56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
/*
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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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#ifndef CARTOGRAPHER_COMMON_FIXED_RATIO_SAMPLER_H_
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#define CARTOGRAPHER_COMMON_FIXED_RATIO_SAMPLER_H_
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#include <string>
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#include "cartographer/common/port.h"
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namespace cartographer {
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namespace common {
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// Signals when a sample should be taken from a stream of data to select a
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// uniformly distributed fraction of the data.
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class FixedRatioSampler {
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public:
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explicit FixedRatioSampler(double ratio);
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~FixedRatioSampler();
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FixedRatioSampler(const FixedRatioSampler&) = delete;
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FixedRatioSampler& operator=(const FixedRatioSampler&) = delete;
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// Returns true if this pulse should result in an sample.
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bool Pulse();
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// Returns a debug string describing the current ratio of samples to pulses.
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string DebugString();
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private:
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// Sampling occurs if the proportion of samples to pulses drops below this
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// number.
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const double ratio_;
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int64 num_pulses_ = 0;
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int64 num_samples_ = 0;
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};
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} // namespace common
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} // namespace cartographer
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#endif // CARTOGRAPHER_COMMON_FIXED_RATIO_SAMPLER_H_
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