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
Parameter *	getParameter (int id)
	return a parameter based on its ID
const Parameter *	getParameter (int id) const
	return a parameter based on its ID
Parameter *	detachParameter (int id)
	remove a parameter from the container, i.e., the user now owns the pointer
virtual bool	read (std::istream &is, const std::map< std::string, std::string > *renamedMap=0)
	read parameters from a stream
virtual bool	write (std::ostream &os) const
	write the data to a stream
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

BaseClass

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

Definition at line 43 of file parameter_container.h.

Constructor & Destructor Documentation

ParameterContainer()

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 43 of file parameter_container.cpp.

    : _isMainStorage(isMainStorage_) {}

~ParameterContainer()

g2o::ParameterContainer::~ParameterContainer ( )

virtual

Definition at line 54 of file parameter_container.cpp.

{ clear(); }

References clear().

Member Function Documentation

addParameter()

bool g2o::ParameterContainer::addParameter

(

Parameter *

p

)

add parameter to the container

Definition at line 56 of file parameter_container.cpp.

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

References g2o::Parameter::id().

Referenced by read().

clear()

void g2o::ParameterContainer::clear

(

)

Definition at line 46 of file parameter_container.cpp.

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

References _isMainStorage.

Referenced by g2o::OptimizableGraph::clearParameters(), and ~ParameterContainer().

detachParameter()

Parameter * g2o::ParameterContainer::detachParameter

(

int

id

)

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

Definition at line 76 of file parameter_container.cpp.

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

getParameter() [1/2]

Parameter * g2o::ParameterContainer::getParameter

(

int

id

)

return a parameter based on its ID

Definition at line 64 of file parameter_container.cpp.

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

getParameter() [2/2]

const Parameter * g2o::ParameterContainer::getParameter

(

int

id

)

const

return a parameter based on its ID

Definition at line 70 of file parameter_container.cpp.

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

isMainStorage()

bool g2o::ParameterContainer::isMainStorage ( ) const

inline

Definition at line 65 of file parameter_container.h.

{ return _isMainStorage; }

References _isMainStorage.

read()

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 95 of file parameter_container.cpp.

                                                             {
  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) {
      G2O_ERROR("{}: Error reading data {} for parameter {}",
                __PRETTY_FUNCTION__, token, pid);
      delete p;
    } else {
      if (!addParameter(p)) {
        G2O_ERROR("{}: Parameter of type: {} id: {} already defined",
                  __PRETTY_FUNCTION__, token, pid);
      }
    }
  }  // while read line
 
  return true;
}

References __PRETTY_FUNCTION__, addParameter(), g2o::Factory::construct(), g2o::HyperGraph::HyperGraphElement::elementType(), G2O_ERROR, g2o::Factory::instance(), g2o::Parameter::read(), g2o::readLine(), and g2o::Parameter::setId().

write()

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

virtual

write the data to a stream

Definition at line 84 of file parameter_container.cpp.

                                                   {
  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;
}

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

Member Data Documentation

_isMainStorage

bool g2o::ParameterContainer::_isMainStorage

protected

Definition at line 72 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:

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