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23 const std::string& mapClassName)
26 TMetricMapTypesRegistry& mmr = TMetricMapTypesRegistry::Instance();
27 return mmr.factoryMapDefinition(mapClassName);
30 TMetricMapInitializer::TMetricMapInitializer(
32 : metricMapClassType(classID)
40 const std::string& sectionNamePrefix)
43 const std::string sctCreat =
44 sectionNamePrefix + std::string(
"_creationOpts");
54 auto s = section + std::string(
"_") +
61 out <<
"-----------------TMetricMapInitializer --------------------\n";
62 out <<
"================ C++ Class: '"
79 TMetricMapTypesRegistry& mmr = TMetricMapTypesRegistry::Instance();
81 const auto& allMapKinds = mmr.getAllRegistered();
82 for (
const auto& allMapKind : allMapKinds)
86 const std::string sMapName = allMapKind.first;
89 ini.
read_uint64_t(sectionName, sMapName +
string(
"_count"), 0);
90 for (
unsigned int i = 0; i < n; i++)
102 "%s_%s_%02u", sectionName.c_str(), sMapName.c_str(), i);
117 for (
auto& mi : *
this) mi->saveToConfigFile(target, section);
123 out <<
"===============================================================\n\n"
124 " Set of internal maps for 'CMultiMetricMap' object\n\n"
125 "=================================================================\n"
127 << this->
size() <<
" internal maps:\n\n";
130 for (
auto it =
begin(); it !=
end(); ++it, i++)
133 "------- Internal map %u out of %u:\n", i + 1, (
int)
size());
134 (*it)->dumpToTextStream(
out);
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ionNamePrefix) override
This method load the options from a ".ini"-like file or memory-stored string list.
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
const mrpt::rtti::TRuntimeClassId::Ptr metricMapClassType
Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class.
A structure that holds runtime class type information.
virtual void dumpToTextStream_map_specific(std::ostream &out) const =0
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
mrpt::vision::TStereoCalibResults out
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::m...
mrpt::maps::TMapGenericParams genericMapParams
Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectF...
#define ASSERT_(f)
Defines an assertion mechanism.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
std::shared_ptr< TMetricMapInitializer > Ptr
Smart pointer to TMetricMapInitializer.
This class allows loading and storing values and vectors of different types from a configuration text...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ionName) override
Loads the configuration for the set of internal maps from a textual definition in an INI-like file.
uint64_t read_uint64_t(const std::string §ion, const std::string &name, uint64_t defaultValue, bool failIfNotFound=false) const
void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list.
void push_back(const MAP_DEFINITION &o)
Class factory & registry for map classes.
virtual void loadFromConfigFile_map_specific(const mrpt::config::CConfigFileBase &source, const std::string §ionNamePrefix)=0
Load all map-specific params.
void dumpToTextStream(std::ostream &out) const override
This method dumps the options of the multi-metric map AND those of every internal map.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ionNamePrefix) override
Load all params from a config file/source.
virtual void dumpToTextStream(std::ostream &out) const
This method should clearly display all the contents of the structure in textual form,...
std::string std::string format(std::string_view fmt, ARGS &&... args)
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