robust_kernel_factory.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_ROBUST_KERNEL_FACTORY_H
#define G2O_ROBUST_KERNEL_FACTORY_H
 
#include <iostream>
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "g2o/stuff/misc.h"  // ForceLinker for the macros
#include "g2o_core_api.h"
 
namespace g2o {
 
class RobustKernel;

class G2O_CORE_API AbstractRobustKernelCreator {
 public:
  virtual RobustKernel* construct() = 0;
  virtual ~AbstractRobustKernelCreator() {}
  using Ptr = std::shared_ptr<AbstractRobustKernelCreator>;
};

template <typename T>
class RobustKernelCreator : public AbstractRobustKernelCreator {
 public:
  RobustKernel* construct() { return new T; }
};

class G2O_CORE_API RobustKernelFactory {
 public:
  static RobustKernelFactory* instance();
 
  RobustKernelFactory(RobustKernelFactory const&) = delete;
  RobustKernelFactory& operator=(RobustKernelFactory const&) = delete;

  static void destroy();

  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;
 
 protected:
  typedef std::map<std::string, AbstractRobustKernelCreator::Ptr> CreatorMap;
  RobustKernelFactory() = default;
 
  CreatorMap _creator;  
 
 private:
  static std::unique_ptr<RobustKernelFactory> factoryInstance;
};
 
template <typename T>
class RegisterRobustKernelProxy {
 public:
  RegisterRobustKernelProxy(const std::string& name) : _name(name) {
    RobustKernelFactory::instance()->registerRobustKernel(
        _name, AbstractRobustKernelCreator::Ptr(new RobustKernelCreator<T>()));
  }
 
 private:
  std::string _name;
};
 
}  // end namespace g2o
 
#if defined _MSC_VER && defined G2O_SHARED_LIBS
#define G2O_ROBUST_KERNEL_FACTORY_EXPORT __declspec(dllexport)
#define G2O_ROBUST_KERNEL_FACTORY_IMPORT __declspec(dllimport)
#else
#define G2O_ROBUST_KERNEL_FACTORY_EXPORT
#define G2O_ROBUST_KERNEL_FACTORY_IMPORT
#endif
 
// These macros are used to automate registering of robust kernels and forcing
// linkage
#define G2O_REGISTER_ROBUST_KERNEL(name, classname) \
  extern "C" void G2O_ROBUST_KERNEL_FACTORY_EXPORT  \
      g2o_robust_kernel_##classname(void) {}        \
  static g2o::RegisterRobustKernelProxy<classname>  \
      g_robust_kernel_proxy_##classname(#name);
 
#define G2O_USE_ROBUST_KERNEL(classname)                            \
  extern "C" void G2O_ROBUST_KERNEL_FACTORY_IMPORT                  \
      g2o_robust_kernel_##classname(void);                          \
  static g2o::ForceLinker g2o_force_robust_kernel_link_##classname( \
      g2o_robust_kernel_##classname);
 
#endif