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HeadAnalyzer.h
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36
37/* Author: Andreas Orthey */
38
39#pragma once
40#include <ompl/multilevel/datastructures/pathrestriction/Head.h>
41
42namespace ompl
43{
44 namespace multilevel
45 {
47
48 OMPL_CLASS_FORWARD(Head);
51 {
52 public:
55 HeadAnalyzer(HeadPtr &head)
56 {
57 head_ = head;
58 }
59 using OccurenceMap = std::map<std::string, int>;
60
61 void operator()(std::string s)
62 {
63 if (enabled_)
64 {
65 auto entry = map_.find(s);
66 if (entry == map_.end())
67 {
68 map_[s] = 1;
69 }
70 else
71 {
72 map_[s] = map_[s] + 1;
73 }
74 samples_++;
75 }
76 }
77
78 void disable()
79 {
80 enabled_ = false;
81 }
82
83 void clear()
84 {
85 map_.clear();
86 }
87 void print()
88 {
89 if (enabled_)
90 {
91 OccurenceMap::iterator itr;
92 std::cout << std::string(80, '-') << std::endl;
93 std::cout << "HeadAnalyzer (" << samples_ << " samples, location " << head_->getLocationOnBasePath()
94 << ")" << std::endl;
95 for (itr = map_.begin(); itr != map_.end(); ++itr)
96 {
97 std::cout << " > " << itr->first << ": " << itr->second << std::endl;
98 }
99 std::cout << std::string(80, '-') << std::endl;
100 }
101 }
102
103 private:
104 OccurenceMap map_;
105 int samples_{0};
106 HeadPtr head_;
107
108 bool enabled_{true};
109 };
110 }
111}
HeadAnalyzer(HeadPtr &head)
Simple debugger for the Head class to write information continuously onto the terminal.
A pointer to a specific location on the base path of the path restriction.
Definition Head.h:64
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.