Struct BenchmarkOptions

Defined in File BenchmarkOptions.h

Struct Documentation

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

BenchmarkOptions(const rclcpp::Node::SharedPtr &node): Constructor.

void getPlanningPipelineNames(std::vector<std::string> &planning_pipeline_names) const: Get all planning pipeline names.

const std::string &getWorkspaceFrameID() const

const moveit_msgs::msg::WorkspaceParameters &getWorkspaceParameters() const

bool readBenchmarkOptions(const rclcpp::Node::SharedPtr &node)

bool readPlannerConfigs(const rclcpp::Node::SharedPtr &node)

void readWorkspaceParameters(const rclcpp::Node::SharedPtr &node)

void readGoalOffset(const rclcpp::Node::SharedPtr &node)

Public Members

std::string hostname: Warehouse parameters.

int port

std::string scene_name

int runs: Benchmark parameters.

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

std::vector<std::string> predefined_poses

std::string predefined_poses_group

std::vector<double> goal_offsets = std::vector<double>(CARTESIAN_DOF)

std::map<std::string, std::vector<std::string>> planning_pipelines: planner configurations

std::map<std::string, std::vector<std::pair<std::string, std::string>>> parallel_planning_pipelines

moveit_msgs::msg::WorkspaceParameters workspace