evaluationrecords.cpp

#include "evaluationrecords.h"
#include <functional>
#include <iostream>
#include <sstream>

using namespace std;
EvaluationRecords::EvaluationRecords()
//:    evaluations(new unordered_map<Pose, double>())
{}

EvaluationRecords::~EvaluationRecords() {
  // delete evaluations;
}

void EvaluationRecords::putEvaluation(Pose &frontier, double value) {
  if (evaluations.empty()) {
    minValue = value;
    maxValue = value;
  }

  string s = getEncodedKey(frontier);
  evaluations.emplace(s, value);

  if (value >= maxValue)
    maxValue = value;
  if (value <= minValue)
    minValue = value;
}

double EvaluationRecords::getEvaluation(Pose &frontier) {
  string s = getEncodedKey(frontier);
  return evaluations[s];
}

unordered_map<string, double> EvaluationRecords::getEvaluations() {
  return evaluations;
}

bool EvaluationRecords::contains(Pose &frontier) {
  string s = getEncodedKey(frontier);
  unordered_map<string, double>::const_iterator got = evaluations.find(s);
  if (got == evaluations.end()) {
    return false;
  } else
    return true;
}

int EvaluationRecords::size() { return evaluations.size(); }

list<Pose> EvaluationRecords::getFrontiers() {

  vector<string> list;
  list.reserve(evaluations.size());

  for (unordered_map<string, double>::iterator it = evaluations.begin();
       it != evaluations.end(); it++) {
    list.push_back((*it).first);
  }

  std::list<Pose> toRet;

  for (vector<string>::iterator it = list.begin(); it != list.end(); it++) {
    // create a pose object for every string string in the list

    string s = *it;
    Pose p = getPoseFromEncoding(s);

    toRet.push_back(p);
  }

  return toRet;
}

void EvaluationRecords::removeFrontier(Pose &frontier) {
  for (unordered_map<string, double>::iterator it = evaluations.begin();
       it != evaluations.end(); it++) {
    string s1 = (*it).first;
    string s2 = getEncodedKey(frontier);
    if (s1 == s2) {
      evaluations.erase(s2);
      break;
    }
  }
}

void EvaluationRecords::normalize() {
  vector<string> list;
  list.reserve(evaluations.size());

  for (unordered_map<string, double>::iterator it = evaluations.begin();
       it != evaluations.end(); it++) {
    list.push_back((*it).first);
  }

  for (vector<string>::iterator it = list.begin(); it != list.end(); it++) {
    for (unordered_map<string, double>::iterator it2 = evaluations.begin();
         it2 != evaluations.end(); it2++) {
      if ((*it) == (*it2).first) {
        double value = (*it2).second;
        value = (value - minValue) / (maxValue - minValue);
        evaluations.erase((*it2).first);
        pair<string, double> newPair(*it, value);
        evaluations.insert(newPair);
      }
    }
  }
}

string EvaluationRecords::getEncodedKey(Pose &p) {
  string key = to_string(p.getX()) + "/" + to_string(p.getY()) + "/" +
               to_string(p.getOrientation()) + "/" + to_string(p.getRange()) +
               "/" + to_string(p.getFOV());
  return key;
}

Pose EvaluationRecords::getPoseFromEncoding(string &encoding) {

  stringstream ss;
  string s;
  ss << s;
  char delimiter('/');
  string x, y, orientation, r, phi;
  // cout << encoding << endl;
  std::string::size_type pos = encoding.find('/');
  x = encoding.substr(0, pos);
  float xValue = atof(x.c_str());
  // cout << x << endl;
  string newString = encoding.substr(pos + 1, encoding.size());
  // cout << newString << endl;
  std::string::size_type newPos = newString.find('/');
  y = newString.substr(0, newPos);
  float yValue = atof(y.c_str());
  // cout << y << endl;
  newString = newString.substr(newPos + 1, encoding.size());
  // cout << newString << endl;
  newPos = newString.find('/');
  orientation = newString.substr(0, newPos);
  float orientationValue = atof(orientation.c_str());
  // cout << orientation << endl;
  newString = newString.substr(newPos + 1, encoding.size());
  // cout << newString << endl;
  newPos = newString.find('/');
  r = newString.substr(0, newPos);
  int rValue = atoi(r.c_str());
  // cout << r << endl;
  newString = newString.substr(newPos + 1, encoding.size());
  // cout << newString << endl;
  newPos = newString.find('/');
  phi = newString.substr(0, newPos);
  double phiValue = atof(phi.c_str());
  // cout << phi << endl;
  Pose p(xValue, yValue, orientationValue, rValue, phiValue);
  return p;
}

void EvaluationRecords::clear(){
	this->evaluations.clear();
}