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/* measurement.cpp -- data sets we gather
* Copyright (C) 2013 Galois, Inc.
*
* This library is free software: you can redistribute it and/or modify it under
* the terms of the GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option) any later
* version.
*
* This library is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
* details.
*
* You should have received a copy of the GNU General Public License along with
* this library. If not, see <http://www.gnu.org/licenses/>.
*
* To contact Galois, complete the Web form at <http://corp.galois.com/contact/>
* or write to Galois, Inc., 421 Southwest 6th Avenue, Suite 300, Portland,
* Oregon, 97204-1622. */
#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include <array>
#include <string>
#include <vector>
#include "csv.h"
#include "measurement.h"
const std::string Pose::csvHeader_ = "TimeGPS,GPSLat,GPSLon,Orientation";
const std::string ControlSignals::csvHeader_ = "Time_VS,Velocity,Steering";
std::string LidarDatum::csvHeader() const {
std::string result;
const std::string timeLaserHeader = "TimeLaser";
const std::string distanceHeader = "Laser";
const std::string intensityHeader = "Intensity";
result.reserve(timeLaserHeader.size()
+ distance.size() * (1 + distanceHeader.size())
+ intensity.size() * (1 + intensityHeader.size()));
result.append(timeLaserHeader);
for (std::vector<float>::size_type i = 0; i < distance.size(); i++) {
result.append(",");
result.append(distanceHeader);
}
for (std::vector<float>::size_type i = 0; i < intensity.size(); i++) {
result.append(",");
result.append(intensityHeader);
}
return result;
}
std::string LidarDatum::csv() const {
std::string result = std::to_string(time);
/* Yes, there are double braces in the initializer on the next line. See
* <http://stackoverflow.com/questions/11400090>. */
const std::array<std::vector<float>, 2> dataSets = {{distance, intensity}};
for (const std::vector<float> &data : dataSets) {
if (! data.empty()) {
result.append(",");
result.append(csv::fromContainer(data));
}
}
return result;
}
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