diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ffe5b8ef000f2c247950e07f3507a8955f32854a..f0dcb97c07c4e58cbb0cb1e2e488c2b0488936b0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -228,7 +228,6 @@ SET(SRCS
processor_tracker_landmark_dummy.cpp
sensor_base.cpp
sensor_camera.cpp
- sensor_factory.cpp
sensor_gps.cpp
sensor_gps_fix.cpp
sensor_imu.cpp
diff --git a/src/factory.h b/src/factory.h
index f750cd0476be4de59c4b5fc023de4c3f8bfbafec..34026967fc14fc8ef01ce8db003859e6d5e9ee3b 100644
--- a/src/factory.h
+++ b/src/factory.h
@@ -228,17 +228,18 @@ namespace wolf
* - Problem::installProcessor() : to install processors in WOLF Problem.
*
*/
-template<class TypeBase, class TypeInput>
+template<class TypeBase, typename... TypeInput>
class Factory
{
public:
- typedef TypeBase* (*CreatorCallback)(const TypeInput & _input); // example of creator callback (see typedefs below)
+ // example of creator callback (see typedefs below)
+ typedef TypeBase* (*CreatorCallback)(TypeInput... _input);
private:
typedef std::map<std::string, CreatorCallback> CallbackMap;
public:
bool registerCreator(const std::string& _type, CreatorCallback createFn);
bool unregisterCreator(const std::string& _type);
- TypeBase* create(const std::string& _type, const TypeInput& _input = "");
+ TypeBase* create(const std::string& _type, TypeInput... _input);
std::string getClass();
private:
@@ -257,8 +258,8 @@ class Factory
~Factory() { }
};
-template<class TypeBase, class TypeInput>
-inline bool Factory<TypeBase, TypeInput>::registerCreator(const std::string& _type, CreatorCallback createFn)
+template<class TypeBase, typename... TypeInput>
+inline bool Factory<TypeBase, TypeInput...>::registerCreator(const std::string& _type, CreatorCallback createFn)
{
bool reg = callbacks_.insert(typename CallbackMap::value_type(_type, createFn)).second;
if (reg)
@@ -269,33 +270,34 @@ inline bool Factory<TypeBase, TypeInput>::registerCreator(const std::string& _ty
return reg;
}
-template<class TypeBase, class TypeInput>
-inline bool Factory<TypeBase, TypeInput>::unregisterCreator(const std::string& _type)
+template<class TypeBase, typename... TypeInput>
+inline bool Factory<TypeBase, TypeInput...>::unregisterCreator(const std::string& _type)
{
return callbacks_.erase(_type) == 1;
}
-template<class TypeBase, class TypeInput>
-inline TypeBase* Factory<TypeBase, TypeInput>::create(const std::string& _type, const TypeInput& _input)
+template<class TypeBase, typename... TypeInput>
+inline TypeBase* Factory<TypeBase, TypeInput...>::create(const std::string& _type, TypeInput... _input)
{
typename CallbackMap::const_iterator creator_callback_it = callbacks_.find(_type);
+
if (creator_callback_it == callbacks_.end())
// not found
throw std::runtime_error("Unknown type. Possibly you tried to use an unregistered creator.");
+
// Invoke the creation function
- TypeBase* p = (creator_callback_it->second)(_input);
- return p;
+ return (creator_callback_it->second)(std::forward<TypeInput>(_input)...);
}
-template<class TypeBase, class TypeInput>
-inline Factory<TypeBase, TypeInput>& Factory<TypeBase, TypeInput>::get()
+template<class TypeBase, typename... TypeInput>
+inline Factory<TypeBase, TypeInput...>& Factory<TypeBase, TypeInput...>::get()
{
static Factory instance_;
return instance_;
}
-template<class TypeBase, class TypeInput>
-inline std::string Factory<TypeBase, TypeInput>::getClass()
+template<class TypeBase, typename... TypeInput>
+inline std::string Factory<TypeBase, TypeInput...>::getClass()
{
return "Factory<class TypeBase>";
}
@@ -312,24 +314,24 @@ inline std::string Factory<TypeBase, TypeInput>::getClass()
namespace wolf
{
-typedef Factory<IntrinsicsBase, std::string> IntrinsicsFactory;
-typedef Factory<ProcessorParamsBase, std::string> ProcessorParamsFactory;
-typedef Factory<LandmarkBase, YAML::Node> LandmarkFactory;
+typedef Factory<IntrinsicsBase, const std::string&> IntrinsicsFactory;
+typedef Factory<ProcessorParamsBase, const std::string&> ProcessorParamsFactory;
+typedef Factory<LandmarkBase, const YAML::Node&> LandmarkFactory;
template<>
-inline std::string Factory<IntrinsicsBase, std::string>::getClass()
+inline std::string Factory<IntrinsicsBase, const std::string&>::getClass()
{
return "IntrinsicsFactory";
}
template<>
-inline std::string Factory<ProcessorParamsBase, std::string>::getClass()
+inline std::string Factory<ProcessorParamsBase, const std::string&>::getClass()
{
return "ProcessorParamsFactory";
}
template<>
-inline std::string Factory<LandmarkBase, YAML::Node>::getClass()
+inline std::string Factory<LandmarkBase, const YAML::Node&>::getClass()
{
return "LandmarkFactory";
}
diff --git a/src/sensor_factory.cpp b/src/sensor_factory.cpp
deleted file mode 100644
index ef701239009ee3cbbf8a4569b732c9e0c3b73079..0000000000000000000000000000000000000000
--- a/src/sensor_factory.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-/**
- * \file sensor_factory.cpp
- *
- * Created on: Apr 25, 2016
- * \author: jsola
- */
-
-#include "sensor_factory.h"
-
-#include <iostream>
-#include <iomanip>
-
-namespace wolf
-{
-
-bool SensorFactory::registerCreator(const std::string& _sensor_type, CreateSensorCallback createFn)
-{
- bool reg = callbacks_.insert(CallbackMap::value_type(_sensor_type, createFn)).second;
- if (reg)
- std::cout << std::setw(22) << std::left << "SensorFactory" << " : registered " << _sensor_type << std::endl;
- else
- std::cout << "SensorFactory : sensor " << _sensor_type << " already registered. Skipping. " << std::endl;
- return reg;
-}
-
-bool SensorFactory::unregisterCreator(const std::string& _sensor_type)
-{
- return callbacks_.erase(_sensor_type) == 1;
-}
-
-SensorBase* SensorFactory::create(const std::string& _sensor_type, const std::string& _name, const Eigen::VectorXs& _extrinsics, const IntrinsicsBase* _intrinsics)
-{
- CallbackMap::const_iterator creator_callback_it = callbacks_.find(_sensor_type);
- if (creator_callback_it == callbacks_.end())
- {
- // not found
- throw std::runtime_error("Unknown Sensor type");
- }
- // Invoke the creation function
- return (creator_callback_it->second)(_name, _extrinsics, _intrinsics);
-}
-
-// Singleton ---------------------------------------------------
-// This class is a singleton. The code below guarantees this.
-
-SensorFactory& SensorFactory::get() // Unique point of access;
-{
- static SensorFactory instance_;
- return instance_;
-}
-
-} /* namespace wolf */
diff --git a/src/sensor_factory.h b/src/sensor_factory.h
index 62c3ef6ce1260bfb19289ab9d48ecea4c542d7c3..1bcb563b9d89b72263991730773b2158cc3a7ce0 100644
--- a/src/sensor_factory.h
+++ b/src/sensor_factory.h
@@ -16,6 +16,7 @@ struct IntrinsicsBase;
// wolf
#include "wolf.h"
+#include "factory.h"
// std
#include <string>
@@ -211,32 +212,22 @@ namespace wolf
*
* You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
*/
-class SensorFactory
-{
- public:
- typedef SensorBase* (*CreateSensorCallback)(const std::string & _unique_name, const Eigen::VectorXs& _extrinsics, const IntrinsicsBase* _intrinsics);
- private:
- typedef std::map<std::string, CreateSensorCallback> CallbackMap;
- public:
- bool registerCreator(const std::string& _sensor_type, CreateSensorCallback createFn);
- bool unregisterCreator(const std::string& _sensor_type);
- SensorBase* create(const std::string& _sensor_type, const std::string& _unique_name, const Eigen::VectorXs& _extrinsics, const IntrinsicsBase* _intrinsics = nullptr);
- private:
- CallbackMap callbacks_;
- // Singleton ---------------------------------------------------
- // This class is a singleton. The code below guarantees this.
- // See: http://stackoverflow.com/questions/1008019/c-singleton-design-pattern
- public:
- static SensorFactory& get(); // Unique point of access
+typedef Factory<SensorBase,
+ const std::string&,
+ const Eigen::VectorXs&, const IntrinsicsBase*> SensorFactory;
+
+template<>
+inline std::string Factory<SensorBase,
+ const std::string&,
+ const Eigen::VectorXs&, const IntrinsicsBase*>::getClass()
+{
+ return "SensorFactory";
+}
- public: // see http://stackoverflow.com/questions/1008019/c-singleton-design-pattern
- SensorFactory(const SensorFactory&) = delete;
- void operator=(SensorFactory const&) = delete;
- private:
- SensorFactory() { }
- ~SensorFactory() { }
-};
+#define WOLF_REGISTER_SENSOR(SensorType, SensorName) \
+ namespace wolf{ namespace{ const bool SensorName##Registered = \
+ SensorFactory::get().registerCreator(SensorType, SensorName::create); }}\
} /* namespace wolf */
diff --git a/src/sensor_laser_2D.cpp b/src/sensor_laser_2D.cpp
index 92e5cf14a8c7431b7ad36c6c46625cae030bac5b..aa89b092c94edd820e15e2a6c9ed938afef77c6a 100644
--- a/src/sensor_laser_2D.cpp
+++ b/src/sensor_laser_2D.cpp
@@ -87,7 +87,9 @@ namespace wolf {
//}
namespace
{
-const bool registered_laser = SensorFactory::get().registerCreator("LASER 2D", SensorLaser2D::create);
+//const bool registered_laser = SensorFactory::get().registerCreator("LASER 2D", SensorLaser2D::create);
//const bool registered_laser_params = IntrinsicsFactory::get().registerCreator("LASER 2D", createIntrinsicsLaser2D);
+
+WOLF_REGISTER_SENSOR("LASER 2D", SensorLaser2D)
}
} // namespace wolf