Benchmark.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_TOOLS_BENCHMARK_BENCHMARK_
38 #define OMPL_TOOLS_BENCHMARK_BENCHMARK_
39 
40 #include "ompl/geometric/SimpleSetup.h"
41 #include "ompl/control/SimpleSetup.h"
42 
43 namespace ompl
44 {
45  namespace tools
46  {
48  class Benchmark
49  {
50  public:
55  struct Status
56  {
57  Status()
58  {
59  running = false;
60  activeRun = 0;
61  progressPercentage = 0.0;
62  }
63 
65  bool running;
66 
68  std::string activePlanner;
69 
71  unsigned int activeRun;
72 
74  double progressPercentage;
75  };
76 
79  using RunProperties = std::map<std::string, std::string>;
80 
81  using RunProgressData = std::vector<std::map<std::string, std::string>>;
82 
84  using PreSetupEvent = std::function<void(const base::PlannerPtr &)>;
85 
87  using PostSetupEvent = std::function<void(const base::PlannerPtr &, RunProperties &)>;
88 
90  struct PlannerExperiment
91  {
93  std::string name;
94 
96  std::vector<RunProperties> runs;
97 
100  std::vector<std::string> progressPropertyNames;
101 
104  std::vector<RunProgressData> runsProgressData;
105 
108 
109  bool operator==(const PlannerExperiment &p) const
110  {
111  return name == p.name && runs == p.runs && common == p.common;
112  }
113  };
114 
116  struct CompleteExperiment
117  {
119  std::string name;
120 
122  std::vector<PlannerExperiment> planners;
123 
125  double maxTime;
126 
128  double maxMem;
129 
131  unsigned int runCount;
132 
135 
137  double totalDuration;
138 
140  std::string setupInfo;
141 
143  std::uint_fast32_t seed;
144 
146  std::string host;
147 
149  std::string cpuInfo;
150 
152  std::map<std::string, std::string> parameters;
153  };
154 
156  struct Request
157  {
159  Request(double maxTime = 5.0, double maxMem = 4096.0, unsigned int runCount = 100,
160  double timeBetweenUpdates = 0.05, bool displayProgress = true, bool saveConsoleOutput = true,
161  bool simplify = true)
162  : maxTime(maxTime)
163  , maxMem(maxMem)
164  , runCount(runCount)
168  , simplify(simplify)
169  {
170  }
171 
173  double maxTime;
174 
176  double maxMem;
177 
180  unsigned int runCount;
181 
184  double timeBetweenUpdates;
185 
187  bool displayProgress;
188 
191  bool saveConsoleOutput;
192 
194  bool simplify;
195  };
196 
199  Benchmark(geometric::SimpleSetup &setup, const std::string &name = std::string())
200  : gsetup_(&setup), csetup_(nullptr)
201  {
202  exp_.name = name;
203  }
204 
207  Benchmark(control::SimpleSetup &setup, const std::string &name = std::string())
208  : gsetup_(nullptr), csetup_(&setup)
209  {
210  exp_.name = name;
211  }
212 
213  virtual ~Benchmark() = default;
214 
218  void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)
219  {
220  exp_.parameters[name + " " + type] = value;
221  }
222 
224  const std::map<std::string, std::string> &getExperimentParameters() const
225  {
226  return exp_.parameters;
227  }
228 
230  std::size_t numExperimentParameters() const
231  {
232  return exp_.parameters.size();
233  }
234 
236  void setExperimentName(const std::string &name)
237  {
238  exp_.name = name;
239  }
240 
242  const std::string &getExperimentName() const
243  {
244  return exp_.name;
245  }
246 
248  void addPlanner(const base::PlannerPtr &planner)
249  {
250  if (planner &&
251  planner->getSpaceInformation().get() !=
252  (gsetup_ != nullptr ? gsetup_->getSpaceInformation().get() : csetup_->getSpaceInformation().get()))
253  throw Exception("Planner instance does not match space information");
254  planners_.push_back(planner);
255  }
256 
259  {
260  planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
261  }
262 
264  void clearPlanners()
265  {
266  planners_.clear();
267  }
268 
270  void setPlannerSwitchEvent(const PreSetupEvent &event)
271  {
272  plannerSwitch_ = event;
273  }
274 
276  void setPreRunEvent(const PreSetupEvent &event)
277  {
278  preRun_ = event;
279  }
280 
282  void setPostRunEvent(const PostSetupEvent &event)
283  {
284  postRun_ = event;
285  }
286 
299  virtual void benchmark(const Request &req);
300 
303  const Status &getStatus() const
304  {
305  return status_;
306  }
307 
312  const CompleteExperiment &getRecordedExperimentData() const
313  {
314  return exp_;
315  }
316 
318  virtual bool saveResultsToStream(std::ostream &out = std::cout) const;
319 
321  bool saveResultsToFile(const char *filename) const;
322 
325  bool saveResultsToFile() const;
326 
327  protected:
330 
333 
335  std::vector<base::PlannerPtr> planners_;
336 
339 
341  Status status_;
342 
345 
348 
351  };
352  }
353 }
354 #endif
std::map< std::string, std::string > parameters
Additional, experiment specific parameters. This is optional.
Definition: Benchmark.h:248
std::string name
The name of the experiment.
Definition: Benchmark.h:215
double maxMem
The maximum allowed memory for planner computation during the experiment (MB)
Definition: Benchmark.h:224
void setPreRunEvent(const PreSetupEvent &event)
Set the event to be called before the run of a planner.
Definition: Benchmark.h:372
void setPlannerSwitchEvent(const PreSetupEvent &event)
Set the event to be called before any runs of a particular planner (when the planner is switched)
Definition: Benchmark.h:366
std::string setupInfo
The output of SimpleSetup::print() before the experiment was started.
Definition: Benchmark.h:236
std::function< void(const base::PlannerPtr &, RunProperties &)> PostSetupEvent
Signature of function that can be called after a planner execution is completed.
Definition: Benchmark.h:183
double maxTime
The maximum allowed time for planner computation during the experiment (seconds)
Definition: Benchmark.h:221
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: Time.h:116
PreSetupEvent preRun_
Event to be called before the run of a planner.
Definition: Benchmark.h:443
bool running
Flag indicating whether benchmarking is running.
Definition: Benchmark.h:193
const Status & getStatus() const
Get the status of the benchmarking code. This function can be called in a separate thread to check ho...
Definition: Benchmark.h:399
std::string cpuInfo
Information about the CPU of the machine the benchmark ran on.
Definition: Benchmark.h:245
const SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:138
const base::SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:138
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:127
CompleteExperiment exp_
The collected experimental data (for all planners)
Definition: Benchmark.h:434
double progressPercentage
Total progress (0 to 100)
Definition: Benchmark.h:202
unsigned int runCount
The number of runs to execute for each planner.
Definition: Benchmark.h:227
This structure holds experimental data for a set of planners.
Definition: Benchmark.h:213
void clearPlanners()
Clear the set of planners to be benchmarked.
Definition: Benchmark.h:360
RunProperties common
Some common properties for all the runs.
Definition: Benchmark.h:203
Status status_
The current status of this benchmarking instance.
Definition: Benchmark.h:437
bool simplify
flag indicating whether simplification should be applied to path; true by default
Definition: Benchmark.h:290
std::vector< base::PlannerPtr > planners_
The set of planners to be tested.
Definition: Benchmark.h:431
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
Definition: Benchmark.h:354
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
Definition: Benchmark.h:344
std::function< void(const base::PlannerPtr &)> PreSetupEvent
Signature of function that can be called before a planner execution is started.
Definition: Benchmark.h:180
unsigned int runCount
the number of times to run each planner; 100 by default If set to 0, then run each planner as many ti...
Definition: Benchmark.h:276
void setExperimentName(const std::string &name)
Set the name of the experiment.
Definition: Benchmark.h:332
bool saveConsoleOutput
flag indicating whether console output is saved (in an automatically generated filename); true by def...
Definition: Benchmark.h:287
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
const std::map< std::string, std::string > & getExperimentParameters() const
Get all optional benchmark parameters. The map key is 'name type'
Definition: Benchmark.h:320
std::vector< RunProperties > runs
Data collected for each run.
Definition: Benchmark.h:192
std::string activePlanner
The name of the planner currently being tested.
Definition: Benchmark.h:196
std::vector< RunProgressData > runsProgressData
Definition: Benchmark.h:200
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:127
void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)
Add an optional parameter's information to the benchmark output. Useful for aggregating results over ...
Definition: Benchmark.h:314
bool displayProgress
flag indicating whether progress is to be displayed or not; true by default
Definition: Benchmark.h:283
bool saveResultsToFile() const
Save the results of the benchmark to a file. The name of the file is the current date and time.
Definition: Benchmark.cpp:220
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:508
PostSetupEvent postRun_
Event to be called after the run of a planner.
Definition: Benchmark.h:446
Representation of a benchmark request.
Definition: Benchmark.h:253
unsigned int activeRun
The number of the run currently being executed.
Definition: Benchmark.h:199
std::size_t numExperimentParameters() const
Return the number of optional benchmark parameters.
Definition: Benchmark.h:326
Benchmark a set of planners on a problem instance.
Definition: Benchmark.h:113
virtual void benchmark(const Request &req)
Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.
Definition: Benchmark.cpp:353
double totalDuration
The amount of time spent to collect the information in this structure (seconds)
Definition: Benchmark.h:233
std::vector< std::string > progressPropertyNames
Definition: Benchmark.h:196
Benchmark(geometric::SimpleSetup &setup, const std::string &name=std::string())
Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name...
Definition: Benchmark.h:295
std::vector< PlannerExperiment > planners
The collected experimental data; each element of the array (an experiment) corresponds to a planner.
Definition: Benchmark.h:218
PreSetupEvent plannerSwitch_
Event to be called when the evaluated planner is switched.
Definition: Benchmark.h:440
double maxMem
the maximum amount of memory a planner is allowed to use (MB); 4096.0 by default
Definition: Benchmark.h:272
time::point startTime
The point in time when the experiment was started.
Definition: Benchmark.h:230
control::SimpleSetup * csetup_
The instance of the problem to benchmark (if planning with controls)
Definition: Benchmark.h:428
std::uint_fast32_t seed
The random seed that was used at the start of the benchmark program.
Definition: Benchmark.h:239
std::string host
Hostname that identifies the machine the benchmark ran on.
Definition: Benchmark.h:242
Request(double maxTime=5.0, double maxMem=4096.0, unsigned int runCount=100, double timeBetweenUpdates=0.05, bool displayProgress=true, bool saveConsoleOutput=true, bool simplify=true)
Constructor that provides default values for all members.
Definition: Benchmark.h:255
std::string name
The name of the planner.
Definition: Benchmark.h:189
void setPostRunEvent(const PostSetupEvent &event)
Set the event to be called after the run of a planner.
Definition: Benchmark.h:378
const std::string & getExperimentName() const
Get the name of the experiment.
Definition: Benchmark.h:338
The exception type for ompl.
Definition: Exception.h:79
geometric::SimpleSetup * gsetup_
The instance of the problem to benchmark (if geometric planning)
Definition: Benchmark.h:425
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
This structure contains information about the activity of a benchmark instance. If the instance is ru...
Definition: Benchmark.h:152
virtual bool saveResultsToStream(std::ostream &out=std::cout) const
Save the results of the benchmark to a stream.
Definition: Benchmark.cpp:226
double timeBetweenUpdates
When collecting time-varying data from a planner during its execution, the planner's progress will be...
Definition: Benchmark.h:280
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
double maxTime
the maximum amount of time a planner is allowed to run (seconds); 5.0 by default
Definition: Benchmark.h:269