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Statistics: added OdomCache data for debugging

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matlabbe
2021-12-18 18:53:59 -05:00
parent 33130890fd
commit 8662eb0dd7
4 changed files with 41 additions and 4 deletions
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9
corelib/include/rtabmap/core/Statistics.h
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@@ -147,6 +147,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Memory, Rehearsal_id,);
RTABMAP_STATS(Memory, Rehearsal_merged,);
RTABMAP_STATS(Memory, Local_graph_size,);
RTABMAP_STATS(Memory, Odom_cache_poses,);
RTABMAP_STATS(Memory, Odom_cache_links,);
RTABMAP_STATS(Memory, Small_movement,);
RTABMAP_STATS(Memory, Fast_movement,);
RTABMAP_STATS(Memory, Odometry_variance_ang,);
@@ -254,6 +256,8 @@ public:
void setCurrentGoalId(int goal) {_currentGoalId=goal;}
void setReducedIds(const std::map<int, int> & reducedIds) {_reducedIds = reducedIds;}
void setWmState(const std::vector<int> & state) {_wmState = state;}
void setOdomCachePoses(const std::map<int, Transform> & poses) {_odomCachePoses = poses;}
void setOdomCacheConstraints(const std::multimap<int, Link> & constraints) {_odomCacheConstraints = constraints;}
// getters
bool extended() const {return _extended;}
@@ -281,6 +285,8 @@ public:
int currentGoalId() const {return _currentGoalId;}
const std::map<int, int> & reducedIds() const {return _reducedIds;}
const std::vector<int> & wmState() const {return _wmState;}
const std::map<int, Transform> & odomCachePoses() const {return _odomCachePoses;}
const std::multimap<int, Link> & odomCacheConstraints() const {return _odomCacheConstraints;}
const std::map<std::string, float> & data() const {return _data;}
@@ -316,6 +322,9 @@ private:
std::vector<int> _wmState;
std::map<int, Transform> _odomCachePoses;
std::multimap<int, Link> _odomCacheConstraints;
// Format for statistics (Plottable statistics must go in that map) :
// {"Group/Name/Unit", value}
// Example : {"Timing/Total time/ms", 500.0f}