SamplingMetricBase provides a base class to support metric development. More...

#include <SamplingMetricBase.h>

Inheritance diagram for SurgSim::Framework::SamplingMetricBase:

Public Types
typedef std::pair< double, double >	MeasurementEntryType
	Type of the individual entries in the measurement data structure. More...

typedef std::deque< MeasurementEntryType >	MeasurementsType
	Type of the cumulative entries data structure. More...

Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)>	GetterType

typedef std::function< void(boost::any)>	SetterType

typedef std::function< YAML::Node(void)>	EncoderType

typedef std::function< void(const YAML::Node *)>	DecoderType

Public Types inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Public Member Functions
	SamplingMetricBase (const std::string &name)
	Constructor for the class. More...

void	update (double dt) override
	Update the behavior. More...

void	setTargetManagerType (int targetManagerType)
	Set the desired manager type for this metric. More...

int	getTargetManagerType () const override
	Specifies which manger will handle this behavior.

void	setMaxNumberOfMeasurements (size_t numberOfMeasurements)
	Set the maximum number of measurements to store.

size_t	getMaxNumberOfMeasurements () const

size_t	getCurrentNumberOfMeasurements () const

double	getElapsedTime () const
	Get the amount of time since the last successful measurement reading based on the accumulation of successive dt values. More...

virtual MeasurementsType	getMeasurementValues ()
	Return the measurement values obtained for this measurement.

Public Member Functions inherited from SurgSim::Framework::Behavior
	Behavior (const std::string &name)

Public Member Functions inherited from SurgSim::Framework::Component
	Component (const std::string &name)
	Constructor. More...

virtual	~Component ()
	Destructor.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

bool	isInitialized () const

bool	initialize (const std::weak_ptr< Runtime > &runtime)
	Initialize this component, this needs to be called before wakeUp() can be called. More...

bool	isAwake () const

bool	wakeUp ()
	Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...

void	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () const
	Get the runtime which contains this component. More...

virtual std::string	getClassName () const
	The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...

std::shared_ptr< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
T	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...

boost::any	getValue (const std::string &name) const
	Retrieves the value with the name by executing the getter if it is found. More...

template<class T >
bool	getValue (const std::string &name, T *value) const
	Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...

void	setValue (const std::string &name, const boost::any &value)
	Sets a value of a property that has setter. More...

bool	isReadable (const std::string &name) const
	Check whether a property is readable. More...

bool	isWriteable (const std::string &name) const
	Check whether a property is writable. More...

void	setGetter (const std::string &name, GetterType func)
	Sets a getter for a given property. More...

void	setSetter (const std::string &name, SetterType func)
	Sets a setter for a given property. More...

void	setAccessors (const std::string &name, GetterType getter, SetterType setter)
	Sets the accessors getter and setter in one function. More...

void	removeAccessors (const std::string &name)
	Removes all the accessors (getter and setter) for a given property. More...

void	forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
	Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...

void	setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
	Sets the functions used to convert data from and to a YAML::Node. More...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from a YAML::Node. More...

YAML::Node	encode () const
	Encode this Accessible to a YAML::Node. More...

void	decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
	Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Protected Member Functions
bool	doWakeUp () override
	Interface to be implemented by derived classes. More...

bool	doInitialize () override
	Interface to be implemented by derived classes. More...

virtual bool	canMeasure (double dt)
	Determine if it is appropriate to take a measurement. More...

virtual double	performMeasurement (double dt)=0
	Obtain the measurement. More...

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Protected Attributes
std::shared_ptr< SurgSim::Framework::Logger >	m_logger

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Detailed Description

SamplingMetricBase provides a base class to support metric development.

New metrics should derive from the base class and redefine canMeasure() and takeMeasurement() ensure the system is ready to be measured and to perform the measurement respectively.

The nominal setting provides for 30 minutes of continuous sampling at 30 hertz. After that time, old measurements will be discarded as new measurements are made so as to stay within the same memory footprint.

Member Typedef Documentation

§ MeasurementEntryType

typedef std::pair<double, double> SurgSim::Framework::SamplingMetricBase::MeasurementEntryType

Type of the individual entries in the measurement data structure.

The first field of the pair holds the elapsed simulation time (accumulation of the dt value) since the last successful measurement and the second field of the pair holds the measurement value obtained at that time.

§ MeasurementsType

typedef std::deque<MeasurementEntryType> SurgSim::Framework::SamplingMetricBase::MeasurementsType

Type of the cumulative entries data structure.

The code current caps the number of entries at a user prescribed value to keep from overwriting all of memory when the process is allowed to run unchecked over long periods. The maximum number of entries is nominally capped at 30 minutes of samples taken 30 times per second, but it can be adjusted using he setMaxNumberOfMeasurements call. Note that the last measurements taken are always saved. After the limit is reached the oldest entry is discarded to make room for the new measurement.

Constructor & Destructor Documentation

§ SamplingMetricBase()

SurgSim::Framework::SamplingMetricBase::SamplingMetricBase ( const std::string & name )

explicit

Constructor for the class.

Parameters

name	is the name given to the behavior.

Member Function Documentation

§ canMeasure()

bool SurgSim::Framework::SamplingMetricBase::canMeasure ( double dt )

protectedvirtual

Determine if it is appropriate to take a measurement.

Parameters

dt	is the elapsed time since the last call to update.

Returns: if it is currently valid to calculate the next measurement value.

Note: Be careful with threading when implementing this call. Anything referenced both here and in performMeasurement() must be safe.

§ doInitialize()

bool SurgSim::Framework::SamplingMetricBase::doInitialize ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is initialized successfully; otherwise, false.

Implements SurgSim::Framework::Component.

§ doWakeUp()

bool SurgSim::Framework::SamplingMetricBase::doWakeUp ( )

overrideprotectedvirtual

Interface to be implemented by derived classes.

Returns: True if component is woken up successfully; otherwise, false.

Implements SurgSim::Framework::Component.

§ getCurrentNumberOfMeasurements()

size_t SurgSim::Framework::SamplingMetricBase::getCurrentNumberOfMeasurements ( ) const

Returns: Number of measurements currently stored (not the maximum number of measurements).

§ getElapsedTime()

double SurgSim::Framework::SamplingMetricBase::getElapsedTime ( ) const

Get the amount of time since the last successful measurement reading based on the accumulation of successive dt values.

Returns: the elapsed time

§ getMaxNumberOfMeasurements()

size_t SurgSim::Framework::SamplingMetricBase::getMaxNumberOfMeasurements ( ) const

Returns: Maximum number of measurements to be stored.

§ performMeasurement()

virtual double SurgSim::Framework::SamplingMetricBase::performMeasurement ( double dt )

protectedpure virtual

Obtain the measurement.

Parameters

dt	is the elapsed time since the last call to update.

Returns: the next measurement value. This method should be overwritten to provide the various measurements for the simulation.

Note: Be careful with threading when implementing this call. Anything referenced both here and in canMeasure() must be safe.

§ setTargetManagerType()

void SurgSim::Framework::SamplingMetricBase::setTargetManagerType ( int targetManagerType )

Set the desired manager type for this metric.

Given the potential tight coupling of the and the various other behaviors, this will provide us with the flexibility to choose the appropriate manager for the task.

Parameters

targetManagerType is the manager type to be used for managing this metric

§ update()

void SurgSim::Framework::SamplingMetricBase::update ( double dt )

overridevirtual

Update the behavior.

Parameters

dt	The length of time (seconds) between update calls.

Implements SurgSim::Framework::Behavior.

The documentation for this class was generated from the following files:

SurgSim/Framework/SamplingMetricBase.h
SurgSim/Framework/SamplingMetricBase.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

§ MeasurementEntryType

§ MeasurementsType

Constructor & Destructor Documentation

§ SamplingMetricBase()

Member Function Documentation

§ canMeasure()

§ doInitialize()

§ doWakeUp()

§ getCurrentNumberOfMeasurements()

§ getElapsedTime()

§ getMaxNumberOfMeasurements()

§ performMeasurement()

§ setTargetManagerType()

§ update()