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/* Author: Andreas Orthey */

#pragma once
#include <ompl/multilevel/datastructures/pathrestriction/Head.h>

namespace ompl
{
    namespace multilevel
    {
        /// @cond IGNORE
        /** \brief Forward declaration of ompl::multilevel::Head */
        OMPL_CLASS_FORWARD(Head);
        /// @endcond
        class HeadAnalyzer
        {
        public:
            /** \brief Simple debugger for the Head class to write information
             * continuously onto the terminal */
            HeadAnalyzer(HeadPtr &head)
            {
                head_ = head;
            }
            using OccurenceMap = std::map<std::string, int>;

            void operator()(std::string s)
            {
                if (enabled_)
                {
                    auto entry = map_.find(s);
                    if (entry == map_.end())
                    {
                        map_[s] = 1;
                    }
                    else
                    {
                        map_[s] = map_[s] + 1;
                    }
                    samples_++;
                }
            }

            void disable()
            {
                enabled_ = false;
            }

            void clear()
            {
                map_.clear();
            }
            void print()
            {
                if (enabled_)
                {
                    OccurenceMap::iterator itr;
                    std::cout << std::string(80, '-') << std::endl;
                    std::cout << "HeadAnalyzer (" << samples_ << " samples, location " << head_->getLocationOnBasePath()
                              << ")" << std::endl;
                    for (itr = map_.begin(); itr != map_.end(); ++itr)
                    {
                        std::cout << " > " << itr->first << ": " << itr->second << std::endl;
                    }
                    std::cout << std::string(80, '-') << std::endl;
                }
            }

        private:
            OccurenceMap map_;
            int samples_{0};
            HeadPtr head_;

            bool enabled_{true};
        };
    }  // namespace multilevel
}  // namespace ompl
