Class AlgorithmRegister

roborts_common/include/alg_factory/algorithm_factory.h:118–150

template<typename AlgorithmBase, typename Algorithm, typename... Args>
class AlgorithmRegister{
 public:
  /**
   * @brief Constructor function of AlgorithmRegister class.
   * @param algorithm_name Algorithm name, which must be the same with the variable defined in ".prototxt" file.
   */
  explicit AlgorithmRegister(std::string algorithm_name) {
    Register(algorithm_name, make_int_sequence<sizeof...(Args)>{});
  }
  /**
   * @brief Create an unique_ptr pointer of Algorithm corresponding to the algorithm name.
   * @param data Parameter pack
   * @return The base class unique_ptr that point to Algorithm corresponding to the algorithm name.
   */
  static std::unique_ptr<Algorithm> create(Args&&... data)
  {
    return std::make_unique<Algorithm>(std::forward<Args>(data)...);
  }

 private:
  /**
   * @brief Using std::bind to create a std::function, than pass it to Register function befined in AlgorithmnFactory
   *        class
   * @tparam Is Parameter pack
   * @param algorithm_name Algorithm name, which must be the same with the variable defined in ".prototxt" file.
   */
  template <int... Is>
  void Register(std::string algorithm_name, int_sequence<Is...>) {
    auto function = std::bind(&AlgorithmRegister<AlgorithmBase, Algorithm, Args...>::create,
                              std::placeholder_template<Is>{}...);
    AlgorithmFactory<AlgorithmBase, Args...>::Register(algorithm_name, function);
  }
};
/**
 * @brief It is convenient to register specific algorithm using this Macro.
 * @example