robowflex::OMPLPlanDataSetOutputter Class Reference

Benchmark outputter that saves results into OMPL benchmarking log files. If ompl_benchmark_statistics.py is available in your PATH variable, the results are also compiled into a database file. More...

#include <benchmarking.h>

Inheritance diagram for robowflex::OMPLPlanDataSetOutputter:

Public Member Functions
	OMPLPlanDataSetOutputter (const std::string &prefix)
	Constructor. More...
	~OMPLPlanDataSetOutputter () override
	Destructor, runs ompl_benchmark_statistics.py to generate benchmarking database. More...
void	dump (const PlanDataSet &results) override
	Dumps results into a OMPL benchmarking log file in prefix_ named after the request name_. More...
Public Member Functions inherited from robowflex::PlanDataSetOutputter
virtual	~PlanDataSetOutputter ()=default
	Virtual destructor for cleaning up resources. More...

Private Attributes
const std::string	prefix_
	Log file prefix. More...

Detailed Description

Benchmark outputter that saves results into OMPL benchmarking log files. If ompl_benchmark_statistics.py is available in your PATH variable, the results are also compiled into a database file.

Definition at line 571 of file benchmarking.h.

Constructor & Destructor Documentation

OMPLPlanDataSetOutputter()

OMPLPlanDataSetOutputter::OMPLPlanDataSetOutputter

(

const std::string &

prefix

)

Constructor.

Parameters

[in]	prefix	Prefix to place in front of all log files generated.
[in]	dumpScene	If true, will output scene into log file.

OMPLPlanDataSetOutputter

Definition at line 603 of file benchmarking.cpp.

                                                                          : prefix_(prefix)
{
}

~OMPLPlanDataSetOutputter()

OMPLPlanDataSetOutputter::~OMPLPlanDataSetOutputter ( )

override

Destructor, runs ompl_benchmark_statistics.py to generate benchmarking database.

Definition at line 607 of file benchmarking.cpp.

{
}

Member Function Documentation

dump()

void OMPLPlanDataSetOutputter::dump ( const PlanDataSet &  results )

overridevirtual

Dumps results into a OMPL benchmarking log file in prefix_ named after the request name_.

Parameters

[in]

results

Results to dump to file.

Implements robowflex::PlanDataSetOutputter.

Definition at line 611 of file benchmarking.cpp.

{
    std::ofstream out;
    IO::createFile(out, log::format("%1%_%2%.log", prefix_, results.name));
 
    out << "MoveIt! version " << MOVEIT_VERSION << std::endl;  // version
    out << "Experiment " << results.name << std::endl;         // experiment
    out << "Running on " << IO::getHostname() << std::endl;    // hostname
    out << "Starting at " << results.start << std::endl;       // date
 
    out << "<<<|" << std::endl;
    out << "|>>>" << std::endl;
 
    // random seed (fake)
    out << "0 is the random seed" << std::endl;
 
    // time limit
    out << results.allowed_time << " seconds per run" << std::endl;
 
    // memory limit
    out << "-1 MB per run" << std::endl;
 
    // num_runs
    // out << results.data.size() << " runs per planner" << std::endl;
 
    // total_time
    out << results.time << " seconds spent to collect the data" << std::endl;
 
    // num_enums / enums
    out << "0 enum types" << std::endl;
 
    // num_planners
    out << results.query_names.size() << " planners" << std::endl;
 
    // planners_data -> planner_data
    for (const auto &name : results.query_names)
    {
        const auto &runs = results.data.find(name)->second;
 
        out << name << std::endl;  // planner_name
        out << "0 common properties" << std::endl;
 
        out << (runs[0]->metrics.size() + 2) << " properties for each run" << std::endl;  // run_properties
        out << "time REAL" << std::endl;
        out << "success BOOLEAN" << std::endl;
 
        std::vector<std::reference_wrapper<const std::string>> keys;
        for (const auto &metric : runs[0]->metrics)
        {
            class ToString : public boost::static_visitor<const std::string>
            {
            public:
                std::string operator()(int /* dummy */) const
                {
                    return "INT";
                }
 
                std::string operator()(std::size_t /* dummy */) const
                {
                    return "BIGINT";
                }
 
                std::string operator()(double /* dummy */) const
                {
                    return "REAL";
                }
 
                std::string operator()(bool /* dummy */) const
                {
                    return "BOOLEAN";
                }
 
                const std::string operator()(std::string /* dummy */) const
                {
                    return "VARCHAR(128)";
                }
            };
 
            const auto &name = metric.first;
            keys.emplace_back(name);
 
            out << name << " " << boost::apply_visitor(ToString(), metric.second) << std::endl;
        }
 
        out << runs.size() << " runs" << std::endl;
 
        for (const auto &run : runs)
        {
            out << run->time << "; "  //
                << run->success << "; ";
 
            for (const auto &key : keys)
                out << toMetricString(run->metrics.find(key)->second) << "; ";
 
            out << std::endl;
        }
 
        const auto &progress_names = runs[0]->property_names;
        if (not progress_names.empty())
        {
            out << progress_names.size() << " progress properties for each run" << std::endl;
            for (const auto &name : progress_names)
                out << name << std::endl;
 
            out << runs.size() << " runs" << std::endl;
            for (const auto &run : runs)
            {
                for (const auto &point : run->progress)
                {
                    for (const auto &name : progress_names)
                    {
                        auto it = point.find(name);
                        out << it->second << ",";
                    }
 
                    out << ";";
                }
 
                out << std::endl;
            }
        }
 
        out << "." << std::endl;
    }
 
    out.close();
}

Member Data Documentation

prefix_

const std::string robowflex::OMPLPlanDataSetOutputter::prefix_

private

Log file prefix.

Definition at line 591 of file benchmarking.h.

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

• benchmarking.h
• benchmarking.cpp