#include <benchmark_execution.h>

Classes
struct	BenchmarkOptions
struct	ParameterOptions
	Allows for parameter sweeping of the planner configuration. More...
Public Member Functions
	BenchmarkExecution (const planning_scene::PlanningScenePtr &scene, const std::string &host, std::size_t port)
void	printOptions (std::ostream &out)
bool	readOptions (const std::string &filename)
void	runAllBenchmarks (BenchmarkType type)
void	runBenchmark (BenchmarkRequest &req)
void	runGoalExistenceBenchmark (BenchmarkRequest &req)
void	runPlanningBenchmark (BenchmarkRequest &req)
Private Types
typedef std::map< std::string, double >	ParameterInstance
	Contains the parameter combination for one test.
Private Member Functions
void	collectMetrics (std::map< std::string, std::string > &rundata, const planning_interface::MotionPlanDetailedResponse &mp_res, bool solved, double total_time)
std::size_t	generateParamCombinations ()
	Populates the param_combinations_ vector with all combinations of desired parameters to be tested.
void	modifyPlannerConfiguration (planning_interface::PlannerManager &planner, const std::string &planner_id, std::size_t param_combinations_id_, RunData &parameter_data)
	Called within the benchmarking solve loop to allow parameters to be swept/tested.
void	printConfigurationSettings (const planning_interface::PlannerConfigurationMap &settings, std::ostream &out)
	Output to console the settings.
void	recursiveParamCombinations (int options_id, ParameterInstance param_instance)
	Recursively generates all the combinations of parameters to be tested.
Private Attributes
std::vector< std::string >	available_plugins_
moveit_warehouse::ConstraintsStorage	cs_
BenchmarkOptions	options_
std::vector< ParameterInstance >	param_combinations_
std::vector< ParameterOptions >	param_options_
std::map< std::string, planning_interface::PlannerManagerPtr >	planner_interfaces_
boost::shared_ptr < pluginlib::ClassLoader < planning_interface::PlannerManager > >	planner_plugin_loader_
planning_scene::PlanningScenePtr	planning_scene_
moveit_warehouse::PlanningSceneStorage	pss_
moveit_warehouse::PlanningSceneWorldStorage	psws_
moveit_warehouse::RobotStateStorage	rs_
moveit_warehouse::TrajectoryConstraintsStorage	tcs_

Detailed Description

Definition at line 90 of file benchmark_execution.h.

Member Typedef Documentation

typedef std::map<std::string, double> moveit_benchmarks::BenchmarkExecution::ParameterInstance [private]

Contains the parameter combination for one test.

Definition at line 143 of file benchmark_execution.h.

Constructor & Destructor Documentation

moveit_benchmarks::BenchmarkExecution::BenchmarkExecution	(	const planning_scene::PlanningScenePtr &	scene,
		const std::string &	host,
		std::size_t	port
	)

Definition at line 93 of file benchmark_execution.cpp.

Member Function Documentation

void moveit_benchmarks::BenchmarkExecution::collectMetrics	(	std::map< std::string, std::string > &	rundata,
		const planning_interface::MotionPlanDetailedResponse &	mp_res,
		bool	solved,
		double	total_time
	)		`[private]`

(a + b);

Definition at line 807 of file benchmark_execution.cpp.

std::size_t moveit_benchmarks::BenchmarkExecution::generateParamCombinations ( ) [private]

Populates the param_combinations_ vector with all combinations of desired parameters to be tested.

Returns:: number of combinations to be tested

Definition at line 1446 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::modifyPlannerConfiguration	(	planning_interface::PlannerManager &	planner,
		const std::string &	planner_id,
		std::size_t	param_combinations_id_,
		RunData &	parameter_data
	)		`[private]`

Called within the benchmarking solve loop to allow parameters to be swept/tested.

Parameters:

planner	- pointer to the current planner we are about to use
planner_id	- name of planner we are about to use
param_combinations_id_	- keeps track of what parameter combo we are currently iterating on
parameter_data	- used for outputting log information to file (results)

Definition at line 1403 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::printConfigurationSettings	(	const planning_interface::PlannerConfigurationMap &	settings,
		std::ostream &	out
	)		`[private]`

Output to console the settings.

Definition at line 1505 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::printOptions ( std::ostream & out )

Definition at line 774 of file benchmark_execution.cpp.

bool moveit_benchmarks::BenchmarkExecution::readOptions ( const std::string & filename )

Definition at line 501 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::recursiveParamCombinations	(	int	options_id,
		ParameterInstance	param_instance
	)		`[private]`

Recursively generates all the combinations of parameters to be tested.

Parameters:

options_id	- where in the recursive loop we are, id is with respect to the nnn*... number of tests we are to generate
param_instance	- holds the generated parameter combinations, the result

Definition at line 1478 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::runAllBenchmarks ( BenchmarkType type )

Definition at line 138 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::runBenchmark ( BenchmarkRequest & req )

Definition at line 799 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::runGoalExistenceBenchmark ( BenchmarkRequest & req )

Definition at line 1225 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::runPlanningBenchmark ( BenchmarkRequest & req )

Definition at line 908 of file benchmark_execution.cpp.