ExperienceSetup.h
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34 
35 /* Author: Dave Coleman
36  */
37 
38 #ifndef OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_
39 #define OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_
40 
41 #include "ompl/geometric/SimpleSetup.h"
42 
43 namespace ompl
44 {
45  namespace tools
46  {
48  OMPL_CLASS_FORWARD(ExperienceSetup);
50 
57  {
58  public:
63  {
64  ExperienceStats() = default;
65 
66  double getAveragePlanningTime() const
67  {
68  if (numProblems_ == 0.0)
69  return 0.0;
70 
71  return totalPlanningTime_ / numProblems_;
72  }
73 
74  double getAverageInsertionTime() const
75  {
76  if (numProblems_ == 0.0)
77  return 0.0;
78 
79  // Clean up output
80  double time = totalInsertionTime_ / numProblems_;
81  if (time < 1e-8)
82  return 0.0;
83  return totalInsertionTime_ / numProblems_;
84  }
85 
86  double numSolutionsFromRecall_{0.};
87  double numSolutionsFromRecallSaved_{0.};
88  double numSolutionsFromScratch_{0.};
89  double numSolutionsFailed_{0.};
90  double numSolutionsTimedout_{0.};
91  double numSolutionsApproximate_{0.};
92  double numSolutionsTooShort_{0.}; // less than 3 states
93  double numProblems_{0.}; // input requests
94  double totalPlanningTime_{0.}; // of all input requests, used for averaging
95  double totalInsertionTime_{0.}; // of all input requests, used for averaging
96  };
97 
102  {
103  ExperienceLog() = default;
104  // Times
105  double planning_time{0.0};
106  double insertion_time{0.0};
107  // Solution properties
108  std::string planner{"NA"};
109  std::string result{"NA"};
110  std::string is_saved{"NA"};
111  // Failure booleans
112  bool approximate{false};
113  bool too_short{false};
114  bool insertion_failed{false};
115  // Lightning properties
116  double score{0.0};
117  // Thunder (SPARS) properties
118  std::size_t num_vertices{0};
119  std::size_t num_edges{0};
120  std::size_t num_connected_components{0};
121  };
122 
124  explicit ExperienceSetup(const base::SpaceInformationPtr &si);
125 
127  explicit ExperienceSetup(const base::StateSpacePtr &space);
128 
130  void logInitialize();
131 
133  void convertLogToString(const ExperienceLog &log);
134 
136  virtual void printResultsInfo(std::ostream &out = std::cout) const = 0;
137 
139  virtual void printLogs(std::ostream &out = std::cout) const = 0;
140 
142  virtual void saveDataLog(std::ostream &out = std::cout);
143 
147  virtual void setRepairPlanner(const base::PlannerPtr &planner) = 0;
148 
150  virtual bool save() = 0;
151 
153  virtual bool saveIfChanged() = 0;
154 
156  void enablePlanningFromRecall(bool enable);
157 
161  void enablePlanningFromScratch(bool enable);
162 
164  virtual void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const = 0;
165 
167  virtual std::size_t getExperiencesCount() const = 0;
168 
171  virtual const std::string &getFilePath() const;
172 
176  virtual bool setFilePath(const std::string &filePath);
177 
181  const ExperienceStats &getStats() const
182  {
183  return stats_;
184  }
185 
189  virtual bool doPostProcessing()
190  {
191  return true;
192  }
193 
194  protected:
196  bool recallEnabled_{true};
197 
199  bool scratchEnabled_{true};
200 
202  std::string filePath_;
203 
204  // output data to file to analyze performance externally
205  std::stringstream csvDataLogStream_;
206 
209  };
210  }
211 }
212 #endif
virtual void setRepairPlanner(const base::PlannerPtr &planner)=0
Set the planner to use for repairing experience paths inside the RetrieveRepair planner. If the planner is not set, a default planner is set.
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.
Simple logging functionality encapsled in a struct.
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 bool doPostProcessing()
Allow accumlated experiences to be processed.
virtual void printLogs(std::ostream &out=std::cout) const =0
Display debug data about overall results since being loaded.
virtual void saveDataLog(std::ostream &out=std::cout)
Save debug data about overall results since being loaded.
ExperienceStats stats_
States data for display to console.
virtual void printResultsInfo(std::ostream &out=std::cout) const =0
Display debug data about potential available solutions.
virtual std::size_t getExperiencesCount() const =0
Get the total number of paths stored in the database.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:63
A shared pointer wrapper for ompl::base::Planner.
std::string filePath_
File location of database.
virtual void getAllPlannerDatas(std::vector< ompl::base::PlannerDataPtr > &plannerDatas) const =0
Get a vector of all the planning data in the database.
A shared pointer wrapper for ompl::base::SpaceInformation.
ExperienceSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
const ExperienceStats & getStats() const
Getter for logging data.
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...
virtual bool save()=0
Save the experience database to file.
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.
virtual bool saveIfChanged()=0
Save the experience database to file if there has been a change.
void enablePlanningFromRecall(bool enable)
Optionally disable the ability to use previous plans in solutions (but will still save them) ...
Create the set of classes typically needed to solve a geometric problem.