illegal_trajectory_tracker.h

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#ifndef DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H
#define DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H

#include <nav_core2/exceptions.h>
#include <map>
#include <utility>
#include <string>

namespace dwb_local_planner
{
class IllegalTrajectoryTracker
{
public:
  IllegalTrajectoryTracker() : legal_count_(0), illegal_count_(0) {}

  void addIllegalTrajectory(const nav_core2::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 nav_core2::NoLegalTrajectoriesException
{
public:
  explicit NoLegalTrajectoriesException(const IllegalTrajectoryTracker& tracker)
    : nav_core2::NoLegalTrajectoriesException(tracker.getMessage()), tracker_(tracker) {}
  IllegalTrajectoryTracker tracker_;
};

}  // namespace dwb_local_planner

#endif  // DWB_LOCAL_PLANNER_ILLEGAL_TRAJECTORY_TRACKER_H