ompl::Benchmark Class Reference

Benchmark a set of planners on a problem instance. More...

#include <Benchmark.h>

Classes
struct	CompleteExperiment
	This structure holds experimental data for a set of planners. More...
struct	PlannerExperiment
	The data collected after running a planner multiple times. More...
struct	Status
	This structure contains information about the activity of a benchmark instance. If the instance is running, it is possible to find out information such as which planner is currently being tested or how much. More...
Public Types
typedef boost::function2< void, const base::PlannerPtr &, RunProperties & >	PostSetupEvent
	Signature of function that can be called after a planner execution is completed.
typedef boost::function1< void, const base::PlannerPtr & >	PreSetupEvent
	Signature of function that can be called before a planner execution is started.
typedef std::map< std::string, std::string >	RunProperties
	The data collected from a run of a planner is stored as key-value pairs.
Public Member Functions
void	addPlanner (const base::PlannerPtr &planner)
	Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.
void	addPlannerAllocator (const base::PlannerAllocator &pa)
	Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a default planner will be used if no planner is otherwise specified.
virtual void	benchmark (double maxTime, double maxMem, unsigned int runCount, bool displayProgress=false)
	Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.
	Benchmark (control::SimpleSetup &setup, const std::string &name=std::string())
	Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified.
	Benchmark (geometric::SimpleSetup &setup, const std::string &name=std::string())
	Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified.
void	clearPlanners (void)
	Clear the set of planners to be benchmarked.
const std::string &	getExperimentName (void) const
	Get the name of the experiment.
const CompleteExperiment &	getRecordedExperimentData (void) const
	Return all the experiment data that would be written to the results file. The data should not be changed, but it could be useful to quickly extract cartain statistics.
const Status &	getStatus (void) const
	Get the status of the benchmarking code. This function can be called in a separate thread to check how much progress has been made.
bool	saveResultsToFile (void) const
	Save the results of the benchmark to a file. The name of the file is the current date and time.
bool	saveResultsToFile (const char *filename) const
	Save the results of the benchmark to a file.
virtual bool	saveResultsToStream (std::ostream &out=std::cout) const
	Save the results of the benchmark to a stream.
void	setExperimentName (const std::string &name)
	Set the name of the experiment.
void	setPostRunEvent (const PostSetupEvent &event)
	Set the event to be called after the run of a planner.
void	setPreRunEvent (const PreSetupEvent &event)
	Set the event to be called before the run of a planner.
virtual	~Benchmark (void)
Protected Member Functions
std::string	getResultsFilename (void) const
	Propose a name for a file in which results should be saved, based on the date and hostname of the experiment.
Protected Attributes
control::SimpleSetup *	csetup_
	The instance of the problem to benchmark (if planning with controls).
CompleteExperiment	exp_
	The collected experimental data (for all planners).
geometric::SimpleSetup *	gsetup_
	The instance of the problem to benchmark (if geometric planning).
msg::Interface	msg_
	Interface for console output.
std::vector< base::PlannerPtr >	planners_
	The set of planners to be tested.
PostSetupEvent	postRun_
	Event to be called after the run of a planner.
PreSetupEvent	preRun_
	Event to be called before the run of a planner.
Status	status_
	The current status of this benchmarking instance.

Detailed Description

Benchmark a set of planners on a problem instance.

Definition at line 44 of file Benchmark.h.

Member Typedef Documentation

typedef boost::function2<void, const base::PlannerPtr&, RunProperties&> ompl::Benchmark::PostSetupEvent

Signature of function that can be called after a planner execution is completed.

Definition at line 78 of file Benchmark.h.

typedef boost::function1<void, const base::PlannerPtr&> ompl::Benchmark::PreSetupEvent

Signature of function that can be called before a planner execution is started.

Definition at line 75 of file Benchmark.h.

typedef std::map<std::string, std::string> ompl::Benchmark::RunProperties

The data collected from a run of a planner is stored as key-value pairs.

Definition at line 72 of file Benchmark.h.

Constructor & Destructor Documentation

ompl::Benchmark::Benchmark	(	geometric::SimpleSetup &	setup,
		const std::string &	name = `std::string()`
	)			`[inline]`

Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified.

Definition at line 125 of file Benchmark.h.

ompl::Benchmark::Benchmark	(	control::SimpleSetup &	setup,
		const std::string &	name = `std::string()`
	)			`[inline]`

Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified.

Definition at line 131 of file Benchmark.h.

virtual ompl::Benchmark::~Benchmark ( void ) [inline, virtual]

Definition at line 136 of file Benchmark.h.

Member Function Documentation

void ompl::Benchmark::addPlanner ( const base::PlannerPtr & planner ) [inline]

Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.

Definition at line 156 of file Benchmark.h.

void ompl::Benchmark::addPlannerAllocator ( const base::PlannerAllocator & pa ) [inline]

Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a default planner will be used if no planner is otherwise specified.

Definition at line 167 of file Benchmark.h.

virtual void ompl::Benchmark::benchmark	(	double	maxTime,
		double	maxMem,
		unsigned int	runCount,
		bool	displayProgress = `false`
	)			`[virtual]`

Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.

Parameters:

	maxTime	the maximum amount of time a planner is allowed to run (seconds)
	maxMem	the maximum amount of memory a planner is allowed to use (MB)
	runCount	the number of times to run each planner
	displayProgress	flag indicating whether progress is to be displayed or not

Note:: The values returned for memory consumption may be misleading. Memory allocators often free memory in a lazy fashion, so the returned values for memory consumption indicate the increase in memory usage for each run. Since not all the memory for the previous run was freed, the increase in usage may be close to 0. To get correct averages for memory usage, use runCount = 1 and run the process multiple times.

void ompl::Benchmark::clearPlanners ( void ) [inline]

Clear the set of planners to be benchmarked.

Definition at line 173 of file Benchmark.h.

const std::string& ompl::Benchmark::getExperimentName ( void ) const [inline]

Get the name of the experiment.

Definition at line 147 of file Benchmark.h.

const CompleteExperiment& ompl::Benchmark::getRecordedExperimentData ( void ) const [inline]

Return all the experiment data that would be written to the results file. The data should not be changed, but it could be useful to quickly extract cartain statistics.

Definition at line 217 of file Benchmark.h.

std::string ompl::Benchmark::getResultsFilename ( void ) const [protected]

Propose a name for a file in which results should be saved, based on the date and hostname of the experiment.

const Status& ompl::Benchmark::getStatus ( void ) const [inline]

Get the status of the benchmarking code. This function can be called in a separate thread to check how much progress has been made.

Definition at line 208 of file Benchmark.h.

bool ompl::Benchmark::saveResultsToFile ( void ) const

Save the results of the benchmark to a file. The name of the file is the current date and time.

bool ompl::Benchmark::saveResultsToFile ( const char * filename ) const

Save the results of the benchmark to a file.

virtual bool ompl::Benchmark::saveResultsToStream ( std::ostream & out = std::cout ) const [virtual]

Save the results of the benchmark to a stream.