ExperienceSetup.cpp
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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 
42 ompl::tools::ExperienceSetup::ExperienceSetup(const base::SpaceInformationPtr &si)
43  : ompl::geometric::SimpleSetup(si)
44 {
45  logInitialize();
46 };
47 
48 ompl::tools::ExperienceSetup::ExperienceSetup(const base::StateSpacePtr &space) : ompl::geometric::SimpleSetup(space)
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 }
void enablePlanningFromScratch(bool enable)
Optionally disable the ability to plan from scratch Note: Lightning can still save modified experienc...
virtual bool setFilePath(const std::string &filePath)
Set the database file to load. Actual loading occurs when setup() is called.
void logInitialize()
Load the header (first row) of the csv file.
void enablePlanningFromRecall(bool enable)
Optionally disable the ability to use previous plans in solutions (but will still save them)
void convertLogToString(const ExperienceLog &log)
Move data to string format and put in buffer.
virtual void saveDataLog(std::ostream &out=std::cout)
Save debug data about overall results since being loaded.
virtual const std::string & getFilePath() const
After setFile() is called, access the generated file path for loading and saving the experience datab...
ExperienceSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
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
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
Single entry for the csv data logging file.