cache.h

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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.
 
#ifndef G2O_CACHE_HH_
#define G2O_CACHE_HH_
 
#include <map>
 
#include "g2o_core_api.h"
#include "optimizable_graph.h"
 
namespace g2o {
 
class CacheContainer;
 
class G2O_CORE_API Cache : public HyperGraph::HyperGraphElement {
 public:
  friend class CacheContainer;
  class G2O_CORE_API CacheKey {
   public:
    friend class CacheContainer;
    CacheKey();
    CacheKey(const std::string& type_, const ParameterVector& parameters_);
 
    bool operator<(const CacheKey& c) const;
 
    const std::string& type() const { return _type; }
    const ParameterVector& parameters() const { return _parameters; }
 
   protected:
    std::string _type;
    ParameterVector _parameters;
  };
 
  Cache(CacheContainer* container_ = 0,
        const ParameterVector& parameters_ = ParameterVector());
 
  CacheKey key() const;
 
  OptimizableGraph::Vertex* vertex();
  OptimizableGraph* graph();
  CacheContainer* container();
  ParameterVector& parameters();
 
  void update();
 
  virtual HyperGraph::HyperGraphElementType elementType() const {
    return HyperGraph::HGET_CACHE;
  }
 
 protected:
  virtual void updateImpl() = 0;

  Cache* installDependency(const std::string& type_,
                           const std::vector<int>& parameterIndices);

  virtual bool resolveDependencies();
 
  bool _updateNeeded;
  ParameterVector _parameters;
  std::vector<Cache*> _parentCaches;
  CacheContainer* _container;
};
 
class G2O_CORE_API CacheContainer : public std::map<Cache::CacheKey, Cache*> {
 public:
  CacheContainer(OptimizableGraph::Vertex* vertex_);
  virtual ~CacheContainer();
  OptimizableGraph::Vertex* vertex();
  OptimizableGraph* graph();
  Cache* findCache(const Cache::CacheKey& key);
  Cache* createCache(const Cache::CacheKey& key);
  void setUpdateNeeded(bool needUpdate = true);
  void update();
 
 protected:
  OptimizableGraph::Vertex* _vertex;
  bool _updateNeeded;
};
 
template <typename CacheType>
void OptimizableGraph::Edge::resolveCache(CacheType*& cache,
                                          OptimizableGraph::Vertex* v,
                                          const std::string& type_,
                                          const ParameterVector& parameters_) {
  cache = 0;
  CacheContainer* container = v->cacheContainer();
  Cache::CacheKey key(type_, parameters_);
  Cache* c = container->findCache(key);
  if (!c) {
    c = container->createCache(key);
  }
  if (c) {
    cache = dynamic_cast<CacheType*>(c);
  }
}
 
}  // namespace g2o
 
#endif