QuotientSpacePlanningCommon.h
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35 
36 /* Author: Andreas Orthey */
37 
38 #include <ompl/base/SpaceInformation.h>
39 #include <ompl/tools/benchmark/Benchmark.h>
40 
41 namespace ot = ompl::tools;
42 namespace ob = ompl::base;
43 namespace og = ompl::geometric;
44 
45 void printBenchmarkResults(const ot::Benchmark &b)
46 {
47  ot::Benchmark::CompleteExperiment experiment = b.getRecordedExperimentData();
48 
49  std::vector<double> meanTime;
50  std::vector<std::string> plannerName;
51  std::map<double, std::pair<std::string, int>> plannerTimes;
52 
53  for (unsigned int k = 0; k < experiment.planners.size(); k++)
54  {
55  ot::Benchmark::PlannerExperiment pk = experiment.planners.at(k);
56  std::vector<ot::Benchmark::RunProperties> runs = pk.runs;
57 
58  unsigned int N = runs.size();
59  double time = 0;
60  double percentSuccess = 0.0;
61  for (unsigned int j = 0; j < N; j++)
62  {
63  ot::Benchmark::RunProperties run = runs.at(j);
64  double timeJrun = std::atof(run["time REAL"].c_str());
65  time += timeJrun;
66  if (timeJrun < experiment.maxTime)
67  percentSuccess++;
68  }
69 
70  time = time / (double)N;
71  percentSuccess = 100.0 * (percentSuccess / (double)N);
72  pk.name.erase(0, 10);
73 
74  plannerTimes[time] = std::make_pair(pk.name, percentSuccess);
75  }
76 
77  std::cout << "Finished Benchmark (Runtime:" << experiment.maxTime << ", RunCount:" << experiment.runCount << ")"
78  << std::endl;
79  std::cout << "Placement <Rank> <Time (in Seconds)> <Success (in Percentage)>" << std::endl;
80  unsigned int ctr = 1;
81  std::cout << std::string(80, '-') << std::endl;
82  for (auto const &p : plannerTimes)
83  {
84  std::cout << "Place <" << ctr << "> Time: <" << p.first << "> \%Success: <" << p.second.second << "> ("
85  << p.second.first << ")" << (ctr < 2 ? " <-- Winner" : "") << std::endl;
86  ctr++;
87  }
88  std::cout << std::string(80, '-') << std::endl;
89 }
90 
91 void printEstimatedTimeToCompletion(unsigned int numberPlanners, unsigned int run_count, unsigned int runtime_limit)
92 {
93  std::cout << std::string(80, '-') << std::endl;
94  double worst_case_time_estimate_in_seconds = numberPlanners * run_count * runtime_limit;
95  double worst_case_time_estimate_in_minutes = worst_case_time_estimate_in_seconds / 60.0;
96  double worst_case_time_estimate_in_hours = worst_case_time_estimate_in_minutes / 60.0;
97  std::cout << "Number of Planners : " << numberPlanners << std::endl;
98  std::cout << "Number of Runs Per Planner : " << run_count << std::endl;
99  std::cout << "Time Per Run (s) : " << runtime_limit << std::endl;
100  std::cout << "Worst-case time requirement : ";
101 
102  if (worst_case_time_estimate_in_hours < 1)
103  {
104  if (worst_case_time_estimate_in_minutes < 1)
105  {
106  std::cout << worst_case_time_estimate_in_seconds << "s" << std::endl;
107  }
108  else
109  {
110  std::cout << worst_case_time_estimate_in_minutes << "m" << std::endl;
111  }
112  }
113  else
114  {
115  std::cout << worst_case_time_estimate_in_hours << "h" << std::endl;
116  }
117  std::cout << std::string(80, '-') << std::endl;
118 }
Includes various tools such as self config, benchmarking, etc.
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:80
This namespace contains sampling based planning routines shared by both planning under geometric cons...
const CompleteExperiment & getRecordedExperimentData() const
Return all the experiment data that would be written to the results file. The data should not be chan...
Definition: Benchmark.h:408
Benchmark a set of planners on a problem instance.
Definition: Benchmark.h:113
std::vector< PlannerExperiment > planners
The collected experimental data; each element of the array (an experiment) corresponds to a planner.
Definition: Benchmark.h:218
std::map< std::string, std::string > RunProperties
The data collected from a run of a planner is stored as key-value pairs.
Definition: Benchmark.h:175