Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes
moveit_benchmarks::BenchmarkExecution Class Reference

#include <benchmark_execution.h>

List of all members.

Classes

struct  BenchmarkOptions
struct  ParameterOptions
 Allows for parameter sweeping of the planner configuration. More...

Public Member Functions

 BenchmarkExecution (const planning_scene::PlanningScenePtr &scene, warehouse_ros::DatabaseConnection::Ptr conn)
void printOptions (std::ostream &out)
bool readOptions (const std::string &filename)
void runAllBenchmarks (BenchmarkType type)
void runBenchmark (BenchmarkRequest &req)
void runGoalExistenceBenchmark (BenchmarkRequest &req)
void runPlanningBenchmark (BenchmarkRequest &req)

Private Types

typedef std::map< std::string,
double > 
ParameterInstance
 Contains the parameter combination for one test.

Private Member Functions

void collectMetrics (std::map< std::string, std::string > &rundata, const planning_interface::MotionPlanDetailedResponse &mp_res, bool solved, double total_time)
std::size_t generateParamCombinations ()
 Populates the param_combinations_ vector with all combinations of desired parameters to be tested.
void modifyPlannerConfiguration (planning_interface::PlannerManager &planner, const std::string &planner_id, std::size_t param_combinations_id_, RunData &parameter_data)
 Called within the benchmarking solve loop to allow parameters to be swept/tested.
void printConfigurationSettings (const planning_interface::PlannerConfigurationMap &settings, std::ostream &out)
 Output to console the settings.
void recursiveParamCombinations (int options_id, ParameterInstance param_instance)
 Recursively generates all the combinations of parameters to be tested.

Private Attributes

std::vector< std::string > available_plugins_
moveit_warehouse::ConstraintsStorage cs_
BenchmarkOptions options_
std::vector< ParameterInstanceparam_combinations_
std::vector< ParameterOptionsparam_options_
std::map< std::string,
planning_interface::PlannerManagerPtr > 
planner_interfaces_
boost::shared_ptr
< pluginlib::ClassLoader
< planning_interface::PlannerManager > > 
planner_plugin_loader_
planning_scene::PlanningScenePtr planning_scene_
moveit_warehouse::PlanningSceneStorage pss_
moveit_warehouse::PlanningSceneWorldStorage psws_
moveit_warehouse::RobotStateStorage rs_
moveit_warehouse::TrajectoryConstraintsStorage tcs_

Detailed Description

Definition at line 90 of file benchmark_execution.h.


Member Typedef Documentation

typedef std::map<std::string, double> moveit_benchmarks::BenchmarkExecution::ParameterInstance [private]

Contains the parameter combination for one test.

Definition at line 143 of file benchmark_execution.h.


Constructor & Destructor Documentation

moveit_benchmarks::BenchmarkExecution::BenchmarkExecution ( const planning_scene::PlanningScenePtr &  scene,
warehouse_ros::DatabaseConnection::Ptr  conn 
)

Definition at line 93 of file benchmark_execution.cpp.


Member Function Documentation

void moveit_benchmarks::BenchmarkExecution::collectMetrics ( std::map< std::string, std::string > &  rundata,
const planning_interface::MotionPlanDetailedResponse mp_res,
bool  solved,
double  total_time 
) [private]

(a + b);

Definition at line 807 of file benchmark_execution.cpp.

Populates the param_combinations_ vector with all combinations of desired parameters to be tested.

Returns:
number of combinations to be tested

Definition at line 1446 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::modifyPlannerConfiguration ( planning_interface::PlannerManager planner,
const std::string &  planner_id,
std::size_t  param_combinations_id_,
RunData parameter_data 
) [private]

Called within the benchmarking solve loop to allow parameters to be swept/tested.

Parameters:
planner- pointer to the current planner we are about to use
planner_id- name of planner we are about to use
param_combinations_id_- keeps track of what parameter combo we are currently iterating on
parameter_data- used for outputting log information to file (results)

Definition at line 1403 of file benchmark_execution.cpp.

Output to console the settings.

Definition at line 1505 of file benchmark_execution.cpp.

Definition at line 774 of file benchmark_execution.cpp.

bool moveit_benchmarks::BenchmarkExecution::readOptions ( const std::string &  filename)

Definition at line 501 of file benchmark_execution.cpp.

void moveit_benchmarks::BenchmarkExecution::recursiveParamCombinations ( int  options_id,
ParameterInstance  param_instance 
) [private]

Recursively generates all the combinations of parameters to be tested.

Parameters:
options_id- where in the recursive loop we are, id is with respect to the n*n*n*... number of tests we are to generate
param_instance- holds the generated parameter combinations, the result

Definition at line 1478 of file benchmark_execution.cpp.

Definition at line 138 of file benchmark_execution.cpp.

Definition at line 799 of file benchmark_execution.cpp.

Definition at line 1225 of file benchmark_execution.cpp.

Definition at line 908 of file benchmark_execution.cpp.


Member Data Documentation

Definition at line 179 of file benchmark_execution.h.

Definition at line 184 of file benchmark_execution.h.

Definition at line 175 of file benchmark_execution.h.

Definition at line 177 of file benchmark_execution.h.

Definition at line 176 of file benchmark_execution.h.

std::map<std::string, planning_interface::PlannerManagerPtr> moveit_benchmarks::BenchmarkExecution::planner_interfaces_ [private]

Definition at line 189 of file benchmark_execution.h.

Definition at line 188 of file benchmark_execution.h.

planning_scene::PlanningScenePtr moveit_benchmarks::BenchmarkExecution::planning_scene_ [private]

Definition at line 180 of file benchmark_execution.h.

Definition at line 182 of file benchmark_execution.h.

Definition at line 183 of file benchmark_execution.h.

Definition at line 186 of file benchmark_execution.h.

Definition at line 185 of file benchmark_execution.h.


The documentation for this class was generated from the following files:


benchmarks
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:22:03