Struct BenchmarkOptions
Defined in File BenchmarkOptions.h
Struct Documentation
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struct BenchmarkOptions
Options to configure a benchmark experiment. The configuration is provided via ROS2 parameters.
TODO(sjahr): Replace with generate_parameter_library config
Parameter configuration example: benchmark_config: # Benchmark param namespace warehouse: host: # Host address for warehouse port: # Port name for warehouse scene_name: # Scene name to load for this experiment parameters: name: # Experiment name runs: # Number of experiment runs group: # Joint group name timeout: # Experiment timeout output_directory: # Output directory for results file queries_regex: # Number of queries start_states_regex: # Start states goal_constraints_regex: # Goal constrains path_constraints_regex trajectory_constraints_regex predefined_poses_group: # Group where the predefined poses are specified predefined_poses: # List of named targets planning_pipelines: pipeline_names: # List of pipeline names to be loaded by moveit_cpp pipelines: # List of pipeline names to be used by the benchmark tool my_pipeline: # Example pipeline definition name: # Pipeline name planners: # List of planners of the pipeline to be tested parallel_pipelines: # List of parallel planning pipelines to be tested my_parallel_planning_pipeline: pipelines: # List of parallel planning pipelines planner_ids: # Ordered! list planner_ids used by the individual pipelines listed in ‘pipeline’
Public Functions
Constructor.
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void getPlanningPipelineNames(std::vector<std::string> &planning_pipeline_names) const
Get all planning pipeline names.
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const std::string &getWorkspaceFrameID() const
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const moveit_msgs::msg::WorkspaceParameters &getWorkspaceParameters() const
Public Members
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std::string hostname
Warehouse parameters.
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int port
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std::string scene_name
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int runs
Benchmark parameters.
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double timeout
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std::string benchmark_name
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std::string group_name
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std::string output_directory
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std::string query_regex
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std::string start_state_regex
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std::string goal_constraint_regex
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std::string path_constraint_regex
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std::string trajectory_constraint_regex
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std::vector<std::string> predefined_poses
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std::string predefined_poses_group
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std::vector<double> goal_offsets = std::vector<double>(CARTESIAN_DOF)
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std::map<std::string, std::vector<std::string>> planning_pipelines
planner configurations
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std::map<std::string, std::vector<std::pair<std::string, std::string>>> parallel_planning_pipelines
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moveit_msgs::msg::WorkspaceParameters workspace