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annotate trajectorymanagement/src/TrajectoryDBAccess.h @ 1253:ef68d4ba7dae
added loading ego vehicle in kitti 2D format and method to plot outline
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 25 Mar 2024 17:05:20 -0400 |
parents | e1e7acef8eab |
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rev | line source |
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1 #ifndef TRAJECTORYDBACCESS_H_ |
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2 #define TRAJECTORYDBACCESS_H_ |
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3 |
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4 #include "DBSQLiteAccess.h" |
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5 #include "Trajectory.h" |
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6 |
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7 #include <iostream> |
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8 #include <sstream> |
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9 #include <cassert> |
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10 |
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11 /** |
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12 * TrajectoryDBAccess class. |
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13 * |
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14 * The TrajectoryDBAccess is an abstract class with basic operations on trajectories and databases. |
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15 */ |
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16 |
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17 template<typename T> |
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18 class TrajectoryDBAccess |
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19 { |
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20 public: |
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21 /** |
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22 * Constructor. |
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23 */ |
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24 TrajectoryDBAccess() |
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25 { |
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26 db = new DBSQLiteAccess(); |
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27 } |
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28 |
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29 /** |
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30 * Destructor. |
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31 */ |
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32 virtual ~TrajectoryDBAccess() |
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33 { |
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34 delete db; |
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35 } |
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36 |
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37 /** |
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38 * Connect to the database. |
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39 * |
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40 * @param[in] database name of the database |
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41 * @return information whether the operation was successful |
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42 */ |
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43 bool connect(const char *database) |
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44 { |
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45 return db->connect(database); |
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46 } |
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47 |
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48 /** |
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49 * Disconnect from the database. |
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50 * |
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51 * @return information whether the operation was successful |
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52 */ |
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53 bool disconnect() |
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54 { |
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55 return db->disconnect(); |
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56 } |
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57 |
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58 /** |
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59 * Create a table. |
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60 * |
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61 * @return information whether the operation was successful |
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62 */ |
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63 virtual bool createTable(const std::string& tableName = "trajectories") = 0; |
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64 |
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65 /** |
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66 * This function creates a prototype table which contains a map between prototype and trajectory_id |
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67 * which matches the prototype |
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68 */ |
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69 bool createPrototypeTable(const std::string& tableName = "prototypes"){ |
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70 if (!db->isConnected()){ |
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71 return false; |
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72 } |
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73 |
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74 std::string statementString = "create table "+tableName+" ( prototype_id INTEGER, trajectory_id_matched INTEGER);"; |
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75 bool success = db->executeStatement(statementString.c_str()); |
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76 return success; |
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77 } |
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78 |
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79 /** Create a table of objects, ie list of trajectory ids with attributes */ |
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80 bool createObjectTable(const std::string& objectTableName = "objects", const std::string& linkTableName = "objects_features") { |
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81 //id_obj, road user type, size / db lien features-obj id_feature, id_obj |
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82 |
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83 if (!TrajectoryDBAccess<T>::db->isConnected()) |
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84 { |
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85 return false; |
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86 } |
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87 |
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88 std::string statementString = "create table "+objectTableName+" ( object_id INTEGER, road_user_type INTEGER DEFAULT 0, n_objects INTEGER DEFAULT 1, PRIMARY KEY(object_id) );"; |
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89 bool success = TrajectoryDBAccess<T>::db->executeStatement(statementString.c_str()); |
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90 statementString = "create table "+linkTableName+" (object_id INTEGER, trajectory_id INTEGER, PRIMARY KEY(object_id, trajectory_id) );"; |
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91 success = success && TrajectoryDBAccess<T>::db->executeStatement(statementString.c_str()); |
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92 return success; |
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93 } |
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94 |
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95 /** Create a table of bounding boxes of the objects in image space */ |
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96 bool createBoundingBoxTable(const std::string& bbTableName = "bounding_box") { |
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97 if (!TrajectoryDBAccess<T>::db->isConnected()) |
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98 { |
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99 return false; |
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100 } |
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101 |
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102 std::string statementString = "CREATE TABLE bounding_boxes (object_id INTEGER, frame_number INTEGER, x_top_left REAL, y_top_left REAL, x_bottom_right REAL, y_bottom_right REAL, PRIMARY KEY(object_id, frame_number))"; |
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103 bool success = TrajectoryDBAccess<T>::db->executeStatement(statementString.c_str()); |
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104 return success; |
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105 } |
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106 |
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107 /** |
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108 * Delete a table. |
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109 * |
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110 * @return information whether the operation was successful |
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111 */ |
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112 bool deleteTable(const std::string& tableName = "trajectories") |
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113 { |
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114 if (!db->isConnected()) |
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115 { |
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116 return false; |
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117 } |
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118 |
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119 std::string statementString = "drop table "+tableName+";"; |
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120 const char *statement = statementString.c_str(); |
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121 |
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122 bool success = db->executeStatement(statement); |
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123 return success; |
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124 } |
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125 |
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126 /** |
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127 * Read trajectories from a database. |
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128 * |
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129 * @param[out] trajectories trajectories |
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130 * @return information whether the operation was successful |
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131 */ |
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132 virtual bool read(std::vector<std::shared_ptr<Trajectory<T> > > &trajectories, const std::string& tableName = "trajectories") = 0; |
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133 |
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134 /** |
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135 * Read prototypes from a database and matching trajectory Ids. |
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136 * |
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137 * @param[out] multimap of prototype ids and trajectory ids |
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138 * @retur boolean : if the operation was successful or not |
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139 * |
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140 */ |
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141 bool read(std::multimap<int,int>& matches, const std::string& tableName = "prototypes") { |
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142 if (!TrajectoryDBAccess<T>::db->isConnected()) |
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143 return false; |
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144 |
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145 std::string statement = "select * from "+tableName+" order by prototype_id, trajectory_id_matched;"; |
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146 bool success = TrajectoryDBAccess<T>::db->executeStatementSelectPrototypeMatches(matches, statement.c_str()); |
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147 return success; |
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148 } |
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149 |
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150 /// Reads trajectory with specific number |
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151 virtual bool read(std::shared_ptr<Trajectory<T> >& trajectory, const int& trajectoryId, const std::string& tableName = "trajectories") = 0; |
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152 |
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153 bool beginTransaction(void) { return db->begin();} |
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154 |
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155 bool endTransaction(void) { return db->end();} |
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156 |
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157 /** |
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158 * Write the trajectory to the database within a transaction, calling write. |
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159 * |
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160 * @param[in] trajectory trajectory |
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161 * @return information whether the operation was successful |
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162 */ |
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163 bool writeTransaction(const Trajectory<T> &trajectory, const std::string& tableName = "trajectories") { |
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164 if (!db->isConnected()) |
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165 { |
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166 return false; |
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167 } |
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168 |
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169 bool success = db->begin(); |
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170 if (!success) |
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171 { |
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172 return false; |
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173 } |
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174 |
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175 success = write(trajectory, tableName); |
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176 if (!success) |
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177 { |
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178 return false; |
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179 } |
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180 |
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181 success = db->end(); |
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182 if (!success) |
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183 { |
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184 return false; |
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185 } |
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186 |
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187 return true; |
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188 } |
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189 |
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190 /** |
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191 * Write the trajectory to the database. |
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192 * |
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193 * @param[in] trajectory trajectory |
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194 * @return information whether the operation was successful |
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195 */ |
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196 virtual bool write(const Trajectory<T> &trajectory, const std::string& tableName = "trajectories") = 0; |
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197 |
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198 /** |
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199 * Write the prototype and trajectory id matches to the database. |
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200 * |
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201 * @param[in] the multimap between prototype_id and trajectory_id |
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202 * @return boolean on whether the operation was successful |
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203 */ |
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204 bool write(const std::multimap<int,int> &matches, const std::string& tableName = "prototypes"){ |
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205 std::string stmt; |
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206 bool success = true; |
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207 bool failure = false; |
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208 int p_id; |
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209 int t_id; |
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210 |
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211 std::multimap<int,int>::const_iterator it; |
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212 for (it = matches.begin(); it != matches.end(); ++it){ |
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213 p_id = it->first; |
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214 t_id = it->second; |
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215 stmt = "insert into "+tableName+" (prototype_id, trajectory_id_matched) values ("+TrajectoryDBAccess<T>::toString(p_id)+", "+TrajectoryDBAccess<T>::toString(t_id)+")"; |
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216 success = db->executeStatement(stmt.c_str()); |
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217 if (success == false) |
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218 failure = true; |
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219 } // (go) for it |
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220 return !failure; |
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221 } |
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222 |
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223 /** Write object */ |
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224 bool writeObject(const unsigned int id, const std::vector<unsigned int>& object, const int roadUserType = 0, const int nObjects = 1, const std::string& objectTableName = "objects", const std::string& linkTableName = "objects_features") { |
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225 std::string sid = TrajectoryDBAccess<T>::toString(id); |
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226 std::string stmt = "insert into "+objectTableName+" (object_id, road_user_type, n_objects) values ("+sid+", "+TrajectoryDBAccess<T>::toString(roadUserType)+", "+TrajectoryDBAccess<T>::toString(nObjects)+")"; |
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227 bool success = TrajectoryDBAccess<T>::db->executeStatement(stmt.c_str()); |
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228 |
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229 if (!success) { |
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230 std::cout << "rollback" << std::endl; |
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231 success = TrajectoryDBAccess<T>::db->rollback(); |
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232 if (!success) |
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233 return false; |
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234 } |
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235 |
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236 for (unsigned int i=0; i<object.size(); ++i) { |
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237 std::string stmt = "insert into "+linkTableName+" (object_id, trajectory_id) values ("+sid+","+TrajectoryDBAccess<T>::toString(object[i])+")"; |
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238 success = TrajectoryDBAccess<T>::db->executeStatement(stmt.c_str()); |
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239 // check rollback? |
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240 } |
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241 return success; |
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242 } |
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243 |
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244 /** |
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245 * Get the label of the trajectory. |
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246 * |
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247 * @param[in] trajectoryId id of the trajectory |
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248 * @param[out] resultOut label |
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249 * @return information whether the operation was successful |
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250 */ |
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251 bool getTrajectoryLabel(unsigned trajectoryId, std::string& resultOut) |
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252 { |
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253 std::string trajectoryIdString = toString(trajectoryId); |
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254 std::string stmtStr = "select label from trajectorytypes where trajectory_id=" + trajectoryIdString + ";"; |
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255 resultOut.clear(); |
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256 bool success = db->executeStatementGetSingleValue(stmtStr.c_str(), resultOut); |
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257 return success; |
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258 } |
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259 |
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260 /** |
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261 * Inform whether the table with trajectories exists or not. |
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262 * |
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263 * @param[out] result information whether the table exists or not |
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264 * @return information whether the operation was successful |
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265 */ |
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266 bool tableExists(bool &result, const std::string& tableName = "trajectories") |
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267 { |
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268 std::string stmtStr = "select count() from sqlite_master where name=\'"+tableName+"\' and type=\'table\'"; |
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269 bool success = db->executeStatementGetSingleValue(stmtStr.c_str(), result); |
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270 return success; |
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271 } |
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272 |
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273 /** |
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274 * Inform whether the table with labels of trajectories exists or not. |
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275 * |
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276 * @param[out] result information whether the table exists or not |
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277 * @return information whether the operation was successful |
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278 */ |
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279 bool labelTableExists(bool &result) |
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280 { |
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281 std::string stmtStr = "select count() from sqlite_master where name=\'trajectorytypes\' and type=\'table\'"; |
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282 bool success = db->executeStatementGetSingleValue(stmtStr.c_str(), result); |
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283 return success; |
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284 } |
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285 |
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286 /** |
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287 * Get the number of trajectories in the database. |
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288 * |
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289 * @param[out] result number of trajectories in the database |
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290 * @return information whether the operation was successful |
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291 */ |
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292 bool size(unsigned int &result, const std::string& tableName = "trajectories") |
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293 { |
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294 std::string stmtStr = "select count(distinct trajectory_id) from "+tableName+";"; |
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295 const char *stmt = stmtStr.c_str(); |
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296 bool success = db->executeStatementGetSingleValue(stmt, result); |
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297 return success; |
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298 } |
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299 |
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300 /** |
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301 * Get the minimum id of all trajectories in a database. |
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302 * |
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303 * @param[out] result minimum id |
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304 * @return information whether the operation was successful |
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305 */ |
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306 bool minTrajectoryId(unsigned int &result, const std::string& tableName = "trajectories") |
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307 { |
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308 std::string stmtStr = "select min(trajectory_id) from "+tableName+";"; |
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309 const char *stmt = stmtStr.c_str(); |
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310 bool success = db->executeStatementGetSingleValue(stmt, result); |
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311 return success; |
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312 } |
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313 |
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314 /** |
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315 * Get the maximum id of all trajectories in a database. |
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316 * |
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317 * @param[out] result maximum id |
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318 * @return information whether the operation was successful |
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319 */ |
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320 bool maxTrajectoryId(unsigned int &result, const std::string& tableName = "trajectories") |
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321 { |
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322 std::string stmtStr = "select max(trajectory_id) from "+tableName+";"; |
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323 const char *stmt = stmtStr.c_str(); |
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324 bool success = db->executeStatementGetSingleValue(stmt, result); |
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325 return success; |
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326 } |
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327 |
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328 /** Returns the first and last instants of all trajectory elements */ |
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329 bool firstLastInstants(unsigned int& firstInstant, unsigned int& lastInstant) { |
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330 std::string stmtStr = "select min(first_instant), max(last_instant) from trajectory_instants"; |
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331 std::vector<std::vector<int> > result; |
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332 bool success = TrajectoryDBAccess<T>::db->executeStatementSelectMultipleIntegers(result, stmtStr.c_str()); |
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333 if (!result.empty()) { |
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334 firstInstant = result[0][0]; |
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335 lastInstant = result[0][1]; |
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336 } |
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337 return success; |
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338 } |
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339 |
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340 /** Returns the first and last frame of the trajectory with given id */ |
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341 bool timeInterval(unsigned int& firstInstant, unsigned int& lastInstant, const int& trajectoryId) { |
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342 std::stringstream stmtSS; |
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343 stmtSS << "select first_instant,last_instant from trajectory_instants where trajectory_id=" << trajectoryId; |
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344 std::vector<std::vector<int> > result; |
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345 bool success = TrajectoryDBAccess<T>::db->executeStatementSelectMultipleIntegers(result, stmtSS.str().c_str()); |
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346 assert(result.size() == 1); |
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347 assert(result[0].size() == 2); |
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348 firstInstant = result[0][0]; |
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349 lastInstant = result[0][1]; |
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350 return success; |
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351 } |
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352 |
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353 protected: |
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354 /** |
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355 * Pointer to the DBSQLiteAccess class. |
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356 */ |
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357 DBSQLiteAccess *db; |
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358 |
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359 /** |
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360 * Convert variable \a x to string. |
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361 * |
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362 * @param x input parameter |
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363 * @return output string |
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364 */ |
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365 template<typename Ts> std::string toString(Ts x) |
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366 { |
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367 std::stringstream ss; |
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368 ss << x; |
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369 return ss.str(); |
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370 } |
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371 }; |
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372 |
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373 #endif /* TRAJECTORYDBACCESS_H_ */ |