ompl::tools::Benchmark Class Reference
Benchmark a set of planners on a problem instance. More...
#include <ompl/tools/benchmark/Benchmark.h>
Classes | |
struct | CompleteExperiment |
This structure holds experimental data for a set of planners. More... | |
struct | PlannerExperiment |
The data collected after running a planner multiple times. More... | |
struct | Request |
Representation of a benchmark request. More... | |
struct | Status |
This structure contains information about the activity of a benchmark instance. If the instance is running, it is possible to find out information such as which planner is currently being tested or how much. More... | |
Public Types | |
using | RunProperties = std::map< std::string, std::string > |
The data collected from a run of a planner is stored as key-value pairs. | |
using | RunProgressData = std::vector< std::map< std::string, std::string > > |
using | PreSetupEvent = std::function< void(const base::PlannerPtr &)> |
Signature of function that can be called before a planner execution is started. | |
using | PostSetupEvent = std::function< void(const base::PlannerPtr &, RunProperties &)> |
Signature of function that can be called after a planner execution is completed. | |
Public Member Functions | |
Benchmark (geometric::SimpleSetup &setup, const std::string &name=std::string()) | |
Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified. | |
Benchmark (control::SimpleSetup &setup, const std::string &name=std::string()) | |
Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name) can be specified. | |
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 different benchmark instances, e.g., parameter sweep. type is typically "BOOLEAN", "INTEGER", or "REAL". | |
const std::map< std::string, std::string > & | getExperimentParameters () const |
Get all optional benchmark parameters. The map key is 'name type' | |
std::size_t | numExperimentParameters () const |
Return the number of optional benchmark parameters. | |
void | setExperimentName (const std::string &name) |
Set the name of the experiment. | |
const std::string & | getExperimentName () const |
Get the name of the experiment. | |
void | addPlanner (const base::PlannerPtr &planner) |
Add a planner to use. | |
void | addPlannerAllocator (const base::PlannerAllocator &pa) |
Add a planner allocator to use. | |
void | clearPlanners () |
Clear the set of planners to be benchmarked. | |
void | setPlannerSwitchEvent (const PreSetupEvent &event) |
Set the event to be called before any runs of a particular planner (when the planner is switched) | |
void | setPreRunEvent (const PreSetupEvent &event) |
Set the event to be called before the run of a planner. | |
void | setPostRunEvent (const PostSetupEvent &event) |
Set the event to be called after the run of a planner. | |
virtual void | benchmark (const Request &req) |
Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data. More... | |
const Status & | getStatus () const |
Get the status of the benchmarking code. This function can be called in a separate thread to check how much progress has been made. | |
const CompleteExperiment & | getRecordedExperimentData () const |
Return all the experiment data that would be written to the results file. The data should not be changed, but it could be useful to quickly extract cartain statistics. | |
virtual bool | saveResultsToStream (std::ostream &out=std::cout) const |
Save the results of the benchmark to a stream. | |
bool | saveResultsToFile (const char *filename) const |
Save the results of the benchmark to a file. | |
bool | saveResultsToFile () const |
Save the results of the benchmark to a file. The name of the file is the current date and time. | |
Protected Attributes | |
geometric::SimpleSetup * | gsetup_ |
The instance of the problem to benchmark (if geometric planning) | |
control::SimpleSetup * | csetup_ |
The instance of the problem to benchmark (if planning with controls) | |
std::vector< base::PlannerPtr > | planners_ |
The set of planners to be tested. | |
CompleteExperiment | exp_ |
The collected experimental data (for all planners) | |
Status | status_ |
The current status of this benchmarking instance. | |
PreSetupEvent | plannerSwitch_ |
Event to be called when the evaluated planner is switched. | |
PreSetupEvent | preRun_ |
Event to be called before the run of a planner. | |
PostSetupEvent | postRun_ |
Event to be called after the run of a planner. | |
Detailed Description
Benchmark a set of planners on a problem instance.
Definition at line 112 of file Benchmark.h.
Member Function Documentation
◆ benchmark()
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virtual |
Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.
- Parameters
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req The parameters for the execution of the benchmark
- Note
- The values returned for memory consumption may be misleading. Memory allocators often free memory in a lazy fashion, so the returned values for memory consumption indicate the increase in memory usage for each run. Since not all the memory for the previous run was freed, the increase in usage may be close to 0. To get correct averages for memory usage, use req.runCount = 1 and run the process multiple times.
Definition at line 353 of file Benchmark.cpp.
The documentation for this class was generated from the following files:
- ompl/tools/benchmark/Benchmark.h
- ompl/tools/benchmark/src/Benchmark.cpp