ExperienceSetup.cpp
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2014, University of Colorado, Boulder
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Univ of CO, Boulder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman
36  Desc: Common functions for experience-based planning. Used by lighting and thunder
37 */
38 
39 #include "ompl/tools/experience/ExperienceSetup.h"
40 #include "ompl/tools/multiplan/ParallelPlan.h"
41 
43  : ompl::geometric::SimpleSetup(si), recallEnabled_(true), scratchEnabled_(true)
44 {
45  logInitialize();
46 };
47 
49 {
50  logInitialize();
51 };
52 
54 {
55  // Header of CSV file
56  csvDataLogStream_
57  // Times
58  << "planning_time,insertion_time,"
59  // Solution properties
60  << "planner,result,is_saved,"
61  // Failure booleans
62  << "approximate,too_short,insertion_failed,"
63  // Lightning properties
64  << "score,"
65  // Thunder (SPARS) properties
66  << "num_vertices,num_edges,num_connected_components,"
67  // Hack for using python cause im lazy right now
68  << "total_experiences,total_scratch,total_recall,total_failed,total_approximate,"
69  << "total_too_short,total_insertion_failed,"
70  << "avg_planning_time,avg_insertion_time" << std::endl;
71 }
72 
74 {
75  csvDataLogStream_ << log.planning_time << "," << log.insertion_time << "," << log.planner << "," << log.result
76  << "," << log.is_saved << "," << log.approximate << "," << log.too_short << ","
77  << log.insertion_failed << "," << log.score << "," << log.num_vertices << "," << log.num_edges
78  << "," << log.num_connected_components << std::endl;
79 }
80 
82 {
83  // Export to file and clear the stream
84  out << csvDataLogStream_.str();
85  csvDataLogStream_.str("");
86 }
87 
89 {
90  return filePath_;
91 }
92 
93 bool ompl::tools::ExperienceSetup::setFilePath(const std::string &filePath)
94 {
95  filePath_ = filePath;
96  return true;
97 }
98 
100 {
101  // Remember state
102  recallEnabled_ = enable;
103 
104  // Flag the planners as possibly misconfigured
105  configured_ = false;
106 }
107 
109 {
110  // Remember state
111  scratchEnabled_ = enable;
112 
113  // Flag the planners as possibly misconfigured
114  configured_ = false;
115 }
Single entry for the csv data logging file.
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
A shared pointer wrapper for ompl::base::StateSpace.
void logInitialize()
Load the header (first row) of the csv file.
virtual bool setFilePath(const std::string &filePath)
Set the database file to load. Actual loading occurs when setup() is called.
void enablePlanningFromScratch(bool enable)
Optionally disable the ability to plan from scratch Note: Lightning can still save modified experienc...
virtual void saveDataLog(std::ostream &out=std::cout)
Save debug data about overall results since being loaded.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
std::string filePath_
File location of database.
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:45
A shared pointer wrapper for ompl::base::SpaceInformation.
ExperienceSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
bool scratchEnabled_
Flag indicating whether planning from scratch should be used to find solutions. Enabled by default...
virtual const std::string & getFilePath() const
After setFile() is called, access the generated file path for loading and saving the experience datab...
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:289
bool recallEnabled_
Flag indicating whether recalled plans should be used to find solutions. Enabled by default...
void convertLogToString(const ExperienceLog &log)
Move data to string format and put in buffer.
void enablePlanningFromRecall(bool enable)
Optionally disable the ability to use previous plans in solutions (but will still save them) ...