observationFactory.hpp

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#ifndef OBSERVATION_FACTORY_HPP_
#define OBSERVATION_FACTORY_HPP_


#include "rtslam/sensorAbstract.hpp"
#include "rtslam/landmarkAbstract.hpp"
#include "rtslam/featurePoint.hpp"
//TODO-NMSD: necessary?
#include "rtslam/descriptorImagePoint.hpp"

namespace jafar {
namespace rtslam {


/*
A maker is a class that inherit from ObservationMakerAbstract,
that stores in internal data some parameters that it got from the constructor parameters,
and implements the create method
*/

class ObservationMakerAbstract
{
  protected:
    typedef std::pair<SensorAbstract::type_enum, LandmarkAbstract::type_enum> SenLmk;
    SenLmk type;
    friend class ObservationFactory;

  public:
    ObservationMakerAbstract(SensorAbstract::type_enum sensor_type, LandmarkAbstract::type_enum landmark_type):
      type(sensor_type, landmark_type) {}

    virtual observation_ptr_t create(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr) = 0;
/*    virtual feature_ptr_t createFeat(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr) = 0;
    virtual descriptor_ptr_t createDesc(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr, const feature_ptr_t &featPtr, const jblas::vec7 &senPoseInit, const observation_ptr_t &obsInitPtr) = 0;
    */
};

typedef boost::shared_ptr<ObservationMakerAbstract> observation_maker_ptr_t;



class ObservationFactory
{
  private:
    typedef std::pair<SensorAbstract::type_enum, LandmarkAbstract::type_enum> SenLmk;
    typedef std::map<SenLmk, observation_maker_ptr_t> CreatorsMap;
    CreatorsMap creators;

    observation_maker_ptr_t getMaker(SenLmk senLmk)
    {
      CreatorsMap::iterator it = creators.find(senLmk);
      if (it == creators.end())
        JFR_ERROR(RtslamException, RtslamException::UNKNOWN_TYPES_FOR_FACTORY,
                  "ObservationFactory: do not know how to create an observation from sensor type "
                  << senLmk.first << " and landmark type " << senLmk.second);
      return it->second;
    }
    
  public:
    void addMaker(const observation_maker_ptr_t &maker)
    {
      creators[maker->type] = maker;
    }
    
    observation_ptr_t create(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr)
    {
      observation_maker_ptr_t maker = getMaker(SenLmk(senPtr->type,lmkPtr->type));
      return maker->create(senPtr, lmkPtr);
    }
    /*
    feature_ptr_t createFeat(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr)
    {
      observation_maker_ptr_t maker = getMaker(SenLmk(senPtr->type,lmkPtr->type));
      return maker->createFeat(senPtr, lmkPtr);
    }
    
    descriptor_ptr_t createDesc(const sensor_ptr_t &senPtr, const landmark_ptr_t &lmkPtr, const feature_ptr_t &featPtr, const jblas::vec7 &senPoseInit, const observation_ptr_t &obsInitPtr)
    {
      observation_maker_ptr_t maker = getMaker(SenLmk(senPtr->type,lmkPtr->type));
      return maker->createDesc(senPtr, lmkPtr, featPtr, senPoseInit, obsInitPtr);
    }
    */
};







}}

#endif