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 std::map< std::string, std::string >	RunProperties
	The data collected from a run of a planner is stored as key-value pairs.
typedef boost::function1< void, const base::PlannerPtr & >	PreSetupEvent
	Signature of function that can be called before a planner execution is started.
typedef boost::function2< void, const base::PlannerPtr &, RunProperties & >	PostSetupEvent
	Signature of function that can be called after a planner execution is completed.
Public Member Functions
	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.
	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.
void	setExperimentName (const std::string &name)
	Set the name of the experiment.
const std::string &	getExperimentName (void) const
	Get the name of the experiment.
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.
void	clearPlanners (void)
	Clear the set of planners to be benchmarked.
void	setPreRunEvent (const PreSetupEvent &event)
	Set the event to be called before the run of a planner.
void	setPostRunEvent (const PostSetupEvent &event)
	Set the event to be called after the run of a planner.
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.
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.
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.
virtual bool	saveResultsToStream (std::ostream &out=std::cout) const
	Save the results of the benchmark to a stream.
bool	saveResultsToFile (const char *filename) const
	Save the results of the benchmark to a file.
bool	saveResultsToFile (void) const
	Save the results of the benchmark to a file. The name of the file is the current date and time.
Protected Attributes
geometric::SimpleSetup *	gsetup_
	The instance of the problem to benchmark (if geometric planning)
control::SimpleSetup *	csetup_
	The instance of the problem to benchmark (if planning with controls)
std::vector< base::PlannerPtr >	planners_
	The set of planners to be tested.
CompleteExperiment	exp_
	The collected experimental data (for all planners)
Status	status_
	The current status of this benchmarking instance.
PreSetupEvent	preRun_
	Event to be called before the run of a planner.
PostSetupEvent	postRun_
	Event to be called after the run of a planner.
msg::Interface	msg_
	Interface for console output.

Detailed Description

Benchmark a set of planners on a problem instance.

Definition at line 47 of file Benchmark.h.

Member Function Documentation

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.

Definition at line 262 of file Benchmark.cpp.

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

src/ompl/tools/benchmark/Benchmark.h
src/ompl/tools/benchmark/src/Benchmark.cpp

Classes

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation