Introduce points_reached to ReachResultSummary & implement at calcula…

…teResults

include/reach/types.h

@@ -75,6 +75,9 @@ class ReachRecord
 class ReachResultSummary
 {
 public:
+  /** @brief The number of target poses that were reachable */
+  float points_reached = 0.0f;
+
   /**
    * @brief The total pose score for all reachable points
    * @details This score is generally only significant relative to the score of a different reach study using the same
@@ -96,6 +99,7 @@ class ReachResultSummary
   {
     std::stringstream ss;
     ss << "------------------------------------------------\n";
+    ss << "Points Reached = " << points_reached << "\n";
     ss << "Percent Reached = " << reach_percentage << "\n";
     ss << "Total points score = " << total_pose_score << "\n";
     ss << "Normalized total points score = " << norm_total_pose_score << "\n";

src/python/python_bindings.cpp

@@ -273,6 +273,7 @@ BOOST_PYTHON_MODULE(MODULE_NAME)
         .def("computeHeatMapColors", &ReachDatabase::computeHeatMapColors);
 
     bp::class_<ReachResultSummary>("ReachResultSummary")
+        .def_readonly("reached_points", &ReachResultSummary::points_reached)
         .def_readonly("total_pose_score", &ReachResultSummary::total_pose_score)
         .def_readonly("norm_total_pose_score", &ReachResultSummary::norm_total_pose_score)
         .def_readonly("reach_percentage", &ReachResultSummary::reach_percentage)

src/types.cpp

@@ -104,6 +104,7 @@ ReachResultSummary calculateResults(const ReachResult& db)
   const float pct_success = static_cast<float>(success) / static_cast<float>(total);
 
   ReachResultSummary results;
+  results.points_reached = success;
   results.reach_percentage = 100.0f * pct_success;
   results.total_pose_score = score;
   results.norm_total_pose_score = score / pct_success;