benchmark_execution.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_BENCHMARKS_BENCHMARK_EXECUTION_
#define MOVEIT_BENCHMARKS_BENCHMARK_EXECUTION_

#include <moveit/warehouse/planning_scene_storage.h>
#include <moveit/warehouse/planning_scene_world_storage.h>
#include <moveit/warehouse/constraints_storage.h>
#include <moveit/warehouse/trajectory_constraints_storage.h>
#include <moveit/warehouse/state_storage.h>
#include <moveit/planning_interface/planning_interface.h>
#include <pluginlib/class_loader.h>
#include <boost/function.hpp>
#include <iostream>

namespace moveit_benchmarks
{
typedef unsigned int BenchmarkType;
static const BenchmarkType BENCHMARK_PLANNERS = 1;
static const BenchmarkType BENCHMARK_GOAL_EXISTANCE = 2;

typedef std::map<std::string, std::string> RunData;
typedef std::vector<RunData> AlgorithmRunsData;

struct PlanningPluginOptions
{
  std::string name;
  std::vector<std::string> planners;
  std::size_t runs;
};

struct BenchmarkRequest
{
  BenchmarkRequest() : benchmark_type(0)
  {
  }

  // The scene to consider in the benchmark
  moveit_msgs::PlanningScene scene;

  // The problem to benchmarked
  moveit_msgs::MotionPlanRequest motion_plan_request;

  // The planning plugins to use in the benchmark
  std::vector<PlanningPluginOptions> plugins;

  BenchmarkType benchmark_type;

  // The file where to store the results
  std::string filename;

  // Optional: name of goal - only used for later analysis
  std::string goal_name;
};

class BenchmarkExecution
{
public:
  BenchmarkExecution(const planning_scene::PlanningScenePtr& scene, warehouse_ros::DatabaseConnection::Ptr conn);

  bool readOptions(const std::string& filename);
  void printOptions(std::ostream& out);

  void runAllBenchmarks(BenchmarkType type);

  void runBenchmark(BenchmarkRequest& req);
  void runPlanningBenchmark(BenchmarkRequest& req);
  void runGoalExistenceBenchmark(BenchmarkRequest& req);

private:
  struct BenchmarkOptions
  {
    std::string scene;
    std::string output;
    std::string start_regex;
    std::string query_regex;
    std::string goal_regex;
    std::string trajectory_regex;
    std::string group_override;
    std::string planning_frame;
    std::string default_constrained_link;
    std::size_t default_run_count;
    double offsets[6];
    double timeout;

    std::vector<PlanningPluginOptions> plugins;

    moveit_msgs::WorkspaceParameters workspace_parameters;
  };

  struct ParameterOptions
  {
    std::string key;
    std::string log_key;

    // Parameters for sweeping
    bool is_sweep;
    double start;
    double step_size;
    double end;

    // Parameters for fractional factorial analysis (design of experience)
    double high;
    double low;
  };

  typedef std::map<std::string, double> ParameterInstance;

  void collectMetrics(std::map<std::string, std::string>& rundata,
                      const planning_interface::MotionPlanDetailedResponse& mp_res, bool solved, double total_time);

  void modifyPlannerConfiguration(planning_interface::PlannerManager& planner, const std::string& planner_id,
                                  std::size_t param_combinations_id_, RunData& parameter_data);

  std::size_t generateParamCombinations();

  void recursiveParamCombinations(int options_id, ParameterInstance param_instance);

  void printConfigurationSettings(const planning_interface::PlannerConfigurationMap& settings, std::ostream& out);

  BenchmarkOptions options_;
  std::vector<ParameterOptions> param_options_;
  std::vector<ParameterInstance> param_combinations_;

  std::vector<std::string> available_plugins_;
  planning_scene::PlanningScenePtr planning_scene_;

  moveit_warehouse::PlanningSceneStorage pss_;
  moveit_warehouse::PlanningSceneWorldStorage psws_;
  moveit_warehouse::ConstraintsStorage cs_;
  moveit_warehouse::TrajectoryConstraintsStorage tcs_;
  moveit_warehouse::RobotStateStorage rs_;

  boost::shared_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planner_plugin_loader_;
  std::map<std::string, planning_interface::PlannerManagerPtr> planner_interfaces_;
};
}

#endif