Statistics.cpp
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #include "rtabmap/core/Statistics.h"
00029 #include <rtabmap/utilite/UStl.h>
00030 #include <rtabmap/utilite/UConversion.h>
00031 
00032 namespace rtabmap {
00033 std::map<std::string, float> Statistics::_defaultData;
00034 bool Statistics::_defaultDataInitialized = false;
00035 
00036 const std::map<std::string, float> & Statistics::defaultData()
00037 {
00038         Statistics stat;
00039         return _defaultData;
00040 }
00041 
00042 std::string Statistics::serializeData(const std::map<std::string, float> & data)
00043 {
00044         std::stringstream output;
00045         for(std::map<std::string, float>::const_iterator iter=data.begin(); iter!=data.end(); ++iter)
00046         {
00047                 if(iter != data.begin())
00048                 {
00049                         output << ";";
00050                 }
00051                 // make sure there are no commas instead of dots
00052                 output << iter->first << ":" << uReplaceChar(uNumber2Str(iter->second), ',', '.');
00053         }
00054         return output.str();
00055 }
00056 
00057 std::map<std::string, float> Statistics::deserializeData(const std::string & data)
00058 {
00059         std::map<std::string, float> output;
00060         std::list<std::string> tuplets = uSplit(data, ';');
00061         for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
00062         {
00063                 std::list<std::string> p = uSplit(*iter, ':');
00064                 if(p.size() == 2)
00065                 {
00066                         std::string key = p.front();
00067                         std::string value = p.back();
00068                         uInsert(output, std::make_pair(key, uStr2Float(value)));
00069                 }
00070         }
00071         return output;
00072 }
00073 
00074 Statistics::Statistics() :
00075         _extended(0),
00076         _refImageId(0),
00077         _loopClosureId(0),
00078         _proximiyDetectionId(0),
00079         _stamp(0.0f),
00080         _currentGoalId(0)
00081 {
00082         _defaultDataInitialized = true;
00083 }
00084 
00085 Statistics::~Statistics()
00086 {
00087 }
00088 
00089 // name format = "Grp/Name/unit"
00090 void Statistics::addStatistic(const std::string & name, float value)
00091 {
00092         uInsert(_data, std::pair<std::string, float>(name, value));
00093 }
00094 
00095 }


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:31