// 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. #include "property.h" #include <vector> #include <iostream> #include "macros.h" #include "string_tools.h" using namespace std; namespace g2o { BaseProperty::BaseProperty(const std::string name_) :_name(name_){ } BaseProperty::~BaseProperty(){} bool PropertyMap::addProperty(BaseProperty* p) { std::pair<PropertyMapIterator,bool> result = insert(make_pair(p->name(), p)); return result.second; } bool PropertyMap::eraseProperty(const std::string& name) { PropertyMapIterator it=find(name); if (it==end()) return false; delete it->second; erase(it); return true; } PropertyMap::~PropertyMap() { for (PropertyMapIterator it=begin(); it!=end(); it++){ if (it->second) delete it->second; } } bool PropertyMap::updatePropertyFromString(const std::string& name, const std::string& value) { PropertyMapIterator it = find(name); if (it == end()) return false; it->second->fromString(value); return true; } void PropertyMap::writeToCSV(std::ostream& os) const { for (PropertyMapConstIterator it=begin(); it!=end(); it++){ BaseProperty* p =it->second; os << p->name() << ", "; } os << std::endl; for (PropertyMapConstIterator it=begin(); it!=end(); it++){ BaseProperty* p =it->second; os << p->toString() << ", "; } os << std::endl; } bool PropertyMap::updateMapFromString(const std::string& values) { bool status = true; vector<string> valuesMap = strSplit(values, ","); for (size_t i = 0; i < valuesMap.size(); ++i) { vector<string> m = strSplit(valuesMap[i], "="); if (m.size() != 2) { cerr << __PRETTY_FUNCTION__ << ": unable to extract name=value pair from " << valuesMap[i] << endl; continue; } string name = trim(m[0]); string value = trim(m[1]); status = status && updatePropertyFromString(name, value); } return status; } } // end namespace