saveEdge(), g2o::OptimizableGraph::saveParameter(), g2o::OptimizableGraph::saveUserData(), g2o::OptimizableGraph::saveVertex(), g2o::OptimizableGraph::setRenamedTypesFromString(), g2o::ParameterContainer::write(), and g2o::Gm2dlIO::writeGm2dl().

knowsTag()

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

return whether the factory knows this tag or not

Definition at line 152 of file factory.cpp.

                                                                   {
  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;
}

References _creator, and tag().

Referenced by g2o::OptimizableGraph::setRenamedTypesFromString().

operator=()

Factory & g2o::Factory::operator= ( Factory const &  )

delete

printRegisteredTypes()

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 167 of file factory.cpp.

                                                                     {
  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;
  }
}

References _creator.

Referenced by main().

registerType()

void g2o::Factory::registerType	(	const std::string &	tag,
		const std::shared_ptr< AbstractHyperGraphElementCreator > &	c
	)

register a tag for a specific creator

Definition at line 58 of file factory.cpp.

                                                              {
  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;
}

References _creator, _tagLookup, g2o::Factory::CreatorInformation::creator, g2o::HyperGraph::HyperGraphElement::elementType(), g2o::Factory::CreatorInformation::elementTypeBit, G2O_DEBUG, G2O_WARN, and tag().

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

tag()

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

(

const HyperGraph::HyperGraphElement *

v

)

const

return the TAG given a vertex

Definition at line 138 of file factory.cpp.

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

References _tagLookup.

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

unregisterType()

void g2o::Factory::unregisterType

(

const std::string &

tag

)

unregister a tag for a specific creator

Definition at line 113 of file factory.cpp.

                                                 {
  // 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);
  }
}

References _creator, _tagLookup, and tag().

Member Data Documentation

_creator

CreatorMap g2o::Factory::_creator

protected

look-up map for the existing creators

Definition at line 113 of file factory.h.

Referenced by construct(), construct(), fillKnownTypes(), knowsTag(), printRegisteredTypes(), registerType(), and unregisterType().

_tagLookup

TagLookup g2o::Factory::_tagLookup

protected

reverse look-up, class name to tag

Definition at line 114 of file factory.h.

Referenced by registerType(), tag(), and unregisterType().

factoryInstance

std::unique_ptr< Factory > g2o::Factory::factoryInstance

staticprivate

Definition at line 117 of file factory.h.

Referenced by destroy(), and instance().

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/factory.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/factory.cpp