From 479611da9c21b49e3d9bac14218ece77938bcea0 Mon Sep 17 00:00:00 2001
From: Danil Pavlenko <danil.rivero@tecnalia.com>
Date: Mon, 13 Jan 2025 12:57:16 +0100
Subject: [PATCH] Introduce points_reached to ReachResultSummary & implement at
 calculateResults

---
 include/reach/types.h          | 4 ++++
 src/python/python_bindings.cpp | 1 +
 src/types.cpp                  | 1 +
 3 files changed, 6 insertions(+)

diff --git a/include/reach/types.h b/include/reach/types.h
index a05257c6..37dd5557 100644
--- a/include/reach/types.h
+++ b/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";
diff --git a/src/python/python_bindings.cpp b/src/python/python_bindings.cpp
index 6a3ccec7..16a94c3c 100644
--- a/src/python/python_bindings.cpp
+++ b/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)
diff --git a/src/types.cpp b/src/types.cpp
index 330da56f..d0cda9ae 100644
--- a/src/types.cpp
+++ b/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;