text: // 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 "g2o/core/robust_kernel_factory.h"
  
  #include <cassert>
  #include "g2o/core/robust_kernel.h"
  
  using namespace std;
  
  namespace g2o {
  
  RobustKernelFactory* RobustKernelFactory::factoryInstance = 0;
  
  RobustKernelFactory::RobustKernelFactory()
  {
  }
  
  RobustKernelFactory::~RobustKernelFactory()
  {
    for (CreatorMap::iterator it = _creator.begin(); it != _creator.end(); ++it) {
      delete it->second;
    }
    _creator.clear();
  }
  
  RobustKernelFactory* RobustKernelFactory::instance()
  {
    if (factoryInstance == 0) {
      factoryInstance = new RobustKernelFactory;
    }
  
    return factoryInstance;
  }
  
  void RobustKernelFactory::registerRobustKernel(const std::string& tag, AbstractRobustKernelCreator* c)
  {
    CreatorMap::const_iterator foundIt = _creator.find(tag);
    if (foundIt != _creator.end()) {
      cerr << "RobustKernelFactory WARNING: Overwriting robust kernel tag " << tag << endl;
      assert(0);
    }
  
    _creator[tag] = c;
  }
  
  void RobustKernelFactory::unregisterType(const std::string& tag)
  {
    CreatorMap::iterator tagPosition = _creator.find(tag);
    if (tagPosition != _creator.end()) {
      AbstractRobustKernelCreator* c = tagPosition->second;
      delete c;
      _creator.erase(tagPosition);
    }
  }
  
  RobustKernel* RobustKernelFactory::construct(const std::string& tag) const
  {
    CreatorMap::const_iterator foundIt = _creator.find(tag);
    if (foundIt != _creator.end()) {
      return foundIt->second->construct();
    }
    return 0;
  }
  
  AbstractRobustKernelCreator* RobustKernelFactory::creator(const std::string& tag) const
  {
    CreatorMap::const_iterator foundIt = _creator.find(tag);
    if (foundIt != _creator.end()) {
      return foundIt->second;
    }
    return 0;
  }
  
  void RobustKernelFactory::fillKnownKernels(std::vector<std::string>& types) const
  {
    types.clear();
    for (CreatorMap::const_iterator it = _creator.begin(); it != _creator.end(); ++it)
      types.push_back(it->first);
  }
  
  void RobustKernelFactory::destroy()
  {
    delete factoryInstance;
    factoryInstance = 0;
  }
  
  } // end namespace
  