Loader class
Has helper functions to load text files from disk and process them.
Contents
- Reference
Public static functions
- static void load_data(std::string path_traj, std::vector<double>& times, std::vector<Eigen::Matrix<double, 7, 1>>& poses, std::vector<Eigen::Matrix3d>& cov_ori, std::vector<Eigen::Matrix3d>& cov_pos)
- This will load space separated trajectory into memory.
- static void load_data_csv(std::string path_traj, std::vector<double>& times, std::vector<Eigen::Matrix<double, 7, 1>>& poses, std::vector<Eigen::Matrix3d>& cov_ori, std::vector<Eigen::Matrix3d>& cov_pos)
- This will load comma separated trajectory into memory (ASL/ETH format)
- static void load_simulation(std::string path, std::vector<Eigen::VectorXd>& values)
- Load an arbitrary sized row of space separated values, used for our simulation.
- static void load_timing_flamegraph(std::string path, std::vector<std::string>& names, std::vector<double>& times, std::vector<Eigen::VectorXd>& timing_values)
- Load comma separated timing file from pid_ros.py file.
- static void load_timing_percent(std::string path, std::vector<double>& times, std::vector<Eigen::Vector3d>& summed_values, std::vector<Eigen::VectorXd>& node_values)
- Load space separated timing file from pid_ros.py file.
- static auto get_total_length(const std::vector<Eigen::Matrix<double, 7, 1>>& poses) -> double
- Will calculate the total trajectory distance.
Function documentation
static void ov_eval::
This will load space separated trajectory into memory.
| Parameters | |
|---|---|
| path_traj | Path to the trajectory file that we want to read in. |
| times | Timesteps in seconds for each pose |
| poses | Pose at every timestep [pos,quat] |
| cov_ori | Vector of orientation covariances at each timestep (empty if we can't load) |
| cov_pos | Vector of position covariances at each timestep (empty if we can't load) |
static void ov_eval::
This will load comma separated trajectory into memory (ASL/ETH format)
| Parameters | |
|---|---|
| path_traj | Path to the trajectory file that we want to read in. |
| times | Timesteps in seconds for each pose |
| poses | Pose at every timestep [pos,quat] |
| cov_ori | Vector of orientation covariances at each timestep (empty if we can't load) |
| cov_pos | Vector of position covariances at each timestep (empty if we can't load) |
static void ov_eval::
Load an arbitrary sized row of space separated values, used for our simulation.
| Parameters | |
|---|---|
| path | Path to our text file to load |
| values | Each row of values |
static void ov_eval::
Load comma separated timing file from pid_ros.py file.
| Parameters | |
|---|---|
| path | Path to our text file to load |
| names | Names of each timing category |
| times | Timesteps in seconds for each measurement |
| timing_values | Component timing values for the given timestamp |
static void ov_eval::
Load space separated timing file from pid_ros.py file.
| Parameters | |
|---|---|
| path | Path to our text file to load |
| times | Timesteps in seconds for each measurement |
| summed_values | Summed node values [cpu,mem,num_threads] |
| node_values | Values for each separate node [cpu,mem,num_threads] |
static double ov_eval::
Will calculate the total trajectory distance.
| Parameters | |
|---|---|
| poses | Pose at every timestep [pos,quat] |
| Returns | Distance travels (meters) |