Program Listing for File histogram.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_INTERNAL_HISTOGRAM_H
#define CARTOGRAPHER_ROS_METRICS_INTERNAL_HISTOGRAM_H
#include <map>
#include <vector>
#include "absl/synchronization/mutex.h"
#include "cartographer/metrics/histogram.h"
#include "cartographer_ros_msgs/msg/metric.hpp"
namespace cartographer_ros {
namespace metrics {
constexpr double kInfiniteBoundary = std::numeric_limits<double>::infinity();
using BucketBoundaries = ::cartographer::metrics::Histogram::BucketBoundaries;
class Histogram : public ::cartographer::metrics::Histogram {
public:
explicit Histogram(const std::map<std::string, std::string>& labels,
const BucketBoundaries& bucket_boundaries);
void Observe(double value) override;
std::map<double, double> CountsByBucket();
double Sum();
double CumulativeCount();
cartographer_ros_msgs::msg::Metric ToRosMessage();
private:
absl::Mutex mutex_;
const std::map<std::string, std::string> labels_;
const BucketBoundaries bucket_boundaries_;
std::vector<double> bucket_counts_ GUARDED_BY(mutex_);
double sum_ GUARDED_BY(mutex_);
};
} // namespace metrics
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_METRICS_INTERNAL_HISTOGRAM_H