00001 /* 00002 * Copyright 2016 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #include "cartographer/common/fixed_ratio_sampler.h" 00018 00019 #include "glog/logging.h" 00020 00021 namespace cartographer { 00022 namespace common { 00023 00024 FixedRatioSampler::FixedRatioSampler(const double ratio) : ratio_(ratio) { 00025 CHECK_GE(ratio, 0.); 00026 LOG_IF(WARNING, ratio == 0.) << "FixedRatioSampler is dropping all data."; 00027 CHECK_LE(ratio, 1.); 00028 } 00029 00030 FixedRatioSampler::~FixedRatioSampler() {} 00031 00032 bool FixedRatioSampler::Pulse() { 00033 ++num_pulses_; 00034 if (static_cast<double>(num_samples_) / num_pulses_ < ratio_) { 00035 ++num_samples_; 00036 return true; 00037 } 00038 return false; 00039 } 00040 00041 std::string FixedRatioSampler::DebugString() { 00042 return std::to_string(num_samples_) + " (" + 00043 std::to_string(100. * num_samples_ / num_pulses_) + "%)"; 00044 } 00045 00046 } // namespace common 00047 } // namespace cartographer