robust_kernel_factory.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 "robust_kernel_factory.h"
 
#include <cassert>
 
#include "g2o/stuff/logger.h"
 
using namespace std;
 
namespace g2o {
 
std::unique_ptr<RobustKernelFactory> RobustKernelFactory::factoryInstance;
 
RobustKernelFactory* RobustKernelFactory::instance() {
  if (factoryInstance == nullptr) {
    factoryInstance.reset(new RobustKernelFactory);
  }
 
  return factoryInstance.get();
}
 
void RobustKernelFactory::registerRobustKernel(
    const std::string& tag, const AbstractRobustKernelCreator::Ptr& c) {
  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;
}
 
void RobustKernelFactory::unregisterType(const std::string& tag) {
  CreatorMap::iterator tagPosition = _creator.find(tag);
  if (tagPosition != _creator.end()) {
    _creator.erase(tagPosition);
  }
}
 
RobustKernel* RobustKernelFactory::construct(const std::string& tag) const {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    return foundIt->second->construct();
  }
  return nullptr;
}
 
AbstractRobustKernelCreator* RobustKernelFactory::creator(
    const std::string& tag) const {
  CreatorMap::const_iterator foundIt = _creator.find(tag);
  if (foundIt != _creator.end()) {
    return foundIt->second.get();
  }
  return nullptr;
}
 
void RobustKernelFactory::fillKnownKernels(
    std::vector<std::string>& types) const {
  types.clear();
  for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end();
       ++it)
    types.push_back(it->first);
}
 
void RobustKernelFactory::destroy() {
  std::unique_ptr<RobustKernelFactory> aux;
  factoryInstance.swap(aux);
}
 
}  // namespace g2o