create solvers based on their short name More...

#include <optimization_algorithm_factory.h>

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

Public Member Functions
	OptimizationAlgorithmFactory (OptimizationAlgorithmFactory const &)=delete

OptimizationAlgorithmFactory &	operator= (OptimizationAlgorithmFactory const &)=delete

void	registerSolver (const std::shared_ptr< AbstractOptimizationAlgorithmCreator > &c)

void	unregisterSolver (const std::shared_ptr< AbstractOptimizationAlgorithmCreator > &c)

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

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

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

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

static void	destroy ()
	free the instance

Protected Member Functions
	OptimizationAlgorithmFactory ()=default

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

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

Protected Attributes
CreatorList	_creator

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

Detailed Description

create solvers based on their short name

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

Definition at line 73 of file optimization_algorithm_factory.h.

Member Typedef Documentation

◆ CreatorList

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

Definition at line 76 of file optimization_algorithm_factory.h.

Constructor & Destructor Documentation

◆ OptimizationAlgorithmFactory() [1/2]

g2o::OptimizationAlgorithmFactory::OptimizationAlgorithmFactory ( OptimizationAlgorithmFactory const & )

delete

◆ OptimizationAlgorithmFactory() [2/2]

g2o::OptimizationAlgorithmFactory::OptimizationAlgorithmFactory ( )

protecteddefault

Member Function Documentation

◆ construct()

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 74 of file optimization_algorithm_factory.cpp.

                                                         {
  CreatorList::const_iterator foundIt = findSolver(name);
  if (foundIt != _creator.end()) {
    solverProperty = (*foundIt)->property();
    return (*foundIt)->construct();
  }
  G2O_WARN("SOLVER FACTORY: Unable to create solver {}", name);
  return nullptr;
}

References _creator, findSolver(), and G2O_WARN.

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

◆ creatorList()

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

inline

return the underlying list of creators

Definition at line 111 of file optimization_algorithm_factory.h.

111{ return _creator; }

Referenced by MainWindow::updateDisplayedSolvers().

◆ destroy()

void g2o::OptimizationAlgorithmFactory::destroy ( )

static

free the instance

Definition at line 86 of file optimization_algorithm_factory.cpp.

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

References factoryInstance.

◆ findSolver() [1/2]

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

protected

Definition at line 119 of file optimization_algorithm_factory.cpp.

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

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

◆ findSolver() [2/2]

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

protected

Definition at line 109 of file optimization_algorithm_factory.cpp.

                                                                    {
  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();
}

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

Referenced by construct(), registerSolver(), and unregisterSolver().

◆ instance()

OptimizationAlgorithmFactory * g2o::OptimizationAlgorithmFactory::instance ( )

static

return the instance

Definition at line 46 of file optimization_algorithm_factory.cpp.

                                                                     {
  if (factoryInstance == nullptr) {
    factoryInstance.reset(new OptimizationAlgorithmFactory);
  }
  return factoryInstance.get();
}

References factoryInstance.

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

◆ listSolvers()

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

list the known solvers into a stream

Definition at line 91 of file optimization_algorithm_factory.cpp.

                                                                   {
  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.type << " \t" << sp.desc << endl;
  }
}

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

Referenced by main().

◆ operator=()

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

delete

◆ registerSolver()

void g2o::OptimizationAlgorithmFactory::registerSolver ( const std::shared_ptr< AbstractOptimizationAlgorithmCreator > & c )

register a specific creator for allocating a solver

Definition at line 53 of file optimization_algorithm_factory.cpp.

                                                                  {
  const string& name = c->property().name;
  CreatorList::iterator foundIt = findSolver(name);
  if (foundIt != _creator.end()) {
    _creator.erase(foundIt);
    G2O_WARN("SOLVER FACTORY: Overwriting Solver creator {}", name);
    assert(0);
  }
  _creator.push_back(c);
}

References _creator, findSolver(), and G2O_WARN.

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

◆ unregisterSolver()

void g2o::OptimizationAlgorithmFactory::unregisterSolver ( const std::shared_ptr< AbstractOptimizationAlgorithmCreator > & c )

unregister a specific creator for allocating a solver

Definition at line 65 of file optimization_algorithm_factory.cpp.

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

References _creator, and findSolver().

Member Data Documentation

◆ _creator

CreatorList g2o::OptimizationAlgorithmFactory::_creator

protected

Definition at line 116 of file optimization_algorithm_factory.h.

Referenced by construct(), findSolver(), findSolver(), listSolvers(), registerSolver(), and unregisterSolver().

◆ factoryInstance

std::unique_ptr< OptimizationAlgorithmFactory > g2o::OptimizationAlgorithmFactory::factoryInstance

staticprivate

Definition at line 122 of file optimization_algorithm_factory.h.

Referenced by destroy(), and instance().

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

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ CreatorList

Constructor & Destructor Documentation

◆ OptimizationAlgorithmFactory() [1/2]

◆ OptimizationAlgorithmFactory() [2/2]

Member Function Documentation

◆ construct()

◆ creatorList()

◆ destroy()

◆ findSolver() [1/2]

◆ findSolver() [2/2]

◆ instance()

◆ listSolvers()

◆ operator=()

◆ registerSolver()

◆ unregisterSolver()

Member Data Documentation

◆ _creator

◆ factoryInstance