illegal_trajectory_tracker.hpp

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#ifndef DWB_CORE__ILLEGAL_TRAJECTORY_TRACKER_HPP_
#define DWB_CORE__ILLEGAL_TRAJECTORY_TRACKER_HPP_
 
#include <map>
#include <utility>
#include <string>
#include "dwb_core/exceptions.hpp"
#include "nav2_core/controller_exceptions.hpp"
 
namespace dwb_core
{
class IllegalTrajectoryTracker
{
public:
  IllegalTrajectoryTracker()
  : legal_count_(0), illegal_count_(0) {}
 
  void addIllegalTrajectory(const IllegalTrajectoryException & e);
  void addLegalTrajectory();
 
  std::map<std::pair<std::string, std::string>, double> getPercentages() const;
 
  std::string getMessage() const;
 
protected:
  std::map<std::pair<std::string, std::string>, unsigned int> counts_;
  unsigned int legal_count_, illegal_count_;
};
 
class NoLegalTrajectoriesException
  : public nav2_core::ControllerException
{
public:
  explicit NoLegalTrajectoriesException(const IllegalTrajectoryTracker & tracker)
  : ControllerException(tracker.getMessage()),
    tracker_(tracker) {}
  IllegalTrajectoryTracker tracker_;
};
 
}  // namespace dwb_core
 
#endif  // DWB_CORE__ILLEGAL_TRAJECTORY_TRACKER_HPP_