Gazebo Common

API Reference

6.0.0
DataFrame.hh
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1/*
2 * Copyright (C) 2022 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_COMMON_DATAFRAME_HH_
18#define GZ_COMMON_DATAFRAME_HH_
19
20#include <array>
21#include <numeric>
22#include <sstream>
23#include <string>
24#include <stdexcept>
25#include <unordered_map>
26#include <vector>
27
29#include <gz/common/IOBase.hh>
30
32
33namespace gz
34{
35 namespace common
36 {
41 template <typename K, typename V>
43 {
48 public: bool Has(const K &_key) const
49 {
50 return this->storage.count(_key) > 0;
51 }
52
57 public: V &operator[](const K &_key)
58 {
59 return this->storage[_key];
60 }
61
66 public: const V &operator[](const K &_key) const
67 {
68 return this->storage.at(_key);
69 }
70
73 public: const std::vector<K> Keys() const
74 {
75 std::vector<K> keyList;
76 for (auto &[k, _] : this->storage)
77 {
78 keyList.push_back(k);
79 }
80 return keyList;
81 }
82
84 private: std::unordered_map<K, V> storage;
85 };
86
94 template <typename K, typename T, typename V, typename P>
95 struct IO<DataFrame<K, math::InMemoryTimeVaryingVolumetricGrid<T, V, P>>>
96 {
112 const std::string &_timeColumnName,
113 const std::array<std::string, 3> &_spatialColumnNames)
114 {
115 if (_begin == _end)
116 {
117 throw std::invalid_argument("CSV data stream is empty");
118 }
119 const std::vector<std::string> &header = *_begin;
120 if (header.empty())
121 {
122 throw std::invalid_argument("CSV data stream has no header");
123 }
124
125 auto it = std::find(header.begin(), header.end(), _timeColumnName);
126 if (it == header.end())
127 {
128 std::stringstream sstream;
129 sstream << "CSV data stream has no '"
130 << _timeColumnName << "' column";
131 throw std::invalid_argument(sstream.str());
132 }
133 const size_t timeIndex = it - header.begin();
134
135 std::array<size_t, 3> spatialColumnIndices;
136 for (size_t i = 0; i < _spatialColumnNames.size(); ++i)
137 {
138 it = std::find(header.begin(), header.end(), _spatialColumnNames[i]);
139 if (it == header.end())
140 {
141 std::stringstream sstream;
142 sstream << "CSV data stream has no '"
143 << _spatialColumnNames[i] << "' column";
144 throw std::invalid_argument(sstream.str());
145 }
146 spatialColumnIndices[i] = it - header.begin();
147 }
148
149 return ReadFrom(_begin, _end, timeIndex, spatialColumnIndices);
150 }
151
167 const size_t &_timeColumnIndex = 0,
168 const std::array<size_t, 3> &_spatialColumnIndices = {1, 2, 3})
169 {
170 if (_begin == _end)
171 {
172 throw std::invalid_argument("CSV data stream is empty");
173 }
174 std::vector<size_t> dataColumnIndices(_begin->size());
175 std::iota(dataColumnIndices.begin(), dataColumnIndices.end(), 0);
176 auto last = dataColumnIndices.end();
177 for (size_t index : {_timeColumnIndex, _spatialColumnIndices[0],
178 _spatialColumnIndices[1], _spatialColumnIndices[2]})
179 {
180 auto it = std::find(dataColumnIndices.begin(), last, index);
181 if (it == last)
182 {
183 std::stringstream sstream;
184 sstream << "Column index " << index << " is"
185 << "out of range for CSV data stream";
186 throw std::invalid_argument(sstream.str());
187 }
188 *it = *(--last);
189 }
190 dataColumnIndices.erase(last, dataColumnIndices.end());
191
192 using FactoryT =
193 math::InMemoryTimeVaryingVolumetricGridFactory<T, V>;
194 std::vector<FactoryT> factories(dataColumnIndices.size());
195 for (auto it = std::next(_begin); it != _end; ++it)
196 {
197 const T time = IO<T>::ReadFrom(it->at(_timeColumnIndex));
198 const math::Vector3<P> position{
199 IO<P>::ReadFrom(it->at(_spatialColumnIndices[0])),
200 IO<P>::ReadFrom(it->at(_spatialColumnIndices[1])),
201 IO<P>::ReadFrom(it->at(_spatialColumnIndices[2]))};
202
203 for (size_t i = 0; i < dataColumnIndices.size(); ++i)
204 {
205 const V value = IO<V>::ReadFrom(it->at(dataColumnIndices[i]));
206 factories[i].AddPoint(time, position, value);
207 }
208 }
209
210 DataFrame<K, math::InMemoryTimeVaryingVolumetricGrid<T, V, P>> df;
211 for (size_t i = 0; i < dataColumnIndices.size(); ++i)
212 {
213 const std::string key = !_begin->empty() ?
214 _begin->at(dataColumnIndices[i]) :
215 "var" + std::to_string(dataColumnIndices[i]);
216 df[IO<K>::ReadFrom(key)] = factories[i].Build();
217 }
218 return df;
219 }
220 };
221 }
222}
223#endif