#include <BenchmarkOptions.h>

Public Member Functions
	BenchmarkOptions ()
	Constructor. More...

	BenchmarkOptions (const std::string &ros_namespace)
	Constructor accepting a custom namespace for parameter lookup. More...

const std::string &	getBenchmarkName () const
	Get the reference name of the benchmark. More...

const std::string &	getGoalConstraintRegex () const
	Get the regex expression for matching the names of all goal constraints to plan to. More...

void	getGoalOffsets (std::vector< double > &offsets) const
	Get the constant position/orientation offset to be used for shifting all goal constraints. More...

const std::string &	getGroupName () const
	Get the name of the planning group to run the benchmark with. More...

const std::string &	getHostName () const
	Get the name of the warehouse database host server. More...

int	getNumRuns () const
	Get the specified number of benchmark query runs. More...

const std::string &	getOutputDirectory () const
	Get the target directory for the generated benchmark result data. More...

const std::string &	getPathConstraintRegex () const
	Get the regex expression for matching the names of all path constraints to plan with. More...

const std::map< std::string, std::vector< std::string > > &	getPlanningPipelineConfigurations () const
	Get all planning pipeline names mapped to their parameter configuration. More...

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

int	getPort () const
	Get the port of the warehouse database host server. More...

const std::vector< std::string > &	getPredefinedPoses () const
	Get the names of all predefined poses to consider for planning. More...

const std::string &	getPredefinedPosesGroup () const
	Get the name of the planning group for which the predefined poses are defined. More...

const std::string &	getQueryRegex () const
	Get the regex expression for matching the names of all queries to run. More...

const std::string &	getSceneName () const
	Get the reference name of the planning scene stored inside the warehouse database. More...

const std::string &	getStartStateRegex () const
	Get the regex expression for matching the names of all start states to plan from. More...

double	getTimeout () const
	Get the maximum timeout per planning attempt. More...

const std::string &	getTrajectoryConstraintRegex () const
	Get the regex expression for matching the names of all trajectory constraints to plan with. More...

const std::string &	getWorkspaceFrameID () const

const moveit_msgs::WorkspaceParameters &	getWorkspaceParameters () const

void	setNamespace (const std::string &ros_namespace)
	Set the ROS namespace the node handle should use for parameter lookup. More...

virtual	~BenchmarkOptions ()
	Destructor. More...

Protected Member Functions
void	readBenchmarkOptions (const std::string &ros_namespace)

void	readBenchmarkParameters (ros::NodeHandle &nh)

void	readGoalOffset (ros::NodeHandle &nh)

void	readPlannerConfigs (ros::NodeHandle &nh)

void	readWarehouseOptions (ros::NodeHandle &nh)

void	readWorkspaceParameters (ros::NodeHandle &nh)

Protected Attributes
std::string	benchmark_name_

std::string	goal_constraint_regex_

double	goal_offsets [6]

std::string	group_name_

std::string	hostname_
	warehouse parameters More...

std::string	output_directory_

std::string	path_constraint_regex_

std::map< std::string, std::vector< std::string > >	planning_pipelines_
	planner configurations More...

int	port_

std::vector< std::string >	predefined_poses_

std::string	predefined_poses_group_

std::string	query_regex_

int	runs_
	benchmark parameters More...

std::string	scene_name_

std::string	start_state_regex_

double	timeout_

std::string	trajectory_constraint_regex_

moveit_msgs::WorkspaceParameters	workspace_

Detailed Description

Definition at line 79 of file BenchmarkOptions.h.

Constructor & Destructor Documentation

◆ BenchmarkOptions() [1/2]

BenchmarkOptions::BenchmarkOptions ( )

Constructor.

Definition at line 41 of file BenchmarkOptions.cpp.

◆ BenchmarkOptions() [2/2]

BenchmarkOptions::BenchmarkOptions ( const std::string & ros_namespace )

Constructor accepting a custom namespace for parameter lookup.

Definition at line 45 of file BenchmarkOptions.cpp.

◆ ~BenchmarkOptions()

BenchmarkOptions::~BenchmarkOptions ( )

virtualdefault

Destructor.

Member Function Documentation

◆ getBenchmarkName()

const std::string & BenchmarkOptions::getBenchmarkName ( ) const

Get the reference name of the benchmark.

Definition at line 99 of file BenchmarkOptions.cpp.

◆ getGoalConstraintRegex()

const std::string & BenchmarkOptions::getGoalConstraintRegex ( ) const

Get the regex expression for matching the names of all goal constraints to plan to.

Definition at line 124 of file BenchmarkOptions.cpp.

◆ getGoalOffsets()

void BenchmarkOptions::getGoalOffsets ( std::vector< double > & offsets ) const

Get the constant position/orientation offset to be used for shifting all goal constraints.

Definition at line 149 of file BenchmarkOptions.cpp.

◆ getGroupName()

const std::string & BenchmarkOptions::getGroupName ( ) const

Get the name of the planning group to run the benchmark with.

Definition at line 104 of file BenchmarkOptions.cpp.

◆ getHostName()

const std::string & BenchmarkOptions::getHostName ( ) const

Get the name of the warehouse database host server.

Definition at line 74 of file BenchmarkOptions.cpp.

◆ getNumRuns()

int BenchmarkOptions::getNumRuns ( ) const

Get the specified number of benchmark query runs.

Definition at line 89 of file BenchmarkOptions.cpp.

◆ getOutputDirectory()

const std::string & BenchmarkOptions::getOutputDirectory ( ) const

Get the target directory for the generated benchmark result data.

Definition at line 109 of file BenchmarkOptions.cpp.

◆ getPathConstraintRegex()

const std::string & BenchmarkOptions::getPathConstraintRegex ( ) const

Get the regex expression for matching the names of all path constraints to plan with.

Definition at line 129 of file BenchmarkOptions.cpp.

◆ getPlanningPipelineConfigurations()

const std::map< std::string, std::vector< std::string > > & BenchmarkOptions::getPlanningPipelineConfigurations ( ) const

Get all planning pipeline names mapped to their parameter configuration.

Definition at line 155 of file BenchmarkOptions.cpp.

◆ getPlanningPipelineNames()

void BenchmarkOptions::getPlanningPipelineNames ( std::vector< std::string > & planning_pipeline_names ) const

Get all planning pipeline names.

Definition at line 160 of file BenchmarkOptions.cpp.

◆ getPort()

int BenchmarkOptions::getPort ( ) const

Get the port of the warehouse database host server.

Definition at line 79 of file BenchmarkOptions.cpp.

◆ getPredefinedPoses()

const std::vector< std::string > & BenchmarkOptions::getPredefinedPoses ( ) const

Get the names of all predefined poses to consider for planning.

Definition at line 139 of file BenchmarkOptions.cpp.

◆ getPredefinedPosesGroup()

const std::string & BenchmarkOptions::getPredefinedPosesGroup ( ) const

Get the name of the planning group for which the predefined poses are defined.

Definition at line 144 of file BenchmarkOptions.cpp.

◆ getQueryRegex()

const std::string & BenchmarkOptions::getQueryRegex ( ) const

Get the regex expression for matching the names of all queries to run.

Definition at line 114 of file BenchmarkOptions.cpp.

◆ getSceneName()

const std::string & BenchmarkOptions::getSceneName ( ) const

Get the reference name of the planning scene stored inside the warehouse database.

Definition at line 84 of file BenchmarkOptions.cpp.

◆ getStartStateRegex()

const std::string & BenchmarkOptions::getStartStateRegex ( ) const

Get the regex expression for matching the names of all start states to plan from.

Definition at line 119 of file BenchmarkOptions.cpp.

◆ getTimeout()

double BenchmarkOptions::getTimeout ( ) const

Get the maximum timeout per planning attempt.

Definition at line 94 of file BenchmarkOptions.cpp.

◆ getTrajectoryConstraintRegex()

const std::string & BenchmarkOptions::getTrajectoryConstraintRegex ( ) const

Get the regex expression for matching the names of all trajectory constraints to plan with.

Definition at line 134 of file BenchmarkOptions.cpp.

◆ getWorkspaceFrameID()

const std::string & BenchmarkOptions::getWorkspaceFrameID ( ) const

Definition at line 167 of file BenchmarkOptions.cpp.

◆ getWorkspaceParameters()

const moveit_msgs::WorkspaceParameters & BenchmarkOptions::getWorkspaceParameters ( ) const

Definition at line 172 of file BenchmarkOptions.cpp.

◆ readBenchmarkOptions()

void BenchmarkOptions::readBenchmarkOptions ( const std::string & ros_namespace )

protected

Definition at line 57 of file BenchmarkOptions.cpp.

◆ readBenchmarkParameters()

void BenchmarkOptions::readBenchmarkParameters ( ros::NodeHandle & nh )

protected

Definition at line 190 of file BenchmarkOptions.cpp.

◆ readGoalOffset()

void moveit_ros_benchmarks::BenchmarkOptions::readGoalOffset ( ros::NodeHandle & nh )

protected

◆ readPlannerConfigs()

void BenchmarkOptions::readPlannerConfigs ( ros::NodeHandle & nh )

protected

Definition at line 250 of file BenchmarkOptions.cpp.

◆ readWarehouseOptions()

void BenchmarkOptions::readWarehouseOptions ( ros::NodeHandle & nh )

protected

Definition at line 177 of file BenchmarkOptions.cpp.

◆ readWorkspaceParameters()

void BenchmarkOptions::readWorkspaceParameters ( ros::NodeHandle & nh )

protected

Definition at line 233 of file BenchmarkOptions.cpp.

◆ setNamespace()

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

Set the ROS namespace the node handle should use for parameter lookup.

Definition at line 52 of file BenchmarkOptions.cpp.

Member Data Documentation

◆ benchmark_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::benchmark_name_

protected

Definition at line 185 of file BenchmarkOptions.h.

◆ goal_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::goal_constraint_regex_

protected

Definition at line 190 of file BenchmarkOptions.h.

◆ goal_offsets

double moveit_ros_benchmarks::BenchmarkOptions::goal_offsets[6]

protected

Definition at line 195 of file BenchmarkOptions.h.

◆ group_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::group_name_

protected

Definition at line 186 of file BenchmarkOptions.h.

◆ hostname_

std::string moveit_ros_benchmarks::BenchmarkOptions::hostname_

protected

warehouse parameters

Definition at line 178 of file BenchmarkOptions.h.

◆ output_directory_

std::string moveit_ros_benchmarks::BenchmarkOptions::output_directory_

protected

Definition at line 187 of file BenchmarkOptions.h.

◆ path_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::path_constraint_regex_

protected

Definition at line 191 of file BenchmarkOptions.h.

◆ planning_pipelines_

std::map<std::string, std::vector<std::string> > moveit_ros_benchmarks::BenchmarkOptions::planning_pipelines_

protected

planner configurations

Definition at line 198 of file BenchmarkOptions.h.

◆ port_

int moveit_ros_benchmarks::BenchmarkOptions::port_

protected

Definition at line 179 of file BenchmarkOptions.h.

◆ predefined_poses_

std::vector<std::string> moveit_ros_benchmarks::BenchmarkOptions::predefined_poses_

protected

Definition at line 193 of file BenchmarkOptions.h.

◆ predefined_poses_group_

std::string moveit_ros_benchmarks::BenchmarkOptions::predefined_poses_group_

protected

Definition at line 194 of file BenchmarkOptions.h.

◆ query_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::query_regex_

protected

Definition at line 188 of file BenchmarkOptions.h.

◆ runs_

int moveit_ros_benchmarks::BenchmarkOptions::runs_

protected

benchmark parameters

Definition at line 183 of file BenchmarkOptions.h.

◆ scene_name_

std::string moveit_ros_benchmarks::BenchmarkOptions::scene_name_

protected

Definition at line 180 of file BenchmarkOptions.h.

◆ start_state_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::start_state_regex_

protected

Definition at line 189 of file BenchmarkOptions.h.

◆ timeout_

double moveit_ros_benchmarks::BenchmarkOptions::timeout_

protected

Definition at line 184 of file BenchmarkOptions.h.

◆ trajectory_constraint_regex_

std::string moveit_ros_benchmarks::BenchmarkOptions::trajectory_constraint_regex_

protected

Definition at line 192 of file BenchmarkOptions.h.

◆ workspace_

moveit_msgs::WorkspaceParameters moveit_ros_benchmarks::BenchmarkOptions::workspace_

protected

Definition at line 200 of file BenchmarkOptions.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BenchmarkOptions() [1/2]

◆ BenchmarkOptions() [2/2]

◆ ~BenchmarkOptions()

Member Function Documentation

◆ getBenchmarkName()

◆ getGoalConstraintRegex()

◆ getGoalOffsets()

◆ getGroupName()

◆ getHostName()

◆ getNumRuns()

◆ getOutputDirectory()

◆ getPathConstraintRegex()

◆ getPlanningPipelineConfigurations()

◆ getPlanningPipelineNames()

◆ getPort()

◆ getPredefinedPoses()

◆ getPredefinedPosesGroup()

◆ getQueryRegex()

◆ getSceneName()

◆ getStartStateRegex()

◆ getTimeout()

◆ getTrajectoryConstraintRegex()

◆ getWorkspaceFrameID()

◆ getWorkspaceParameters()

◆ readBenchmarkOptions()

◆ readBenchmarkParameters()

◆ readGoalOffset()

◆ readPlannerConfigs()

◆ readWarehouseOptions()

◆ readWorkspaceParameters()

◆ setNamespace()

Member Data Documentation

◆ benchmark_name_

◆ goal_constraint_regex_

◆ goal_offsets

◆ group_name_

◆ hostname_

◆ output_directory_

◆ path_constraint_regex_

◆ planning_pipelines_

◆ port_

◆ predefined_poses_

◆ predefined_poses_group_

◆ query_regex_

◆ runs_

◆ scene_name_

◆ start_state_regex_

◆ timeout_

◆ trajectory_constraint_regex_

◆ workspace_