add more doc, user iterator

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
gazebosim · Sep 17, 2020 · 13f57fe · 13f57fe
1 parent 8386f5e
commit 13f57fe
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/gazebo/msgs/performance_metrics.proto b/gazebo/msgs/performance_metrics.proto
@@ -22,7 +22,7 @@ message PerformanceMetrics
     required double sim_update_rate  = 3;
 
     /// \brief If the sensor is a camera then this field should be filled
-    /// with fps in real time.
+    /// with average fps in real time.
     optional double fps                     = 4;
   }
 

diff --git a/gazebo/sensors/SensorManager.cc b/gazebo/sensors/SensorManager.cc
@@ -66,7 +66,11 @@ struct sensorPerformanceMetricsType
   /// \brief sensor sim time update rate
   double sensorSimUpdateRate;
 
-  /// \brief Rendering sensor average real time update rate
+  /// \brief Rendering sensor average real time update rate. The difference
+  /// between sensorAvgFps and sensorRealUpdateRte is that sensorAvgFps is
+  /// for rendering sensors only and the rate is averaged over a fixed
+  /// window size, whereas the sensorSimUpdateRate stores the instantaneous
+  /// update rate and it is filled by all sensors.
   double sensorAvgFPS;
 };
 
@@ -247,9 +251,9 @@ void PublishPerformanceMetrics()
                   (name, emptySensorPerfomanceMetrics));
             if (ret2.second == false)
             {
-              sensorPerformanceMetrics[name].sensorSimUpdateRate =
+              ret2.first->second.sensorSimUpdateRate =
                   1.0/updateSimRate;
-              sensorPerformanceMetrics[name].sensorRealUpdateRate =
+              ret2.first->second.sensorRealUpdateRate =
                   1.0/updateRealRate;
               worldLastMeasurementTime[name] = world->RealTime();
 
@@ -258,12 +262,12 @@ void PublishPerformanceMetrics()
                 std::dynamic_pointer_cast<sensors::CameraSensor>(sensor);
               if (nullptr != cameraSensor)
               {
-                sensorPerformanceMetrics[name].sensorAvgFPS =
+                ret2.first->second.sensorAvgFPS =
                     cameraSensor->Camera()->AvgFPS();
               }
               else
               {
-                sensorPerformanceMetrics[name].sensorAvgFPS = -1;
+                ret2.first->second.sensorAvgFPS = -1;
               }
             }
           }