Quadrotor

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

// File:                        perf.cpp

// Programmer:                Sunil Arya and David Mount

// Description:                Methods for performance stats

// Last modified:        01/04/05 (Version 1.0)

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

// 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

//                Changed names to avoid namespace conflicts.

//                Added flush after printing performance stats to fix bug

//                        in Microsoft Windows version.

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

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

#include <ANN/ANNperf.h>                                // performance includes

using namespace std;                                        // make std:: available

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

//        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 PERF variable,

//                by compiling with the option: -DPERF

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

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

//        Global counters for performance measurement

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

int                                ann_Ndata_pts  = 0;                // number of data points

int                                ann_Nvisit_lfs = 0;                // number of leaf nodes visited

int                                ann_Nvisit_spl = 0;                // number of splitting nodes visited

int                                ann_Nvisit_shr = 0;                // number of shrinking nodes visited

int                                ann_Nvisit_pts = 0;                // visited points for one query

int                                ann_Ncoord_hts = 0;                // coordinate hits for one query

int                                ann_Nfloat_ops = 0;                // floating ops for one query

ANNsampStat                ann_visit_lfs;                        // stats on leaf nodes visits

ANNsampStat                ann_visit_spl;                        // stats on splitting nodes visits

ANNsampStat                ann_visit_shr;                        // stats on shrinking nodes visits

ANNsampStat                ann_visit_nds;                        // stats on total nodes visits

ANNsampStat                ann_visit_pts;                        // stats on points visited

ANNsampStat                ann_coord_hts;                        // stats on coordinate hits

ANNsampStat                ann_float_ops;                        // stats on floating ops

//

ANNsampStat                ann_average_err;                // average error

ANNsampStat                ann_rank_err;                        // rank error

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

//        Routines for statistics.

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

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

{

        ann_Ndata_pts  = data_size;

        ann_visit_lfs.reset();

        ann_visit_spl.reset();

        ann_visit_shr.reset();

        ann_visit_nds.reset();

        ann_visit_pts.reset();

        ann_coord_hts.reset();

        ann_float_ops.reset();

        ann_average_err.reset();

        ann_rank_err.reset();

}

DLL_API void annResetCounts()                                // reset counts for one query

{

        ann_Nvisit_lfs = 0;

        ann_Nvisit_spl = 0;

        ann_Nvisit_shr = 0;

        ann_Nvisit_pts = 0;

        ann_Ncoord_hts = 0;

        ann_Nfloat_ops = 0;

}

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

{

        ann_visit_lfs += ann_Nvisit_lfs;

        ann_visit_nds += ann_Nvisit_spl + ann_Nvisit_lfs;

        ann_visit_spl += ann_Nvisit_spl;

        ann_visit_shr += ann_Nvisit_shr;

        ann_visit_pts += ann_Nvisit_pts;

        ann_coord_hts += ann_Ncoord_hts;

        ann_float_ops += ann_Nfloat_ops;

}

                                                                                // print a single statistic

void print_one_stat(char *title, ANNsampStat s, double div)

{

        cout << title << "= [ ";

        cout.width(9); cout << s.mean()/div                        << " : ";

        cout.width(9); cout << s.stdDev()/div                << " ]<";

        cout.width(9); cout << s.min()/div                        << " , ";

        cout.width(9); cout << s.max()/div                        << " >\n";

}

DLL_API void annPrintStats(                                // print statistics for a run

        ANNbool validate)                                        // true if average errors desired

{

        cout.precision(4);                                        // set floating precision

        cout << "  (Performance stats: "

                 << " [      mean :    stddev ]<      min ,       max >\n";

        print_one_stat("    leaf_nodes       ", ann_visit_lfs, 1);

        print_one_stat("    splitting_nodes  ", ann_visit_spl, 1);

        print_one_stat("    shrinking_nodes  ", ann_visit_shr, 1);

        print_one_stat("    total_nodes      ", ann_visit_nds, 1);

        print_one_stat("    points_visited   ", ann_visit_pts, 1);

        print_one_stat("    coord_hits/pt    ", ann_coord_hts, ann_Ndata_pts);

        print_one_stat("    floating_ops_(K) ", ann_float_ops, 1000);

        if (validate) {

                print_one_stat("    average_error    ", ann_average_err, 1);

                print_one_stat("    rank_error       ", ann_rank_err, 1);

        }

        cout.precision(0);                                        // restore the default

        cout << "  )\n";

        cout.flush();

}