Program Listing for File family_factory.h
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/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_ROS_METRICS_FAMILY_FACTORY_H
#define CARTOGRAPHER_ROS_METRICS_FAMILY_FACTORY_H
#include <memory>
#include <string>
#include "cartographer/metrics/family_factory.h"
#include "cartographer_ros/metrics/internal/counter.h"
#include "cartographer_ros/metrics/internal/family.h"
#include "cartographer_ros/metrics/internal/gauge.h"
#include "cartographer_ros/metrics/internal/histogram.h"
#include "cartographer_ros_msgs/srv/read_metrics.hpp"
namespace cartographer_ros {
namespace metrics {
// Realizes the factory / registry interface for the metrics in libcartographer
// and provides a wrapper to collect ROS messages from the metrics it owns.
class FamilyFactory : public ::cartographer::metrics::FamilyFactory {
public:
::cartographer::metrics::Family<::cartographer::metrics::Counter>*
NewCounterFamily(const std::string& name,
const std::string& description) override;
::cartographer::metrics::Family<::cartographer::metrics::Gauge>*
NewGaugeFamily(const std::string& name,
const std::string& description) override;
::cartographer::metrics::Family<::cartographer::metrics::Histogram>*
NewHistogramFamily(const std::string& name, const std::string& description,
const ::cartographer::metrics::Histogram::BucketBoundaries&
boundaries) override;
void ReadMetrics(
cartographer_ros_msgs::srv::ReadMetrics::Response::SharedPtr response) const;
private:
std::vector<std::unique_ptr<CounterFamily>> counter_families_;
std::vector<std::unique_ptr<GaugeFamily>> gauge_families_;
std::vector<std::unique_ptr<HistogramFamily>> histogram_families_;
};
} // namespace metrics
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_METRICS_FAMILY_FACTORY_H