libpointmatcher  1.3.1
Registrar.h
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3 /*
4 
5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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34 */
35 
36 #ifndef __POINTMATCHER_REGISTRAR_H
37 #define __POINTMATCHER_REGISTRAR_H
38 
39 #include "Parametrizable.h"
40 #include "PointMatcher.h"
41 #include <boost/format.hpp>
42 #include <boost/typeof/typeof.hpp>
43 
44 
45 #ifdef SYSTEM_YAML_CPP
46  namespace YAML
47  {
48  class Node;
49  }
50 #else
51  namespace YAML_PM
52  {
53  class Node;
54  }
55 #endif // HAVE_YAML_CPP
56 
57 namespace PointMatcherSupport
58 {
59 #ifdef SYSTEM_YAML_CPP
60  namespace YAML = ::YAML;
61 #else
62  namespace YAML = ::YAML_PM;
63 #endif
64 
66  void getNameParamsFromYAML(const YAML::Node& module, std::string& name, Parametrizable::Parameters& params);
67 
69  struct InvalidElement: std::runtime_error
70  {
71  InvalidElement(const std::string& reason);
72  };
73 
75  template<typename Interface>
76  struct Registrar
77  {
78  public:
79  typedef Interface TargetType;
80 
83  {
85  virtual ~ClassDescriptor() {}
87  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const = 0;
89  virtual const std::string description() const = 0;
91  virtual const Parametrizable::ParametersDoc availableParameters() const = 0;
92  };
93 
95  template<typename C>
97  {
98  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
99  {
100  std::shared_ptr<C> instance = std::make_shared<C>(params);
101 
102  // check that all parameters were set
103  for (BOOST_AUTO(it, params.begin()); it != params.end() ;++it)
104  {
105  if (instance->parametersUsed.find(it->first) == instance->parametersUsed.end()){
107  (boost::format("Parameter %1% for module %2% was set but is not used") % it->first % className).str()
108  );
109  }
110  }
111 
112  return instance;
113  }
114  virtual const std::string description() const
115  {
116  return C::description();
117  }
119  {
120  return C::availableParameters();
121  }
122  };
123 
125  template<typename C>
127  {
128  virtual std::shared_ptr<Interface> createInstance(const std::string& className, const Parametrizable::Parameters& params) const
129  {
130  for (BOOST_AUTO(it, params.begin()); it != params.end() ;++it)
132  (boost::format("Parameter %1% was set but module %2% dos not use any parameter") % it->first % className).str()
133  );
134  return std::make_shared<C>();
135  }
136  virtual const std::string description() const
137  {
138  return C::description();
139  }
141  {
143  }
144  };
145 
146  protected:
147  typedef std::map<std::string, ClassDescriptor*> DescriptorMap;
149 
150  public:
153  {
154  for (BOOST_AUTO(it, classes.begin()); it != classes.end(); ++it)
155  delete it->second;
156  }
158  void reg(const std::string &name, ClassDescriptor* descriptor)
159  {
160  classes[name] = descriptor;
161  }
162 
164  const ClassDescriptor* getDescriptor(const std::string& name) const
165  {
166  BOOST_AUTO(it, classes.find(name));
167  if (it == classes.end())
168  {
169  std::cerr << "No element named " << name << " is registered. Known ones are:\n";
170  dump(std::cerr);
171  throw InvalidElement(
172  (boost::format("Trying to instanciate unknown element %1% from registrar") % name).str()
173  );
174  }
175  return it->second;
176  }
177 
179  std::shared_ptr<Interface> create(const std::string& name, const Parametrizable::Parameters& params = Parametrizable::Parameters()) const
180  {
181  return getDescriptor(name)->createInstance(name, params);
182  }
183 
185  std::shared_ptr<Interface> createFromYAML(const YAML::Node& module) const
186  {
187  std::string name;
189 
190  getNameParamsFromYAML(module, name, params);
191 
192  return create(name, params);
193  }
194 
196  const std::string getDescription(const std::string& name) const
197  {
198  return getDescriptor(name)->description();
199  }
200 
202  void dump(std::ostream &stream) const
203  {
204  for (BOOST_AUTO(it, classes.begin()); it != classes.end(); ++it)
205  stream << "- " << it->first << "\n";
206  }
207 
209  typename DescriptorMap::const_iterator begin() const
210  {
211  return classes.begin();
212  }
214  typename DescriptorMap::const_iterator end() const
215  {
216  return classes.end();
217  }
218  };
219 
220  #define REG(name) name##Registrar
221  #define DEF_REGISTRAR(name) PointMatcherSupport::Registrar< name > name##Registrar;
222  #define DEF_REGISTRAR_IFACE(name, ifaceName) PointMatcherSupport::Registrar< ifaceName > name##Registrar;
223  #define ADD_TO_REGISTRAR(name, elementName, element) { \
224  typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptor< element > Desc; \
225  name##Registrar.reg(# elementName, new Desc() ); \
226  }
227  #define ADD_TO_REGISTRAR_NO_PARAM(name, elementName, element) { \
228  typedef typename PointMatcherSupport::Registrar< name >::template GenericClassDescriptorNoParam< element > Desc; \
229  name##Registrar.reg(# elementName, new Desc() ); \
230  }
231 } // namespace PointMatcherSupport
232 
233 #endif // __POINTMATCHER_REGISTRAR_H
DescriptorMap::const_iterator end() const
end for const iterator over classes descriptions
Definition: Registrar.h:214
An exception thrown when one tries to instanciate an element that does not exist in the registrar.
Definition: Registrar.h:69
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const =0
Create an instance of Interface using params.
public interface
std::shared_ptr< Interface > create(const std::string &name, const Parametrizable::Parameters &params=Parametrizable::Parameters()) const
Create an instance.
Definition: Registrar.h:179
virtual ~ClassDescriptor()
Virtual destructor, do nothing.
Definition: Registrar.h:85
A factor for subclasses of Interface.
Definition: Registrar.h:76
virtual const std::string description() const
Return the description of this class.
Definition: Registrar.h:136
virtual const Parametrizable::ParametersDoc availableParameters() const
Return the available parameters for this class.
Definition: Registrar.h:118
A descriptor for a class C that provides parameters.
Definition: Registrar.h:96
The interface for class descriptors.
Definition: Registrar.h:82
A descriptor for a class C that does not provide any parameter.
Definition: Registrar.h:126
Interface TargetType
alias to recover the template parameter
Definition: Registrar.h:79
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const
Create an instance of Interface using params.
Definition: Registrar.h:128
DescriptorMap classes
known classes that can be constructed
Definition: Registrar.h:148
std::shared_ptr< Interface > createFromYAML(const YAML::Node &module) const
Create an instance from a YAML node.
Definition: Registrar.h:185
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:156
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: PointMatcher.h:78
void getNameParamsFromYAML(const YAML::Node &module, std::string &name, Parametrizable::Parameters &params)
Retrieve name and parameters from a yaml node.
InvalidElement(const std::string &reason)
Construct an invalid-element exception.
Definition: Registry.cpp:55
virtual std::shared_ptr< Interface > createInstance(const std::string &className, const Parametrizable::Parameters &params) const
Create an instance of Interface using params.
Definition: Registrar.h:98
const ClassDescriptor * getDescriptor(const std::string &name) const
Return a descriptor following a name, throw an exception if name is invalid.
Definition: Registrar.h:164
~Registrar()
Destructor, remove all classes descriptors.
Definition: Registrar.h:152
void reg(const std::string &name, ClassDescriptor *descriptor)
Register a class by storing an instance of a descriptor helper class.
Definition: Registrar.h:158
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:101
DescriptorMap::const_iterator begin() const
begin for const iterator over classes descriptions
Definition: Registrar.h:209
virtual const Parametrizable::ParametersDoc availableParameters() const =0
Return the available parameters for this class.
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:144
virtual const Parametrizable::ParametersDoc availableParameters() const
Return the available parameters for this class.
Definition: Registrar.h:140
std::map< std::string, ClassDescriptor * > DescriptorMap
descriptors for sub-classes of Interface, indexed by their names
Definition: Registrar.h:147
void dump(std::ostream &stream) const
Print the list of registered classes to stream.
Definition: Registrar.h:202
virtual const std::string description() const
Return the description of this class.
Definition: Registrar.h:114
virtual const std::string description() const =0
Return the description of this class.
const std::string getDescription(const std::string &name) const
Get the description of a class.
Definition: Registrar.h:196