libpointmatcher
1.0.2
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal 00002 // vim: ts=4:sw=4:noexpandtab 00003 /* 00004 00005 Copyright (c) 2010--2012, 00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland 00007 You can contact the authors at <f dot pomerleau at gmail dot com> and 00008 <stephane at magnenat dot net> 00009 00010 All rights reserved. 00011 00012 Redistribution and use in source and binary forms, with or without 00013 modification, are permitted provided that the following conditions are met: 00014 * Redistributions of source code must retain the above copyright 00015 notice, this list of conditions and the following disclaimer. 00016 * Redistributions in binary form must reproduce the above copyright 00017 notice, this list of conditions and the following disclaimer in the 00018 documentation and/or other materials provided with the distribution. 00019 * Neither the name of the <organization> nor the 00020 names of its contributors may be used to endorse or promote products 00021 derived from this software without specific prior written permission. 00022 00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY 00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 00034 */ 00035 00036 #ifndef __POINTMATCHER_PARAMETRIZABLE_H 00037 #define __POINTMATCHER_PARAMETRIZABLE_H 00038 00039 #include <stdexcept> 00040 #include <vector> 00041 #include <map> 00042 #include <set> 00043 #include <string> 00044 #include <boost/lexical_cast.hpp> 00045 #include <limits> 00046 00047 00048 namespace PointMatcherSupport 00049 { 00051 template<typename Target> 00052 inline Target lexical_cast_scalar_to_string(const std::string& arg) 00053 { 00054 if (arg == "inf") 00055 return std::numeric_limits<Target>::infinity(); 00056 else if (arg == "-inf") 00057 return -std::numeric_limits<Target>::infinity(); 00058 else if (arg == "nan") 00059 return std::numeric_limits<Target>::quiet_NaN(); 00060 else 00061 return boost::lexical_cast<Target>(arg); 00062 } 00063 00065 template<typename Target, typename Source> 00066 inline Target lexical_cast(const Source& arg) 00067 { 00068 return boost::lexical_cast<Target>(arg); 00069 } 00070 00072 template<> 00073 inline float lexical_cast(const std::string& arg) { return lexical_cast_scalar_to_string<float>(arg); } 00075 template<> 00076 inline double lexical_cast(const std::string& arg) { return lexical_cast_scalar_to_string<double>(arg); } 00077 00078 // 00079 00081 template<typename S> 00082 std::string toParam(const S& value) 00083 { 00084 return lexical_cast<std::string>(value); 00085 } 00086 00088 struct Parametrizable 00089 { 00091 struct InvalidParameter: std::runtime_error 00092 { 00093 InvalidParameter(const std::string& reason); 00094 }; 00095 00097 typedef bool(*LexicalComparison)(std::string a, std::string b); 00098 00100 template<typename S> 00101 static bool Comp(std::string a, std::string b) 00102 { 00103 return lexical_cast<S>(a) < lexical_cast<S>(b); 00104 } 00105 00107 struct ParameterDoc 00108 { 00109 std::string name; 00110 std::string doc; 00111 std::string defaultValue; 00112 std::string minValue; 00113 std::string maxValue; 00114 LexicalComparison comp; 00115 00116 /* 00117 This code is beautiful, this code is correct, this code does not work ;-( 00118 Blame gcc bug 9050 (http://gcc.gnu.org/bugzilla/show_bug.cgi?id=9050), shame 00119 on them forever and beyond. People being laaaazzzy adopters, I'm forced to use 00120 something that works on gcc 4.4. 00121 00122 template<typename S> 00123 ParameterDoc(const std::string& name, const std::string& doc, const S defaultValue, const S minValue, const S maxValue = std::numeric_limits<S>::max()); 00124 template<typename S> 00125 ParameterDoc(const std::string& name, const std::string& doc, const S defaultValue); 00126 */ 00127 ParameterDoc(const std::string& name, const std::string& doc, const std::string& defaultValue, const std::string& minValue, const std::string& maxValue, LexicalComparison comp); 00128 ParameterDoc(const std::string& name, const std::string& doc, const std::string& defaultValue); 00129 00130 friend std::ostream& operator<< (std::ostream& o, const ParameterDoc& p); 00131 }; 00132 00134 struct ParametersDoc : public std::vector<ParameterDoc> 00135 { 00136 ParametersDoc(std::initializer_list<ParameterDoc> list); 00137 ParametersDoc(); 00138 00139 friend std::ostream& operator<< (std::ostream& o, const ParametersDoc& p); 00140 }; 00141 00142 /* 00143 Again, not used because fo gcc bug 9050 00144 struct Parameter: public std::string 00145 { 00146 template<typename S> 00147 Parameter(const S value); 00148 Parameter(){} 00149 }; 00150 */ 00151 typedef std::string Parameter; 00152 typedef std::map<std::string, Parameter> Parameters; 00153 typedef std::set<std::string> ParametersUsed; 00154 00155 const std::string className; 00156 const ParametersDoc parametersDoc; 00157 Parameters parameters; 00158 ParametersUsed parametersUsed; 00159 00160 Parametrizable(); 00161 Parametrizable(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params); 00162 virtual ~Parametrizable(); 00163 00164 std::string getParamValueString(const std::string& paramName); 00165 00167 template<typename S> 00168 S get(const std::string& paramName) { return lexical_cast<S>(getParamValueString(paramName)); } 00169 00171 friend std::ostream& operator<< (std::ostream& o, const Parametrizable& p) { o << p.parametersDoc; return o; } 00172 }; 00173 } // namespace PointMatcherSupport 00174 00175 #endif // __POINTMATCHER_PARAMETRIZABLE_H