ExperienceSetup.h

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/* Author: Dave Coleman
 */
 
#ifndef OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_
#define OMPL_TOOLS_EXPERIENCE__EXPERIENCE_SETUP_
 
#include "ompl/geometric/SimpleSetup.h"
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(ExperienceSetup);
 
        class ExperienceSetup : public geometric::SimpleSetup
        {
        public:
            struct ExperienceStats
            {
                ExperienceStats() = default;
 
                double getAveragePlanningTime() const
                {
                    if (numProblems_ == 0.0)
                        return 0.0;
 
                    return totalPlanningTime_ / numProblems_;
                }
 
                double getAverageInsertionTime() const
                {
                    if (numProblems_ == 0.0)
                        return 0.0;
 
                    // Clean up output
                    double time = totalInsertionTime_ / numProblems_;
                    if (time < 1e-8)
                        return 0.0;
                    return totalInsertionTime_ / numProblems_;
                }
 
                double numSolutionsFromRecall_{0.};
                double numSolutionsFromRecallSaved_{0.};
                double numSolutionsFromScratch_{0.};
                double numSolutionsFailed_{0.};
                double numSolutionsTimedout_{0.};
                double numSolutionsApproximate_{0.};
                double numSolutionsTooShort_{0.};  // less than 3 states
                double numProblems_{0.};           // input requests
                double totalPlanningTime_{0.};     // of all input requests, used for averaging
                double totalInsertionTime_{0.};    // of all input requests, used for averaging
            };
 
            struct ExperienceLog
            {
                ExperienceLog() = default;
                // Times
                double planning_time{0.0};
                double insertion_time{0.0};
                // Solution properties
                std::string planner{"NA"};
                std::string result{"NA"};
                std::string is_saved{"NA"};
                // Failure booleans
                bool approximate{false};
                bool too_short{false};
                bool insertion_failed{false};
                // Lightning properties
                double score{0.0};
                // Thunder (SPARS) properties
                std::size_t num_vertices{0};
                std::size_t num_edges{0};
                std::size_t num_connected_components{0};
            };
 
            explicit ExperienceSetup(const base::SpaceInformationPtr &si);
 
            explicit ExperienceSetup(const base::StateSpacePtr &space);
 
            void logInitialize();
 
            void convertLogToString(const ExperienceLog &log);
 
            virtual void printResultsInfo(std::ostream &out = std::cout) const = 0;
 
            virtual void printLogs(std::ostream &out = std::cout) const = 0;
 
            virtual void saveDataLog(std::ostream &out = std::cout);
 
            virtual void setRepairPlanner(const base::PlannerPtr &planner) = 0;
 
            virtual bool save() = 0;
 
            virtual bool saveIfChanged() = 0;
 
            void enablePlanningFromRecall(bool enable);
 
            void enablePlanningFromScratch(bool enable);
 
            virtual void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const = 0;
 
            virtual std::size_t getExperiencesCount() const = 0;
 
            virtual const std::string &getFilePath() const;
 
            virtual bool setFilePath(const std::string &filePath);
 
            const ExperienceStats &getStats() const
            {
                return stats_;
            }
 
            virtual bool doPostProcessing()
            {
                return true;
            }
 
        protected:
            bool recallEnabled_{true};
 
            bool scratchEnabled_{true};
 
            std::string filePath_;
 
            // output data to file to analyze performance externally
            std::stringstream csvDataLogStream_;
 
            ExperienceStats stats_;
        };
    }
}
#endif