48 lines
1.3 KiB
C++
Executable File
48 lines
1.3 KiB
C++
Executable File
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/fixed_ratio_sampler.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace common {
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FixedRatioSampler::FixedRatioSampler(const double ratio) : ratio_(ratio) {
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CHECK_GE(ratio, 0.);
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LOG_IF(WARNING, ratio == 0.) << "FixedRatioSampler is dropping all data.";
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CHECK_LE(ratio, 1.);
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}
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FixedRatioSampler::~FixedRatioSampler() {}
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bool FixedRatioSampler::Pulse() {
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++num_pulses_;
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if (static_cast<double>(num_samples_) / num_pulses_ < ratio_) {
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++num_samples_;
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return true;
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}
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return false;
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}
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std::string FixedRatioSampler::DebugString() {
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return std::to_string(num_samples_) + " (" +
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std::to_string(100. * num_samples_ / num_pulses_) + "%)";
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}
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} // namespace common
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} // namespace cartographer
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