Detailed statistics and metrics computed from profiling a planner's motion planning. More...

#include <benchmarking.h>

Public Attributes
Planning Query and Response
PlanningQuery	query
	Query evaluated to create this data. More...

planning_interface::MotionPlanResponse	response
	Planner response. More...

bool	success
	Was the plan successful? More...

TrajectoryPtr	trajectory
	The resulting trajectory, if available. More...

Timing
double	time
	Time that planning took in seconds. More...

boost::posix_time::ptime	start
	Query start time. More...

boost::posix_time::ptime	finish
	Query end time. More...

Host Metadata
std::string	hostname
	Hostname of the machine the plan was run on. More...

std::size_t	process_id
	Process ID of the process the profiler was run in. More...

std::size_t	thread_id
	Thread ID of profiler execution. More...

Metrics and Progress Properties
std::vector< std::string >	property_names
	Planner progress value names. More...

std::vector< std::map< std::string, std::string > >	progress
	Planner progress data. More...

std::map< std::string, PlannerMetric >	metrics
	Map of metric name to value. More...

std::vector< std::pair< double, double > >	getProgressPropertiesAsPoints (const std::string &xprop, const std::string &yprop) const
	Retrieves the time series data of a planner progress property for a given X-,Y- pair of progress properties. Will ignore a point if either value is non-finite. More...

Detailed Description

Detailed statistics and metrics computed from profiling a planner's motion planning.

Definition at line 78 of file benchmarking.h.

Member Function Documentation

◆ getProgressPropertiesAsPoints()

std::vector< std::pair< double, double > > PlanData::getProgressPropertiesAsPoints	(	const std::string &	xprop,
		const std::string &	yprop
	)		const

Retrieves the time series data of a planner progress property for a given X-,Y- pair of progress properties. Will ignore a point if either value is non-finite.

Parameters

[in]	xprop	The property for the first coordinate.
[in]	yprop	The property for the second coordinate.

Returns: A vector of the points.

PlanData

Definition at line 84 of file benchmarking.cpp.

 {
     std::vector<std::pair<double, double>> ret;
     for (const auto &point : progress)
     {
         auto xit = point.find(xprop);
         if (xit == point.end())
             break;
  
         const auto &xval = xit->second;
         double xvald = boost::lexical_cast<double>(xval);
  
         const auto &yit = point.find(yprop);
         if (yit == point.end())
             break;
  
         const auto &yval = yit->second;
         double yvald = boost::lexical_cast<double>(yval);
  
         if (std::isfinite(xvald) and std::isfinite(yvald))
             ret.emplace_back(xvald, yvald);
     }
  
     return ret;
 }

Member Data Documentation

◆ finish

boost::posix_time::ptime robowflex::PlanData::finish

Query end time.

Definition at line 96 of file benchmarking.h.

◆ hostname

std::string robowflex::PlanData::hostname

Hostname of the machine the plan was run on.

Definition at line 103 of file benchmarking.h.

◆ metrics

std::map<std::string, PlannerMetric> robowflex::PlanData::metrics

Map of metric name to value.

Definition at line 114 of file benchmarking.h.

◆ process_id

std::size_t robowflex::PlanData::process_id

Process ID of the process the profiler was run in.

Definition at line 104 of file benchmarking.h.

◆ progress

std::vector<std::map<std::string, std::string> > robowflex::PlanData::progress

Planner progress data.

Definition at line 113 of file benchmarking.h.

◆ property_names

std::vector<std::string> robowflex::PlanData::property_names

Planner progress value names.

Definition at line 112 of file benchmarking.h.

◆ query

PlanningQuery robowflex::PlanData::query

Query evaluated to create this data.

Definition at line 84 of file benchmarking.h.

◆ response

planning_interface::MotionPlanResponse robowflex::PlanData::response

Planner response.

Definition at line 85 of file benchmarking.h.

◆ start

boost::posix_time::ptime robowflex::PlanData::start

Query start time.

Definition at line 95 of file benchmarking.h.

◆ success

bool robowflex::PlanData::success

Was the plan successful?

Definition at line 86 of file benchmarking.h.

◆ thread_id

std::size_t robowflex::PlanData::thread_id

Thread ID of profiler execution.

Definition at line 105 of file benchmarking.h.

◆ time

double robowflex::PlanData::time

Time that planning took in seconds.

Definition at line 94 of file benchmarking.h.

◆ trajectory

TrajectoryPtr robowflex::PlanData::trajectory

The resulting trajectory, if available.

Definition at line 87 of file benchmarking.h.

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

Public Attributes

Metrics and Progress Properties