SurgSim::Framework::SamplingMetricBase Class Referenceabstract

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

`#include <SurgSim/Framework/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. More...
void | setMaxNumberOfMeasurements (size_t numberOfMeasurements)
| Set the maximum number of measurements to store. More...
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. More...
Public Member Functions inherited from SurgSim::Framework::Behavior
| Behavior (const std::string &name)
virtual | ~Behavior ()
Public Member Functions inherited from SurgSim::Framework::Component
| Component (const std::string &name)
| Constructor. More...
virtual | ~Component ()
| Destructor. More...
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. More...
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. More...
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. More...
| ~Accessible ()
| Destructor. More...
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...
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

## Private Attributes

MeasurementsType | m_measurementValues
| measurement list More...
int | m_targetManagerType
double | m_elapsedTime
size_t | m_maxNumberOfMeasurements

## 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 | ) |

protected virtual

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 | ( |  | ) |

override protected virtual

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 | ( |  | ) |

override protected virtual

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.

## getMeasurementValues()

SamplingMetricBase::MeasurementsType SurgSim::Framework::SamplingMetricBase::getMeasurementValues | ( |  | ) |

virtual

Return the measurement values obtained for this measurement.

## getTargetManagerType()

int SurgSim::Framework::SamplingMetricBase::getTargetManagerType | ( |  | ) | const

override virtual

Specifies which manger will handle this behavior.

Reimplemented from SurgSim::Framework::Behavior.

## performMeasurement()

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

protected pure 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.

## setMaxNumberOfMeasurements()

void SurgSim::Framework::SamplingMetricBase::setMaxNumberOfMeasurements | ( | size_t | numberOfMeasurements | ) |

Set the maximum number of measurements to store.

## 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 | ) |

override virtual

Update the behavior.

Parameters

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

Implements SurgSim::Framework::Behavior.

## Member Data Documentation

## m_elapsedTime

double SurgSim::Framework::SamplingMetricBase::m_elapsedTime

private

## m_logger

std::shared_ptr<SurgSim::Framework::Logger> SurgSim::Framework::SamplingMetricBase::m_logger

protected

## m_maxNumberOfMeasurements

size_t SurgSim::Framework::SamplingMetricBase::m_maxNumberOfMeasurements

private

## m_measurementValues

MeasurementsType SurgSim::Framework::SamplingMetricBase::m_measurementValues

private

measurement list

## m_targetManagerType

int SurgSim::Framework::SamplingMetricBase::m_targetManagerType

private

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

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