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QuotientSpacePlanningCommon.h
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35
36/* Author: Andreas Orthey */
37
38#include <ompl/base/SpaceInformation.h>
39#include <ompl/tools/benchmark/Benchmark.h>
40
41namespace ot = ompl::tools;
42namespace ob = ompl::base;
43namespace og = ompl::geometric;
44
45void printBenchmarkResults(const ot::Benchmark &b)
46{
47 ot::Benchmark::CompleteExperiment experiment = b.getRecordedExperimentData();
48
49 std::vector<double> meanTime;
50 std::vector<std::string> plannerName;
51 std::map<double, std::pair<std::string, int>> plannerTimes;
52
53 for (unsigned int k = 0; k < experiment.planners.size(); k++)
54 {
55 ot::Benchmark::PlannerExperiment pk = experiment.planners.at(k);
56 std::vector<ot::Benchmark::RunProperties> runs = pk.runs;
57
58 unsigned int N = runs.size();
59 double time = 0;
60 double percentSuccess = 0.0;
61 for (unsigned int j = 0; j < N; j++)
62 {
63 ot::Benchmark::RunProperties run = runs.at(j);
64 double timeJrun = std::atof(run["time REAL"].c_str());
65 time += timeJrun;
66 if (timeJrun < experiment.maxTime)
67 percentSuccess++;
68 }
69
70 time = time / (double)N;
71 percentSuccess = 100.0 * (percentSuccess / (double)N);
72 pk.name.erase(0, 10);
73
74 plannerTimes[time] = std::make_pair(pk.name, percentSuccess);
75 }
76
77 std::cout << "Finished Benchmark (Runtime:" << experiment.maxTime << ", RunCount:" << experiment.runCount << ")"
78 << std::endl;
79 std::cout << "Placement <Rank> <Time (in Seconds)> <Success (in Percentage)>" << std::endl;
80 unsigned int ctr = 1;
81 std::cout << std::string(80, '-') << std::endl;
82 for (auto const &p : plannerTimes)
83 {
84 std::cout << "Place <" << ctr << "> Time: <" << p.first << "> \%Success: <" << p.second.second << "> ("
85 << p.second.first << ")" << (ctr < 2 ? " <-- Winner" : "") << std::endl;
86 ctr++;
87 }
88 std::cout << std::string(80, '-') << std::endl;
89}
90
91void printEstimatedTimeToCompletion(unsigned int numberPlanners, unsigned int run_count, unsigned int runtime_limit)
92{
93 std::cout << std::string(80, '-') << std::endl;
94 double worst_case_time_estimate_in_seconds = numberPlanners * run_count * runtime_limit;
95 double worst_case_time_estimate_in_minutes = worst_case_time_estimate_in_seconds / 60.0;
96 double worst_case_time_estimate_in_hours = worst_case_time_estimate_in_minutes / 60.0;
97 std::cout << "Number of Planners : " << numberPlanners << std::endl;
98 std::cout << "Number of Runs Per Planner : " << run_count << std::endl;
99 std::cout << "Time Per Run (s) : " << runtime_limit << std::endl;
100 std::cout << "Worst-case time requirement : ";
101
102 if (worst_case_time_estimate_in_hours < 1)
103 {
104 if (worst_case_time_estimate_in_minutes < 1)
105 {
106 std::cout << worst_case_time_estimate_in_seconds << "s" << std::endl;
107 }
108 else
109 {
110 std::cout << worst_case_time_estimate_in_minutes << "m" << std::endl;
111 }
112 }
113 else
114 {
115 std::cout << worst_case_time_estimate_in_hours << "h" << std::endl;
116 }
117 std::cout << std::string(80, '-') << std::endl;
118}
Benchmark a set of planners on a problem instance.
Definition Benchmark.h:49
const CompleteExperiment & getRecordedExperimentData() const
Return all the experiment data that would be written to the results file. The data should not be chan...
Definition Benchmark.h:312
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains code that is specific to planning under geometric constraints.
Includes various tools such as self config, benchmarking, etc.
std::vector< PlannerExperiment > planners
The collected experimental data; each element of the array (an experiment) corresponds to a planner.
Definition Benchmark.h:122