/usr/include/rostest/permuter.h is in librostest-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2009, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
/** \author Tully Foote */
#ifndef ROSTEST_PERMUTER_H
#define ROSTEST_PERMUTER_H
#include <vector>
#include "boost/thread/mutex.hpp"
namespace rostest
{
/** \brief A base class for storing pointers to generic data types
*/
class PermuteOptionBase
{
public:
virtual void reset() =0;
virtual bool step() =0;
virtual ~PermuteOptionBase() {};
};
/**\brief A class to hold a set of option values and currently used state
* This class holds
*/
template<class T>
class PermuteOption : public PermuteOptionBase
{
public:
PermuteOption(const std::vector<T>& options, T* output)
{
options_ = options;
output_ = output;
reset();
}
virtual ~PermuteOption(){};
void reset(){
boost::mutex::scoped_lock lock(access_mutex_);
current_element_ = options_.begin();
*output_ = *current_element_;
};
bool step()
{
boost::mutex::scoped_lock lock(access_mutex_);
current_element_++;
if (current_element_ == options_.end())
return false;
*output_ = *current_element_;
return true;
};
private:
/// Local storage of the possible values
std::vector<T> options_;
/// The output variable
T* output_;
typedef typename std::vector<T>::iterator V_T_iterator;
/// The last updated element
V_T_iterator current_element_;
boost::mutex access_mutex_;
};
/** \brief A class to provide easy permutation of options
* This class provides a way to collapse independent
* permutations of options into a single loop.
*/
class Permuter
{
public:
/** \brief Destructor to clean up allocated data */
virtual ~Permuter(){ clearAll();};
/** \brief Add a set of values and an output to the iteration
* @param values The set of possible values for this output
* @param output The value to set at each iteration
*/
template<class T>
void addOptionSet(const std::vector<T>& values, T* output)
{
boost::mutex::scoped_lock lock(access_mutex_);
options_.push_back(static_cast<PermuteOptionBase*> (new PermuteOption<T>(values, output)));
lock.unlock();//reset locks on its own
reset();
};
/** \brief Reset the internal counters */
void reset(){
boost::mutex::scoped_lock lock(access_mutex_);
for (unsigned int level= 0; level < options_.size(); level++)
options_[level]->reset();
};
/** \brief Iterate to the next value in the iteration
* Returns true unless done iterating.
*/
bool step()
{
boost::mutex::scoped_lock lock(access_mutex_);
// base case just iterating
for (unsigned int level= 0; level < options_.size(); level++)
{
if(options_[level]->step())
{
//printf("stepping level %d returning true \n", level);
return true;
}
else
{
//printf("reseting level %d\n", level);
options_[level]->reset();
}
}
return false;
};
/** \brief Clear all stored data */
void clearAll()
{
boost::mutex::scoped_lock lock(access_mutex_);
for ( unsigned int i = 0 ; i < options_.size(); i++)
{
delete options_[i];
}
options_.clear();
};
private:
std::vector<PermuteOptionBase*> options_; ///< Store all the option objects
boost::mutex access_mutex_;
};
}
#endif //ROSTEST_PERMUTER_H
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