illegal_trajectory_tracker.cpp

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#include "dwb_core/illegal_trajectory_tracker.hpp"
#include <map>
#include <utility>
#include <string>
#include <sstream>
 
namespace dwb_core
{
void IllegalTrajectoryTracker::addIllegalTrajectory(
  const dwb_core::IllegalTrajectoryException & e)
{
  counts_[std::make_pair(e.getCriticName(), e.what())]++;
  illegal_count_++;
}
 
void IllegalTrajectoryTracker::addLegalTrajectory()
{
  legal_count_++;
}
 
std::map<std::pair<std::string, std::string>,
  double> IllegalTrajectoryTracker::getPercentages() const
{
  std::map<std::pair<std::string, std::string>, double> percents;
  double denominator = static_cast<double>(legal_count_ + illegal_count_);
  for (auto const & x : counts_) {
    percents[x.first] = static_cast<double>(x.second) / denominator;
  }
  return percents;
}
 
std::string IllegalTrajectoryTracker::getMessage() const
{
  std::ostringstream msg;
  if (legal_count_ == 0) {
    msg << "No valid trajectories out of " << illegal_count_ << "! ";
  } else {
    unsigned int total = legal_count_ + illegal_count_;
    msg << legal_count_ << " valid trajectories found (";
    msg << static_cast<double>(100 * legal_count_) / static_cast<double>(total);
    msg << "% of " << total << "). ";
  }
  return msg.str();
}
 
}  // namespace dwb_core