optimization_algorithm_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_OPTIMIZATION_ALGORITHM_FACTORY_H
#define G2O_OPTIMIZATION_ALGORITHM_FACTORY_H
 
#include <iostream>
#include <list>
#include <memory>
 
#include "g2o/config.h"
#include "g2o/stuff/misc.h"  // ForceLinker for the macros
#include "g2o_core_api.h"
#include "optimization_algorithm_property.h"
 
// define to get some verbose output
// #define G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY
 
namespace g2o {
 
// forward decl
class G2O_CORE_API OptimizationAlgorithm;

class G2O_CORE_API AbstractOptimizationAlgorithmCreator {
 public:
  AbstractOptimizationAlgorithmCreator(const OptimizationAlgorithmProperty& p);
  virtual ~AbstractOptimizationAlgorithmCreator() {}
  virtual OptimizationAlgorithm* construct() = 0;
  const OptimizationAlgorithmProperty& property() const { return _property; }
 
 protected:
  OptimizationAlgorithmProperty _property;
};

class G2O_CORE_API OptimizationAlgorithmFactory {
 public:
  typedef std::list<std::shared_ptr<AbstractOptimizationAlgorithmCreator>>
      CreatorList;

  static OptimizationAlgorithmFactory* instance();

  static void destroy();
 
  OptimizationAlgorithmFactory(OptimizationAlgorithmFactory const&) = delete;
  OptimizationAlgorithmFactory& operator=(OptimizationAlgorithmFactory const&) =
      delete;

  void registerSolver(
      const std::shared_ptr<AbstractOptimizationAlgorithmCreator>& c);

  void unregisterSolver(
      const std::shared_ptr<AbstractOptimizationAlgorithmCreator>& c);

  OptimizationAlgorithm* construct(
      const std::string& tag,
      OptimizationAlgorithmProperty& solverProperty) const;

  void listSolvers(std::ostream& os) const;

  const CreatorList& creatorList() const { return _creator; }
 
 protected:
  OptimizationAlgorithmFactory() = default;
 
  CreatorList _creator;
 
  CreatorList::const_iterator findSolver(const std::string& name) const;
  CreatorList::iterator findSolver(const std::string& name);
 
 private:
  static std::unique_ptr<OptimizationAlgorithmFactory> factoryInstance;
};
 
class RegisterOptimizationAlgorithmProxy {
 public:
  RegisterOptimizationAlgorithmProxy(AbstractOptimizationAlgorithmCreator* c) {
    _creator.reset(c);
#ifdef G2O_DEBUG_OPTIMIZATION_ALGORITHM_FACTORY
    std::cout << __FUNCTION__ << ": Registering " << _creator->property().name
              << " of type " << typeid(*_creator).name() << std::endl;
#endif
    OptimizationAlgorithmFactory::instance()->registerSolver(_creator);
  }
 
 private:
  std::shared_ptr<AbstractOptimizationAlgorithmCreator> _creator;
};
 
}  // namespace g2o
 
#if defined _MSC_VER && defined G2O_SHARED_LIBS
#define G2O_OAF_EXPORT __declspec(dllexport)
#define G2O_OAF_IMPORT __declspec(dllimport)
#else
#define G2O_OAF_EXPORT
#define G2O_OAF_IMPORT
#endif

#define G2O_REGISTER_OPTIMIZATION_LIBRARY(libraryname) \
  extern "C" void G2O_OAF_EXPORT g2o_optimization_library_##libraryname(void) {}

#define G2O_USE_OPTIMIZATION_LIBRARY(libraryname)                              \
  extern "C" void G2O_OAF_IMPORT g2o_optimization_library_##libraryname(void); \
  static g2o::ForceLinker                                                      \
      g2o_force_optimization_algorithm_library_##libraryname(                  \
          g2o_optimization_library_##libraryname);

#define G2O_REGISTER_OPTIMIZATION_ALGORITHM(optimizername, instance)         \
  extern "C" void G2O_OAF_EXPORT g2o_optimization_algorithm_##optimizername( \
      void) {}                                                               \
  static g2o::RegisterOptimizationAlgorithmProxy                             \
      g_optimization_algorithm_proxy_##optimizername(instance);

#define G2O_USE_OPTIMIZATION_ALGORITHM(optimizername)                        \
  extern "C" void G2O_OAF_IMPORT g2o_optimization_algorithm_##optimizername( \
      void);                                                                 \
  static g2o::ForceLinker                                                    \
      g2o_force_optimization_algorithm_link_##optimizername(                 \
          g2o_optimization_algorithm_##optimizername);
 
#endif