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
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  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #ifndef G2O_GRAPH_PARAMETER_CONTAINER_HH_
  #define G2O_GRAPH_PARAMETER_CONTAINER_HH_
  
  #include <iosfwd>
  #include <map>
  #include <string>
  
  namespace g2o {
      
      class Parameter;
  
      /**
       * \brief map id to parameters
       */
      class ParameterContainer : protected std::map<int, Parameter*> 
      {
      public:
        typedef std::map<int, Parameter*> BaseClass;
  
        /**
         * create a container for the parameters.
         * @param isMainStorage_ pointers to the parameters are owned by this container, i.e., freed in its constructor
         */
        ParameterContainer(bool isMainStorage_=true);
        virtual ~ParameterContainer();
        //! add parameter to the container
        bool addParameter(Parameter* p);
        //! return a parameter based on its ID
        Parameter* getParameter(int id);
        //! remove a parameter from the container, i.e., the user now owns the pointer
        Parameter* detachParameter(int id);
        //! read parameters from a stream
        virtual bool read(std::istream& is, const std::map<std::string, std::string>* renamedMap =0);
        //! write the data to a stream
        virtual bool write(std::ostream& os) const;
        bool isMainStorage() const {return _isMainStorage;}
        void clear();
  
        // stuff of the base class that should re-appear
        using BaseClass::size;
  
      protected:
        bool _isMainStorage;
      };
  
  } // end namespace
  
  #endif
  