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ompl::Benchmark Class Reference

Benchmark a set of planners on a problem instance. More...

#include <Benchmark.h>

List of all members.

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  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

typedef std::map< std::string,
std::string > 
RunProperties
 The data collected from a run of a planner is stored as key-value pairs.
typedef boost::function1< void,
const base::PlannerPtr & > 
PreSetupEvent
 Signature of function that can be called before a planner execution is started.
typedef boost::function2< void,
const base::PlannerPtr
&, RunProperties & > 
PostSetupEvent
 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 setExperimentName (const std::string &name)
 Set the name of the experiment.
const std::string & getExperimentName (void) const
 Get the name of the experiment.
void addPlanner (const base::PlannerPtr &planner)
 Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator. If no planner allocator is available either, a default planner is set.
void addPlannerAllocator (const base::PlannerAllocator &pa)
 Set the planner allocator to use. This is only used if no planner has been set. This is optional -- a default planner will be used if no planner is otherwise specified.
void clearPlanners (void)
 Clear the set of planners to be benchmarked.
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 (double maxTime, double maxMem, unsigned int runCount, bool displayProgress=false)
 Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.
const StatusgetStatus (void) 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 CompleteExperimentgetRecordedExperimentData (void) 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 (void) const
 Save the results of the benchmark to a file. The name of the file is the current date and time.

Protected Attributes

geometric::SimpleSetupgsetup_
 The instance of the problem to benchmark (if geometric planning)
control::SimpleSetupcsetup_
 The instance of the problem to benchmark (if planning with controls)
std::vector< base::PlannerPtrplanners_
 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 preRun_
 Event to be called before the run of a planner.
PostSetupEvent postRun_
 Event to be called after the run of a planner.
msg::Interface msg_
 Interface for console output.

Detailed Description

Benchmark a set of planners on a problem instance.

Definition at line 47 of file Benchmark.h.


Member Function Documentation

void ompl::Benchmark::benchmark ( double  maxTime,
double  maxMem,
unsigned int  runCount,
bool  displayProgress = false 
) [virtual]

Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.

Parameters:
maxTimethe maximum amount of time a planner is allowed to run (seconds)
maxMemthe maximum amount of memory a planner is allowed to use (MB)
runCountthe number of times to run each planner
displayProgressflag indicating whether progress is to be displayed or not
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 runCount = 1 and run the process multiple times.

Definition at line 262 of file Benchmark.cpp.


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