BenchmarkOptions.h

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/* Author: Ryan Luna */

#ifndef MOVEIT_ROS_BENCHMARK_BENCHMARK_OPTIONS_
#define MOVEIT_ROS_BENCHMARK_BENCHMARK_OPTIONS_

#include <string>
#include <map>
#include <vector>
#include <ros/ros.h>
#include <moveit_msgs/WorkspaceParameters.h>

namespace moveit_ros_benchmarks
{
class BenchmarkOptions
{
public:
  BenchmarkOptions();
  BenchmarkOptions(const std::string& ros_namespace);
  virtual ~BenchmarkOptions();

  void setNamespace(const std::string& ros_namespace);

  const std::string& getHostName() const;
  int getPort() const;
  const std::string& getSceneName() const;

  int getNumRuns() const;
  double getTimeout() const;
  const std::string& getBenchmarkName() const;
  const std::string& getGroupName() const;
  const std::string& getOutputDirectory() const;
  const std::string& getQueryRegex() const;
  const std::string& getStartStateRegex() const;
  const std::string& getGoalConstraintRegex() const;
  const std::string& getPathConstraintRegex() const;
  const std::string& getTrajectoryConstraintRegex() const;
  void getGoalOffsets(std::vector<double>& offsets) const;
  const std::map<std::string, std::vector<std::string>>& getPlannerConfigurations() const;
  void getPlannerPluginList(std::vector<std::string>& plugin_list) const;

  const std::string& getWorkspaceFrameID() const;
  const moveit_msgs::WorkspaceParameters& getWorkspaceParameters() const;

protected:
  void readBenchmarkOptions(const std::string& ros_namespace);

  void readWarehouseOptions(ros::NodeHandle& nh);
  void readBenchmarkParameters(ros::NodeHandle& nh);
  void readPlannerConfigs(ros::NodeHandle& nh);

  void readWorkspaceParameters(ros::NodeHandle& nh);
  void readGoalOffset(ros::NodeHandle& nh);

  std::string hostname_;
  int port_;
  std::string scene_name_;

  int runs_;
  double timeout_;
  std::string benchmark_name_;
  std::string group_name_;
  std::string output_directory_;
  std::string query_regex_;
  std::string start_state_regex_;
  std::string goal_constraint_regex_;
  std::string path_constraint_regex_;
  std::string trajectory_constraint_regex_;
  double goal_offsets[6];

  std::map<std::string, std::vector<std::string>> planners_;

  moveit_msgs::WorkspaceParameters workspace_;
};
}

#endif