parameter_container.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#include "parameter_container.h"
 
#include <cassert>
#include <iostream>
 
#include "factory.h"
#include "g2o/stuff/color_macros.h"
#include "g2o/stuff/logger.h"
#include "g2o/stuff/macros.h"
#include "g2o/stuff/string_tools.h"
#include "parameter.h"
 
namespace g2o {
 
using namespace std;
 
ParameterContainer::ParameterContainer(bool isMainStorage_)
    : _isMainStorage(isMainStorage_) {}
 
void ParameterContainer::clear() {
  if (!_isMainStorage) return;
  for (iterator it = begin(); it != end(); ++it) {
    delete it->second;
  }
  BaseClass::clear();
}
 
ParameterContainer::~ParameterContainer() { clear(); }
 
bool ParameterContainer::addParameter(Parameter* p) {
  if (p->id() < 0) return false;
  iterator it = find(p->id());
  if (it != end()) return false;
  insert(make_pair(p->id(), p));
  return true;
}
 
Parameter* ParameterContainer::getParameter(int id) {
  iterator it = find(id);
  if (it == end()) return nullptr;
  return it->second;
}
 
const Parameter* ParameterContainer::getParameter(int id) const {
  const_iterator it = find(id);
  if (it == end()) return nullptr;
  return it->second;
}
 
Parameter* ParameterContainer::detachParameter(int id) {
  iterator it = find(id);
  if (it == end()) return nullptr;
  Parameter* p = it->second;
  erase(it);
  return p;
}
 
bool ParameterContainer::write(std::ostream& os) const {
  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;
}
 
bool ParameterContainer::read(
    std::istream& is,
    const std::map<std::string, std::string>* _renamedTypesLookup) {
  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;
}
 
}  // namespace g2o