Loading...
Searching...
No Matches
MultiLevelPlanningCommon.h
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2019, University of Stuttgart
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the University of Stuttgart nor the names
18 * of its contributors may be used to endorse or promote products
19 * derived from this software without specific prior written
20 * permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 *********************************************************************/
35
36/* Author: Andreas Orthey */
37
38#include <ompl/base/SpaceInformation.h>
39#include <ompl/tools/benchmark/Benchmark.h>
40
41// include planners
42#include <ompl/geometric/planners/informedtrees/BITstar.h>
43#include <ompl/geometric/planners/informedtrees/ABITstar.h>
44#include <ompl/geometric/planners/est/BiEST.h>
45#include <ompl/geometric/planners/est/EST.h>
46#include <ompl/geometric/planners/est/ProjEST.h>
47#include <ompl/geometric/planners/fmt/BFMT.h>
48#include <ompl/geometric/planners/fmt/FMT.h>
49#include <ompl/geometric/planners/kpiece/BKPIECE1.h>
50#include <ompl/geometric/planners/kpiece/KPIECE1.h>
51#include <ompl/geometric/planners/kpiece/LBKPIECE1.h>
52#include <ompl/geometric/planners/pdst/PDST.h>
53#include <ompl/geometric/planners/prm/LazyPRMstar.h>
54#include <ompl/geometric/planners/prm/PRM.h>
55#include <ompl/geometric/planners/prm/PRMstar.h>
56#include <ompl/geometric/planners/prm/SPARS.h>
57#include <ompl/geometric/planners/prm/SPARStwo.h>
58#include <ompl/multilevel/planners/qrrt/QRRT.h>
59#include <ompl/multilevel/planners/qrrt/QRRTStar.h>
60#include <ompl/multilevel/planners/qmp/QMP.h>
61#include <ompl/multilevel/planners/qmp/QMPStar.h>
62#include <ompl/geometric/planners/rrt/BiTRRT.h>
63#include <ompl/geometric/planners/rrt/InformedRRTstar.h>
64#include <ompl/geometric/planners/rrt/LazyRRT.h>
65#include <ompl/geometric/planners/rrt/LBTRRT.h>
66#include <ompl/geometric/planners/rrt/RRTConnect.h>
67#include <ompl/geometric/planners/rrt/RRT.h>
68#include <ompl/geometric/planners/rrt/RRTsharp.h>
69#include <ompl/geometric/planners/rrt/RRTstar.h>
70#include <ompl/geometric/planners/rrt/RRTXstatic.h>
71#include <ompl/geometric/planners/rrt/SORRTstar.h>
72#include <ompl/geometric/planners/rrt/TRRT.h>
73#include <ompl/geometric/planners/sbl/SBL.h>
74#include <ompl/geometric/planners/sst/SST.h>
75#include <ompl/geometric/planners/stride/STRIDE.h>
76
77#include <boost/lexical_cast.hpp>
78
79void printBenchmarkResults(const ompl::tools::Benchmark &b)
80{
82
83 std::vector<double> meanTime;
84 std::vector<std::string> plannerName;
85 std::map<double, std::pair<std::string, int>> plannerTimes;
86
87 for (unsigned int k = 0; k < experiment.planners.size(); k++)
88 {
90 std::vector<ompl::tools::Benchmark::RunProperties> runs = pk.runs;
91
92 unsigned int N = runs.size();
93 double time = 0;
94 double percentSuccess = 0.0;
95 for (unsigned int j = 0; j < N; j++)
96 {
98 double timeJrun = std::atof(run["time REAL"].c_str());
99 bool runSolved = std::atoi(run["solved BOOLEAN"].c_str());
100
101 if (!runSolved)
102 timeJrun = experiment.maxTime;
103
104 time += timeJrun;
105 if (timeJrun < experiment.maxTime)
106 percentSuccess++;
107 }
108
109 time = time / (double)N;
110 percentSuccess = 100.0 * (percentSuccess / (double)N);
111 pk.name.erase(0, 10);
112
113 plannerTimes[time] = std::make_pair(pk.name, percentSuccess);
114 }
115
116 std::cout << "Finished Benchmark (Runtime: " << experiment.maxTime << ", RunCount: " << experiment.runCount << ")"
117 << std::endl;
118 std::cout << "Placement <Rank> <Time (in Seconds)> <Success (in Percentage)>" << std::endl;
119 unsigned int ctr = 1;
120 std::cout << std::string(80, '-') << std::endl;
121 for (auto const &p : plannerTimes)
122 {
123 std::cout << "Place <" << ctr << "> Time: <" << p.first << "> \%Success: <" << p.second.second << "> ("
124 << p.second.first << ")" << std::endl;
125 ctr++;
126 }
127 std::cout << std::string(80, '-') << std::endl;
128}
129
130void printEstimatedTimeToCompletion(unsigned int numberPlanners, unsigned int run_count, unsigned int runtime_limit)
131{
132 std::cout << std::string(80, '-') << std::endl;
133 double worst_case_time_estimate_in_seconds = numberPlanners * run_count * runtime_limit;
134 double worst_case_time_estimate_in_minutes = worst_case_time_estimate_in_seconds / 60.0;
135 double worst_case_time_estimate_in_hours = worst_case_time_estimate_in_minutes / 60.0;
136 std::cout << "Number of Planners : " << numberPlanners << std::endl;
137 std::cout << "Number of Runs Per Planner : " << run_count << std::endl;
138 std::cout << "Time Per Run (s) : " << runtime_limit << std::endl;
139 std::cout << "Worst-case time requirement : ";
140
141 if (worst_case_time_estimate_in_hours < 1)
142 {
143 if (worst_case_time_estimate_in_minutes < 1)
144 {
145 std::cout << worst_case_time_estimate_in_seconds << "s" << std::endl;
146 }
147 else
148 {
149 std::cout << worst_case_time_estimate_in_minutes << "m" << std::endl;
150 }
151 }
152 else
153 {
154 std::cout << worst_case_time_estimate_in_hours << "h" << std::endl;
155 }
156 std::cout << std::string(80, '-') << std::endl;
157}
158
159static unsigned int numberRuns{0};
160
161void PostRunEvent(const ompl::base::PlannerPtr &planner, ompl::tools::Benchmark::RunProperties &run)
162{
163 static unsigned int pid = 0;
164
165 ompl::base::SpaceInformationPtr si = planner->getSpaceInformation();
166 ompl::base::ProblemDefinitionPtr pdef = planner->getProblemDefinition();
167
168 unsigned int states = boost::lexical_cast<int>(run["graph states INTEGER"]);
169 double time = boost::lexical_cast<double>(run["time REAL"]);
170 double memory = boost::lexical_cast<double>(run["memory REAL"]);
171
172 bool solved = boost::lexical_cast<bool>(run["solved BOOLEAN"]);
173
174 double cost = std::numeric_limits<double>::infinity();
175 if (run.find("solution length REAL") != run.end())
176 {
177 cost = boost::lexical_cast<double>(run["solution length REAL"]);
178 }
179
180 std::cout << "Run " << pid << "/" << numberRuns << " [" << planner->getName() << "] "
181 << (solved ? "solved" : "FAILED") << "(time: " << time << ", cost: " << cost << ", states: " << states
182 << ", memory: " << memory << ")" << std::endl;
183 std::cout << std::string(80, '-') << std::endl;
184 pid++;
185}
186
187int numberPlanners = 0;
188
189void addPlanner(ompl::tools::Benchmark &benchmark, const ompl::base::PlannerPtr &planner, double range = 1e-2)
190{
191 ompl::base::ParamSet &params = planner->params();
192 if (params.hasParam(std::string("range")))
193 params.setParam(std::string("range"), ompl::toString(range));
194 benchmark.addPlanner(planner);
195 numberPlanners++;
196}
Maintain a set of parameters.
bool hasParam(const std::string &key) const
Check whether this set of parameters includes the parameter named key.
bool setParam(const std::string &key, const std::string &value)
Algorithms in OMPL often have parameters that can be set externally. While each algorithm will have t...
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
std::map< std::string, std::string > RunProperties
The data collected from a run of a planner is stored as key-value pairs.
Definition Benchmark.h:79
std::string toString(float val)
convert float to string using classic "C" locale semantics
Definition String.cpp:82
This structure holds experimental data for a set of planners.
Definition Benchmark.h:117
double maxTime
The maximum allowed time for planner computation during the experiment (seconds)
Definition Benchmark.h:125
std::vector< PlannerExperiment > planners
The collected experimental data; each element of the array (an experiment) corresponds to a planner.
Definition Benchmark.h:122
unsigned int runCount
The number of runs to execute for each planner.
Definition Benchmark.h:131
The data collected after running a planner multiple times.
Definition Benchmark.h:91
std::vector< RunProperties > runs
Data collected for each run.
Definition Benchmark.h:96
std::string name
The name of the planner.
Definition Benchmark.h:93