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Refactor with latest iteration of design based on Ivan's proposal
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54 changes: 0 additions & 54 deletions
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beluga/include/beluga/algorithm/resampling_policies/resample_interval_policy.hpp
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beluga/include/beluga/algorithm/resampling_policies/resampling_policy_poller.hpp
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beluga/include/beluga/algorithm/resampling_policies/selective_resampling_policy.hpp
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2022 Ekumen, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef BELUGA_RESAMPLING_POLICIES_HPP | ||
| #define BELUGA_RESAMPLING_POLICIES_HPP | ||
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| #include <beluga/resampling_policies/resample_interval_policy.hpp> | ||
| #include <beluga/resampling_policies/resample_on_motion_policy.hpp> | ||
| #include <beluga/resampling_policies/resampling_policies_poller.hpp> | ||
| #include <beluga/resampling_policies/selective_resampling_policy.hpp> | ||
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| /** | ||
| * \file | ||
| * \brief Includes all resampling policy related headers. | ||
| */ | ||
|
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| /** | ||
| * \page ResamplePolicyPage beluga named requirements: ResamplePolicy | ||
| * Requirements for a resampling policy to be used a beluga `ParticleFilter`. | ||
| * | ||
| * \section ResamplePolicyRequirements Requirements | ||
| * A type `T` satisfies the `ResamplePolicy` requirements if the following is satisfied. | ||
| * | ||
| * Given: | ||
| * - An instance `p` of `T`. | ||
| * - An instance `c` of `C`, where is a particle filter that meets the requirements listed in the policy. | ||
| * | ||
| * Then: | ||
| * - `p.do_resampling(c)` will return true if resampling must be done according to the policy, false otherwise. This | ||
| * function is called in cascade when multiple policies are installed in the filter, and a given filters do_resampling() | ||
| * function may not be called if a previously queried policy has already voted "false" (short-circuit evaluation of | ||
| * policies). | ||
| * */ | ||
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| #endif |
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beluga/include/beluga/resampling_policies/resample_interval_policy.hpp
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| // Copyright 2023 Ekumen, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef BELUGA_RESAMPLING_POLICIES_RESAMPLE_INTERVAL_POLICY_HPP | ||
| #define BELUGA_RESAMPLING_POLICIES_RESAMPLE_INTERVAL_POLICY_HPP | ||
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| #include <optional> | ||
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| #include <beluga/type_traits/resampling_policy_traits.hpp> | ||
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| namespace beluga { | ||
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| /// Parameters used to construct a ResampleIntervalPolicy instance. | ||
| struct ResampleIntervalPolicyParam { | ||
| /// Interval of calls to do_resampling() out of which only the last iteration will do resampling. | ||
| std::size_t resample_interval_count{1}; | ||
| }; | ||
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| /// Implementation of the Resample Interval algorithm for resampling. | ||
| /** | ||
| * ResampleIntervalPolicy is an implementation of the \ref ResamplePolicyPage "ResamplePolicy" named requirements. | ||
| * */ | ||
| struct ResampleIntervalPolicy { | ||
| public: | ||
| /// Parameter type that the constructor uses to configure the policy | ||
| using param_type = ResampleIntervalPolicyParam; | ||
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| /// @brief Constructor | ||
| /// @param configuration Policy configuration data. | ||
| explicit ResampleIntervalPolicy(const param_type& configuration) : configuration_{configuration} {} | ||
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| /// Vote whether resampling must be done according to this policy./ | ||
| /** | ||
| * \tparam Concrete Type representing the concrete implementation of the filter. | ||
| */ | ||
| template <typename Concrete> | ||
| [[nodiscard]] bool do_resampling([[maybe_unused]] Concrete& filter) { | ||
| filter_update_counter_ = (filter_update_counter_ + 1) % configuration_.resample_interval_count; | ||
| return (filter_update_counter_ == 0); | ||
| } | ||
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| private: | ||
| param_type configuration_; //< Policy configuration | ||
| std::size_t filter_update_counter_{0}; //< Current cycle phase | ||
| }; | ||
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| /// Specialization for a ResampleIntervalPolicy, see also \ref resampling_policy_traits.hpp. | ||
| template <> | ||
| struct resampling_policy_traits<ResampleIntervalPolicy> { | ||
| /// configuration struct type associated to the policy | ||
| using config_type = ResampleIntervalPolicyParam; | ||
| }; | ||
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| } // namespace beluga | ||
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| #endif |
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