mc_solver::GenericLoader< Derived, T > Struct Template Reference

#include <mc_solver/GenericLoader.h>

Classes
struct	Handle

Public Types
using	T_ptr = std::shared_ptr< T >
using	load_fun = std::function< T_ptr(mc_solver::QPSolver &, const mc_rtc::Configuration &)>
using	storage_t = std::map< std::string, load_fun >

Static Public Member Functions
static Handle	register_load_function (const std::string &type, load_fun fn)
static void	unregister_load_function (const std::string &type)
static T_ptr	load (mc_solver::QPSolver &solver, const std::string &file)
static T_ptr	load (mc_solver::QPSolver &solver, const char *file)
static T_ptr	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config)
template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>
static std::shared_ptr< U >	load (mc_solver::QPSolver &solver, const std::string &file)
template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>
static std::shared_ptr< U >	load (mc_solver::QPSolver &solver, const char *file)
template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>
static std::shared_ptr< U >	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config)

Detailed Description

template<typename Derived, typename T>
struct mc_solver::GenericLoader< Derived, T >

Retrieve an object using a JSON configuration object and a solver instance

Other objects can register new types that can be loaded through such an interface. If you are writing a new mc_tasks::MetaTask or mc_solver::ConstraintSet you will probably register through mc_tasks::MetaTaskLoader and mc_solver::ConstraintSetLoader respectively.

The CRTP is used to provide an ODR-resilient storage here.

Member Typedef Documentation

load_fun

template<typename Derived , typename T >

using mc_solver::GenericLoader< Derived, T >::load_fun = std::function<T_ptr(mc_solver::QPSolver &, const mc_rtc::Configuration &)>

A function that is able to load a T object through a solver instance and JSON configuration

storage_t

template<typename Derived , typename T >

using mc_solver::GenericLoader< Derived, T >::storage_t = std::map<std::string, load_fun>

Storage type, actual storage location is returned by Derived::storage()

T_ptr

template<typename Derived , typename T >

using mc_solver::GenericLoader< Derived, T >::T_ptr = std::shared_ptr<T>

shared_ptr to T

Member Function Documentation

load() [1/6]

template<typename Derived , typename T >

static T_ptr mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const char *  file  )

static

Load an object from a file (C-style string)

Parameters

solver	Solver to create the object for
file	File to load the object from

Exceptions

If	the file does not exist or the loaded JSON object does not represent a known object

load() [2/6]

template<typename Derived , typename T >

template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>

static std::shared_ptr<U> mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const char *  file  )

static

Retrieve a more precise object's type from a file (C-style string)

load() [3/6]

template<typename Derived , typename T >

static T_ptr mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const mc_rtc::Configuration &  config  )

static

Load an object from an mc_rtc::Configuration object

Parameters

solver	Solver to create the object for
config	Configuration to load the object from

Exceptions

If	the loaded JSON object does not represent a known object

load() [4/6]

template<typename Derived , typename T >

template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>

static std::shared_ptr<U> mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const mc_rtc::Configuration &  config  )

static

Retrieve a more precise object's type from a Configuration entry

load() [5/6]

template<typename Derived , typename T >

static T_ptr mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const std::string &  file  )

static

Load an object from a file

Parameters

solver	Solver to create the object for
file	File to load the object from

Exceptions

If	the file does not exist or the loaded JSON object does not represent a known object

load() [6/6]

template<typename Derived , typename T >

template<typename U , typename std::enable_if<(!std::is_same< U, T >::value) &&std::is_base_of< T, U >::value, int >::type = 0>

static std::shared_ptr<U> mc_solver::GenericLoader< Derived, T >::load ( mc_solver::QPSolver &  solver, const std::string &  file  )

static

Retrieve a more precise object's type from a file

register_load_function()

template<typename Derived , typename T >

static Handle mc_solver::GenericLoader< Derived, T >::register_load_function ( const std::string &  type, load_fun  fn  )

static

Register a new loading function

Parameters

type	Type of the object this function handles. It should match the "type" entry of the expected JSON objects
fn	Function that will be registered

unregister_load_function()

template<typename Derived , typename T >

static void mc_solver::GenericLoader< Derived, T >::unregister_load_function ( const std::string &  type )

static

Remove a registered loading function

This is mostly called automatically by the handle returned by register_load_function

Parameters

type	Type of the object to un-register

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The documentation for this struct was generated from the following file:

• include/mc_solver/GenericLoader.h