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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Metrics/Histogram.cs

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+/*
+ * Copyright 2018 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+namespace CartographerSharp.Metrics;
+
+/// <summary>
+/// Histogram metric for tracking value distributions.
+/// </summary>
+public abstract class Histogram
+{
+    /// <summary>
+    /// Bucket boundaries for histogram.
+    /// </summary>
+    public class BucketBoundaries : List<double>
+    {
+        public BucketBoundaries() : base() { }
+        public BucketBoundaries(IEnumerable<double> collection) : base(collection) { }
+    }
+
+    /// <summary>
+    /// Histogram instance that does nothing. Safe for use in static initializers.
+    /// </summary>
+    public static Histogram Null()
+    {
+        return new NullHistogram();
+    }
+
+    /// <summary>
+    /// Creates fixed-width bucket boundaries.
+    /// </summary>
+    public static BucketBoundaries FixedWidth(double width, int numFiniteBuckets)
+    {
+        var result = new BucketBoundaries();
+        double boundary = 0;
+        for (int i = 0; i < numFiniteBuckets; i++)
+        {
+            boundary += width;
+            result.Add(boundary);
+        }
+        return result;
+    }
+
+    /// <summary>
+    /// Creates scaled powers-of bucket boundaries.
+    /// </summary>
+    public static BucketBoundaries ScaledPowersOf(double baseValue, double scaleFactor, double maxValue)
+    {
+        if (baseValue <= 1)
+            throw new ArgumentException("Base must be greater than 1", nameof(baseValue));
+        if (scaleFactor <= 0)
+            throw new ArgumentException("Scale factor must be greater than 0", nameof(scaleFactor));
+
+        var result = new BucketBoundaries();
+        double boundary = scaleFactor;
+        while (boundary < maxValue)
+        {
+            result.Add(boundary);
+            boundary *= baseValue;
+        }
+        return result;
+    }
+
+    /// <summary>
+    /// Observes a value in the histogram.
+    /// </summary>
+    public abstract void Observe(double value);
+}
+
+/// <summary>
+/// Null implementation of histogram that does nothing.
+/// </summary>
+internal class NullHistogram : Histogram
+{
+    public override void Observe(double value)
+    {
+        // Do nothing
+    }
+}