g2o::RobustKernelFactory Class Reference

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

#include <robust_kernel_factory.h>

Public Member Functions
	RobustKernelFactory (RobustKernelFactory const &)=delete
RobustKernelFactory &	operator= (RobustKernelFactory const &)=delete
void	registerRobustKernel (const std::string &tag, const AbstractRobustKernelCreator::Ptr &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
static void	destroy ()
	free the instance

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

Protected Member Functions
	RobustKernelFactory ()=default

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

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

Detailed Description

create robust kernels based on their human readable name

Definition at line 68 of file robust_kernel_factory.h.

Member Typedef Documentation

CreatorMap

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

protected

Definition at line 106 of file robust_kernel_factory.h.

Constructor & Destructor Documentation

RobustKernelFactory() [1/2]

g2o::RobustKernelFactory::RobustKernelFactory ( RobustKernelFactory const &  )

delete

RobustKernelFactory() [2/2]

g2o::RobustKernelFactory::RobustKernelFactory ( )

protecteddefault

Member Function Documentation

construct()

RobustKernel * g2o::RobustKernelFactory::construct

(

const std::string &

tag

)

const

construct a robust kernel based on its tag

Definition at line 66 of file robust_kernel_factory.cpp.

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

References _creator.

creator()

AbstractRobustKernelCreator * g2o::RobustKernelFactory::creator

(

const std::string &

tag

)

const

return the creator for a specific tag

Definition at line 74 of file robust_kernel_factory.cpp.

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

References _creator.

Referenced by main(), and MainWindow::setRobustKernel().

destroy()

void g2o::RobustKernelFactory::destroy ( )

static

free the instance

Definition at line 91 of file robust_kernel_factory.cpp.

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

References factoryInstance.

fillKnownKernels()

void g2o::RobustKernelFactory::fillKnownKernels

(

std::vector< std::string > &

types

)

const

get a list of all known robust kernels

Definition at line 83 of file robust_kernel_factory.cpp.

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

References _creator.

Referenced by main(), and MainWindow::updateRobustKernels().

instance()

RobustKernelFactory * g2o::RobustKernelFactory::instance ( )

static

return the instance

Definition at line 39 of file robust_kernel_factory.cpp.

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

References factoryInstance.

Referenced by main(), g2o::RegisterRobustKernelProxy< T >::RegisterRobustKernelProxy(), MainWindow::setRobustKernel(), and MainWindow::updateRobustKernels().

operator=()

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

delete

registerRobustKernel()

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

register a tag for a specific creator

Definition at line 47 of file robust_kernel_factory.cpp.

                                                                   {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    G2O_WARN("RobustKernelFactory WARNING: Overwriting robust kernel tag {}",
             tag);
    assert(0);
  }
 
  _creator[tag] = c;
}

References _creator, and G2O_WARN.

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

unregisterType()

void g2o::RobustKernelFactory::unregisterType

(

const std::string &

tag

)

unregister a tag for a specific creator

Definition at line 59 of file robust_kernel_factory.cpp.

                                                             {
  CreatorMap::iterator tagPosition = _creator.find(tag);
  if (tagPosition != _creator.end()) {
    _creator.erase(tagPosition);
  }
}

References _creator.

Member Data Documentation

_creator

CreatorMap g2o::RobustKernelFactory::_creator

protected

look-up map for the existing creators

Definition at line 109 of file robust_kernel_factory.h.

Referenced by construct(), creator(), fillKnownKernels(), registerRobustKernel(), and unregisterType().

factoryInstance

std::unique_ptr< RobustKernelFactory > g2o::RobustKernelFactory::factoryInstance

staticprivate

Definition at line 112 of file robust_kernel_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/robust_kernel_factory.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/robust_kernel_factory.cpp