MotionBenchmakerDemo Class Reference

Configuration for running Motion Benchmark Maker benchmarks with OMPL and VAMP. More...

#include </home/thodoris/src/ompl/demos/vamp/MotionBenchmakerDemo.h>

Public Member Functions
	MotionBenchmakerDemo (const std::string &robotName, const std::string &problemFile, const std::string &plannerName="RRTConnect")
	Initialize with a robot type and JSON problem file.
std::vector< PlanningResult >	benchmarkProblem (const std::string &problemName, unsigned int numTrials=1, double timeoutSeconds=5.0)
	Run a benchmark on a specific problem.
std::map< std::string, std::vector< PlanningResult > >	benchmarkAll (unsigned int numTrials=1, double timeoutSeconds=5.0, bool print_failures=false)
	Run benchmarks on all problems in the loaded file.
const std::vector< std::string > &	getProblemNames () const
	Get the list of available problem names.

Static Public Member Functions
static void	printStatistics (const std::string &problemName, const std::vector< PlanningResult > &results)
	Print summary statistics for a set of results.

Detailed Description

Configuration for running Motion Benchmark Maker benchmarks with OMPL and VAMP.

Definition at line 32 of file MotionBenchmakerDemo.h.

Constructor & Destructor Documentation

MotionBenchmakerDemo()

MotionBenchmakerDemo::MotionBenchmakerDemo	(	const std::string &	robotName,
		const std::string &	problemFile,
		const std::string &	plannerName = "RRTConnect" )

Initialize with a robot type and JSON problem file.

Parameters

robotName	The VAMP robot name (e.g., "panda")
problemFile	Path to the JSON file containing problem definitions
plannerName	The OMPL planner to use (e.g., "RRTConnect", "RRTstar")

Definition at line 35 of file MotionBenchmakerDemo.cpp.

Member Function Documentation

benchmarkAll()

std::map< std::string, std::vector< PlanningResult > > MotionBenchmakerDemo::benchmarkAll	(	unsigned int	numTrials = 1,
		double	timeoutSeconds = 5.0,
		bool	print_failures = false )

Run benchmarks on all problems in the loaded file.

Parameters

numTrials	Number of times to solve each problem instance
timeoutSeconds	Timeout for each planning attempt
print_failures	Whether to print failure information

Returns

Map from problem name to list of results

Definition at line 426 of file MotionBenchmakerDemo.cpp.

benchmarkProblem()

std::vector< PlanningResult > MotionBenchmakerDemo::benchmarkProblem	(	const std::string &	problemName,
		unsigned int	numTrials = 1,
		double	timeoutSeconds = 5.0 )

Run a benchmark on a specific problem.

Parameters

problemName	Name of the problem to benchmark
numTrials	Number of times to solve each problem instance
timeoutSeconds	Timeout for each planning attempt

Returns

Vector of results for each trial

Definition at line 391 of file MotionBenchmakerDemo.cpp.

getProblemNames()

const std::vector< std::string > & MotionBenchmakerDemo::getProblemNames ( ) const

inline

Get the list of available problem names.

Definition at line 73 of file MotionBenchmakerDemo.h.

printStatistics()

void MotionBenchmakerDemo::printStatistics ( const std::string & problemName, const std::vector< PlanningResult > & results )

static

Print summary statistics for a set of results.

Definition at line 461 of file MotionBenchmakerDemo.cpp.

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The documentation for this class was generated from the following files:

• demos/vamp/MotionBenchmakerDemo.h
• demos/vamp/MotionBenchmakerDemo.cpp