illegal_trajectory_tracker.cpp
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34 
36 #include <map>
37 #include <utility>
38 #include <string>
39 #include <sstream>
40 
41 namespace dwb_local_planner
42 {
44 {
45  counts_[std::make_pair(e.getCriticName(), e.what())]++;
47 }
48 
50 {
51  legal_count_++;
52 }
53 
54 std::map< std::pair<std::string, std::string>, double> IllegalTrajectoryTracker::getPercentages() const
55 {
56  std::map< std::pair<std::string, std::string>, double> percents;
57  double denominator = static_cast<double>(legal_count_ + illegal_count_);
58  for (auto const& x : counts_)
59  {
60  percents[x.first] = static_cast<double>(x.second) / denominator;
61  }
62  return percents;
63 }
64 
66 {
67  std::ostringstream msg;
68  if (legal_count_ == 0)
69  {
70  msg << "No valid trajectories out of " << illegal_count_ << "! ";
71  }
72  else
73  {
74  unsigned int total = legal_count_ + illegal_count_;
75  msg << legal_count_ << " valid trajectories found (";
76  msg << static_cast<double>(100 * legal_count_) / static_cast<double>(total);
77  msg << "% of " << total << "). ";
78  }
79  return msg.str();
80 }
81 
82 } // namespace dwb_local_planner
void addIllegalTrajectory(const nav_core2::IllegalTrajectoryException &e)
std::map< std::pair< std::string, std::string >, double > getPercentages() const
TFSIMD_FORCE_INLINE const tfScalar & x() const
std::map< std::pair< std::string, std::string >, unsigned int > counts_


dwb_local_planner
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:34