Statistics.cpp

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#include "choreo_task_sequence_planner/utils/Statistics.h"

#define OUTPUTPRECISION 12

bool Statistics::UniqueFileName()
{
        int file_n = 0;
        std::string UniqueFullFileName;
        bool fexists = true;
        do
        {
                if (file_n == 0)
                {
                        UniqueFullFileName = store_path_ + "/" + filename_;
                }
                else
                {
                        UniqueFullFileName = store_path_ + "/" + std::to_string(file_n) + filename_;
                }
                //UniqueFullFileName.c_str();
                std::ifstream   iff(UniqueFullFileName);
                if (!iff.good())
                {
                        fexists = false;
                        break;
                }
                ++file_n;
        } while (file_n < 100000);

        filename_ = UniqueFullFileName;
        return !fexists;
}

void Statistics::StreamVectorOutPut()
{
        if (iteration_ != -1)
        {
                std::cout << "---------------------------------------------" << std::endl;
                std::cout << "Iteration " << iteration_ << std::endl;
        }
        for (int i = 0; i < Vx_.size(); i++)
        {
                std::cout << name_ << "[" << i << "]" << " = " << std::setprecision(OUTPUTPRECISION) << Vx_[i] << std::endl;
        }
        std::cout << "------------------------------" << std::endl;
}

void Statistics::StreamSpMatrixOutput()
{
        assert(SpMat_.cols() != 0 && SpMat_.rows() != 0);
        int c = SpMat_.cols();
        int r = SpMat_.rows();
        std::cout << "------------------------------" << std::endl;
        for (int i = 0; i < r; i++)
        {
                for (int j = 0; j < c; j++)
                {
                        std::cout << std::setprecision(OUTPUTPRECISION) << SpMat_.coeff(i, j) << "  ";
                        if (c - 1 == j)
                        {
                                std::cout << "\n";
                        }
                }
        }
        std::cout << "------------------------------" << std::endl;
}

void Statistics::StreamDenMatrixOutput()
{
        std::cout << "------------------------------" << std::endl;
        assert(denMat_.cols() != 0 && denMat_.rows() != 0);
        int c = denMat_.cols();
        int r = denMat_.rows();
        for (int i = 0; i < r; i++)
        {
                for (int j = 0; j < c; j++)
                {
                        std::cout << std::setprecision(OUTPUTPRECISION) << denMat_(i, j) << "  ";
                        if (c - 1 == j)
                        {
                                std::cout << "\n";
                        }
                }
        }
        std::cout << "------------------------------" << std::endl;
}

void Statistics::GenerateVectorFile()
{

        if (iteration_ != -1)
        {
                std::string iter = std::to_string(iteration_);
                std::string postfix = ".txt";
                filename_ = name_ + iter + postfix;
        }
        else
        {
                std::string postfix = ".txt";
                filename_ = name_ + postfix;
        }

        UniqueFileName();

        std::ofstream file;
        file.open(filename_);

        file << std::setprecision(16);
        for (int i = 0; i < Vx_.size(); i++)
        {
                file << Vx_[i] << std::endl;
        }

        file.close();
}

void Statistics::GenerateStdVecFile()
{

        if (iteration_ != -1)
        {
                std::string iter = std::to_string(iteration_);
                std::string postfix = ".txt";
                filename_ = name_ + iter + postfix;
        }
        else
        {
                std::string postfix = ".txt";
                filename_ = name_ + postfix;
        }

        UniqueFileName();

        std::ofstream file;
        file.open(filename_);

        file << std::setprecision(16);
        for (int i = 0; i < stdVec_.size(); i++)
        {
                file << stdVec_[i] << std::endl;
        }

        file.close();
}

void Statistics::GenerateMatrixFile()
{
        if (denMat_.cols() == 0 && denMat_.rows() == 0)
        {
                return;
        }

        std::string postfix = ".txt";

        filename_ = name_ + postfix;

        int r = denMat_.rows();
        int c = denMat_.cols();

        UniqueFileName();

        std::ofstream file;
        file.open(filename_);

        
        file << std::setprecision(5);
        for (int i = 0; i < r; i++)
        {
                for (int j = 0; j < c; j++)
                {
                        file << denMat_(i,j) << " ";
                        if (j == c-1)
                        {
                                file << "\n";
                        }
                }
        }
        file.close();
}

void Statistics::GenerateSpFile()
{
        if (SpMat_.cols() == 0 && SpMat_.rows() == 0)
        {
                return;
        }

        std::string postfix = ".txt";

        filename_ = name_ + postfix;

        UniqueFileName();

        std::ofstream file;
        file.open(filename_);

        file << std::setprecision(5);
        
        for (int k = 0; k < SpMat_.outerSize(); ++k)
        {
                for (SparseMatrix<double>::InnerIterator it(SpMat_, k); it; ++it)
                {
                        int r = it.row();
                        int c = it.col();
                        double  v = it.value();
                        file << "(" << r << "," << c << ") " << v << "\n";
                }
        }

        file.close();
}