Quadrotor

//----------------------------------------------------------------------

//        File:                        ANNperf.h

//        Programmer:                Sunil Arya and David Mount

//        Last modified:        03/04/98 (Release 0.1)

//        Description:        Include file for ANN performance stats

//

//        Some of the code for statistics gathering has been adapted

//        from the SmplStat.h package in the g++ library.

//----------------------------------------------------------------------

// Copyright (c) 1997-2005 University of Maryland and Sunil Arya and

// David Mount.  All Rights Reserved.

// 

// This software and related documentation is part of the Approximate

// Nearest Neighbor Library (ANN).  This software is provided under

// the provisions of the Lesser GNU Public License (LGPL).  See the

// file ../ReadMe.txt for further information.

// 

// The University of Maryland (U.M.) and the authors make no

// representations about the suitability or fitness of this software for

// any purpose.  It is provided "as is" without express or implied

// warranty.

//----------------------------------------------------------------------

//      History:

//      Revision 0.1  03/04/98

//          Initial release

//      Revision 1.0  04/01/05

//          Added ANN_ prefix to avoid name conflicts.

//----------------------------------------------------------------------

#ifndef ANNperf_H

#define ANNperf_H

//----------------------------------------------------------------------

//        basic includes

//----------------------------------------------------------------------

#include <ANN/ANN.h>                                        // basic ANN includes

//----------------------------------------------------------------------

// kd-tree stats object

//        This object is used for collecting information about a kd-tree

//        or bd-tree.

//----------------------------------------------------------------------

class ANNkdStats {                        // stats on kd-tree

public:

        int                dim;                        // dimension of space

        int                n_pts;                        // no. of points

        int                bkt_size;                // bucket size

        int                n_lf;                        // no. of leaves (including trivial)

        int                n_tl;                        // no. of trivial leaves (no points)

        int                n_spl;                        // no. of splitting nodes

        int                n_shr;                        // no. of shrinking nodes (for bd-trees)

        int                depth;                        // depth of tree

        float        sum_ar;                        // sum of leaf aspect ratios

        float        avg_ar;                        // average leaf aspect ratio

 //

                                                        // reset stats

        void reset(int d=0, int n=0, int bs=0)

        {

                dim = d; n_pts = n; bkt_size = bs;

                n_lf = n_tl = n_spl = n_shr = depth = 0;

                sum_ar = avg_ar = 0.0;

        }

        ANNkdStats()                        // basic constructor

        { reset(); }

        void merge(const ANNkdStats &st);        // merge stats from child 

};

//----------------------------------------------------------------------

//  ANNsampStat

//        A sample stat collects numeric (double) samples and returns some

//        simple statistics.  Its main functions are:

//

//                reset()                Reset to no samples.

//                += x                Include sample x.

//                samples()        Return number of samples.

//                mean()                Return mean of samples.

//                stdDev()        Return standard deviation

//                min()                Return minimum of samples.

//                max()                Return maximum of samples.

//----------------------------------------------------------------------

class DLL_API ANNsampStat {

        int                                n;                                // number of samples

        double                        sum;                        // sum

        double                        sum2;                        // sum of squares

        double                        minVal, maxVal;        // min and max

public :

        void reset()                                // reset everything

        {  

                n = 0;

                sum = sum2 = 0;

                minVal = ANN_DBL_MAX;

                maxVal = -ANN_DBL_MAX; 

        }

        ANNsampStat() { reset(); }                // constructor

        void operator+=(double x)                // add sample

        {

                n++;  sum += x;  sum2 += x*x;

                if (x < minVal) minVal = x;

                if (x > maxVal) maxVal = x;

        }

        int samples() { return n; }                // number of samples

        double mean() { return sum/n; } // mean

                                                                        // standard deviation

        double stdDev() { return sqrt((sum2 - (sum*sum)/n)/(n-1));}

        double min() { return minVal; } // minimum

        double max() { return maxVal; } // maximum

};

//----------------------------------------------------------------------

//                Operation count updates

//----------------------------------------------------------------------

#ifdef ANN_PERF

  #define ANN_FLOP(n)        {ann_Nfloat_ops += (n);}

  #define ANN_LEAF(n)        {ann_Nvisit_lfs += (n);}

  #define ANN_SPL(n)        {ann_Nvisit_spl += (n);}

  #define ANN_SHR(n)        {ann_Nvisit_shr += (n);}

  #define ANN_PTS(n)        {ann_Nvisit_pts += (n);}

  #define ANN_COORD(n)        {ann_Ncoord_hts += (n);}

#else

  #define ANN_FLOP(n)

  #define ANN_LEAF(n)

  #define ANN_SPL(n)

  #define ANN_SHR(n)

  #define ANN_PTS(n)

  #define ANN_COORD(n)

#endif

//----------------------------------------------------------------------

//        Performance statistics

//        The following data and routines are used for computing performance

//        statistics for nearest neighbor searching.  Because these routines

//        can slow the code down, they can be activated and deactiviated by

//        defining the ANN_PERF variable, by compiling with the option:

//        -DANN_PERF

//----------------------------------------------------------------------

//----------------------------------------------------------------------

//        Global counters for performance measurement

//

//        visit_lfs        The number of leaf nodes visited in the

//                                tree.

//

//        visit_spl        The number of splitting nodes visited in the

//                                tree.

//

//        visit_shr        The number of shrinking nodes visited in the

//                                tree.

//

//        visit_pts        The number of points visited in all the

//                                leaf nodes visited. Equivalently, this

//                                is the number of points for which distance

//                                calculations are performed.

//

//        coord_hts        The number of times a coordinate of a 

//                                data point is accessed. This is generally

//                                less than visit_pts*d if partial distance

//                                calculation is used.  This count is low

//                                in the sense that if a coordinate is hit

//                                many times in the same routine we may

//                                count it only once.

//

//        float_ops        The number of floating point operations.

//                                This includes all operations in the heap

//                                as well as distance calculations to boxes.

//

//        average_err        The average error of each query (the

//                                error of the reported point to the true

//                                nearest neighbor).  For k nearest neighbors

//                                the error is computed k times.

//

//        rank_err        The rank error of each query (the difference

//                                in the rank of the reported point and its

//                                true rank).

//

//        data_pts        The number of data points.  This is not

//                                a counter, but used in stats computation.

//----------------------------------------------------------------------

extern int                        ann_Ndata_pts;        // number of data points

extern int                        ann_Nvisit_lfs;        // number of leaf nodes visited

extern int                        ann_Nvisit_spl;        // number of splitting nodes visited

extern int                        ann_Nvisit_shr;        // number of shrinking nodes visited

extern int                        ann_Nvisit_pts;        // visited points for one query

extern int                        ann_Ncoord_hts;        // coordinate hits for one query

extern int                        ann_Nfloat_ops;        // floating ops for one query

extern ANNsampStat        ann_visit_lfs;        // stats on leaf nodes visits

extern ANNsampStat        ann_visit_spl;        // stats on splitting nodes visits

extern ANNsampStat        ann_visit_shr;        // stats on shrinking nodes visits

extern ANNsampStat        ann_visit_nds;        // stats on total nodes visits

extern ANNsampStat        ann_visit_pts;        // stats on points visited

extern ANNsampStat        ann_coord_hts;        // stats on coordinate hits

extern ANNsampStat        ann_float_ops;        // stats on floating ops

//----------------------------------------------------------------------

//  The following need to be part of the public interface, because

//  they are accessed outside the DLL in ann_test.cpp.

//----------------------------------------------------------------------

DLL_API extern ANNsampStat ann_average_err;        // average error

DLL_API extern ANNsampStat ann_rank_err;        // rank error

//----------------------------------------------------------------------

//        Declaration of externally accessible routines for statistics

//----------------------------------------------------------------------

DLL_API void annResetStats(int data_size);        // reset stats for a set of queries

DLL_API void annResetCounts();                                // reset counts for one queries

DLL_API void annUpdateStats();                                // update stats with current counts

DLL_API void annPrintStats(ANNbool validate); // print statistics for a run

#endif