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<div class="title">Benchmark.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/tools/benchmark/Benchmark.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/tools/benchmark/MachineSpecs.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/util/Time.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <boost/lexical_cast.hpp></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <boost/progress.hpp></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <fstream></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <sstream></span>
<a name="l00044"></a>00044
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00049"></a>00049 <span class="keyword">static</span> std::string getResultsFilename(<span class="keyword">const</span> Benchmark::CompleteExperiment &exp)
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="keywordflow">return</span> <span class="stringliteral">"ompl_"</span> + exp.host + <span class="stringliteral">"_"</span> + boost::posix_time::to_iso_extended_string(exp.startTime) + <span class="stringliteral">".log"</span>;
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053
<a name="l00055"></a>00055 <span class="keyword">static</span> std::string getConsoleFilename(<span class="keyword">const</span> Benchmark::CompleteExperiment &exp)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="keywordflow">return</span> <span class="stringliteral">"ompl_"</span> + exp.host + <span class="stringliteral">"_"</span> + boost::posix_time::to_iso_extended_string(exp.startTime) + <span class="stringliteral">".console"</span>;
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keyword">static</span> <span class="keywordtype">bool</span> terminationCondition(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> maxMem, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> &endTime)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="keywordflow">if</span> (<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() < endTime && <a class="code" href="namespaceompl_1_1machine.html#a8924e2e9ab70ab753b43d4d47e22c3eb" title="Get the amount of memory the current process is using. This should work on major platforms (Windows...">machine::getProcessMemoryUsage</a>() < maxMem)
<a name="l00063"></a>00063 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00064"></a>00064 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <span class="keyword">class </span>RunPlanner
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 <span class="keyword">public</span>:
<a name="l00070"></a>00070
<a name="l00071"></a>00071 RunPlanner(<span class="keyword">const</span> Benchmark *benchmark) : benchmark_(benchmark), timeUsed_(0.0), memUsed_(0), crashed_(false)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keywordtype">void</span> run(<span class="keyword">const</span> base::PlannerPtr &planner, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> memStart, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> maxMem, <span class="keyword">const</span> <span class="keywordtype">double</span> maxTime)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 boost::thread t(boost::bind(&RunPlanner::runThread, <span class="keyword">this</span>, planner, memStart + maxMem, <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(maxTime)));
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">// allow 25% more time than originally specified, in order to detect planner termination</span>
<a name="l00080"></a>00080 <span class="keywordflow">if</span> (!t.timed_join(<a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(maxTime * 1.25)))
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 crashed_ = <span class="keyword">true</span>;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 std::stringstream es;
<a name="l00085"></a>00085 es << <span class="stringliteral">"Planner "</span> << benchmark_->getStatus().activePlanner << <span class="stringliteral">" did not complete run "</span> << benchmark_->getStatus().activeRun
<a name="l00086"></a>00086 << <span class="stringliteral">" within the specified amount of time (possible crash). Attempting to force termination of planning thread ..."</span> << std::endl;
<a name="l00087"></a>00087 std::cerr << es.str();
<a name="l00088"></a>00088 msg_.error(es.str());
<a name="l00089"></a>00089
<a name="l00090"></a>00090 t.interrupt();
<a name="l00091"></a>00091 t.join();
<a name="l00092"></a>00092
<a name="l00093"></a>00093 std::string m = <span class="stringliteral">"Planning thread cancelled"</span>;
<a name="l00094"></a>00094 std::cerr << m << std::endl;
<a name="l00095"></a>00095 msg_.error(m);
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordflow">if</span> (memStart < memUsed_)
<a name="l00099"></a>00099 memUsed_ -= memStart;
<a name="l00100"></a>00100 <span class="keywordflow">else</span>
<a name="l00101"></a>00101 memUsed_ = 0;
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keywordtype">double</span> getTimeUsed(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00105"></a>00105 <span class="keyword"> </span>{
<a name="l00106"></a>00106 <span class="keywordflow">return</span> timeUsed_;
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> getMemUsed(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword"> </span>{
<a name="l00111"></a>00111 <span class="keywordflow">return</span> memUsed_;
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="keywordtype">bool</span> crashed(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00115"></a>00115 <span class="keyword"> </span>{
<a name="l00116"></a>00116 <span class="keywordflow">return</span> crashed_;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keyword">private</span>:
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="keywordtype">void</span> runThread(<span class="keyword">const</span> base::PlannerPtr &planner, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> maxMem, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#a4c9f24d26cae91eb6598630f6a22e1b9" title="Representation of a time duration.">time::duration</a> &maxDuration)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> timeStart = <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>();
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="keywordflow">try</span>
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 <a class="code" href="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d" title="Signature for functions that decide whether termination conditions have been met for a planner...">base::PlannerTerminationConditionFn</a> ptc = boost::bind(&terminationCondition, maxMem, <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() + maxDuration);
<a name="l00128"></a>00128 planner->solve(ptc, 0.1);
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130 <span class="keywordflow">catch</span>(std::runtime_error &e)
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 std::stringstream es;
<a name="l00133"></a>00133 es << <span class="stringliteral">"There was an error executing planner "</span> << benchmark_->getStatus().activePlanner << <span class="stringliteral">", run = "</span> << benchmark_->getStatus().activeRun << std::endl;
<a name="l00134"></a>00134 es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;
<a name="l00135"></a>00135 std::cerr << es.str();
<a name="l00136"></a>00136 msg_.error(es.str());
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138
<a name="l00139"></a>00139 timeUsed_ = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() - timeStart);
<a name="l00140"></a>00140 memUsed_ = <a class="code" href="namespaceompl_1_1machine.html#a8924e2e9ab70ab753b43d4d47e22c3eb" title="Get the amount of memory the current process is using. This should work on major platforms (Windows...">machine::getProcessMemoryUsage</a>();
<a name="l00141"></a>00141 }
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keyword">const</span> Benchmark *benchmark_;
<a name="l00144"></a>00144 <span class="keywordtype">double</span> timeUsed_;
<a name="l00145"></a>00145 <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> memUsed_;
<a name="l00146"></a>00146 <span class="keywordtype">bool</span> crashed_;
<a name="l00147"></a>00147
<a name="l00148"></a>00148 msg::Interface msg_;
<a name="l00149"></a>00149 };
<a name="l00150"></a>00150
<a name="l00151"></a>00151 }
<a name="l00153"></a>00153
<a name="l00154"></a><a class="code" href="classompl_1_1Benchmark.html#acc0d4a751aeb070d5250e6345809de19">00154</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1Benchmark.html#a848349a734629a46cae8b425ea688018" title="Save the results of the benchmark to a file. The name of the file is the current date and time...">ompl::Benchmark::saveResultsToFile</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename)<span class="keyword"> const</span>
<a name="l00155"></a>00155 <span class="keyword"></span>{
<a name="l00156"></a>00156 <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;
<a name="l00157"></a>00157
<a name="l00158"></a>00158 std::ofstream fout(filename);
<a name="l00159"></a>00159 <span class="keywordflow">if</span> (fout.good())
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 result = <a class="code" href="classompl_1_1Benchmark.html#abaf7d3138d919aa4592f46108f95f4d2" title="Save the results of the benchmark to a stream.">saveResultsToStream</a>(fout);
<a name="l00162"></a>00162 <a class="code" href="classompl_1_1Benchmark.html#a739e8d29b9e507c96b91dfd234786389" title="Interface for console output.">msg_</a>.<a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">inform</a>(<span class="stringliteral">"Results saved to '%s'"</span>, filename);
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 <span class="keywordflow">else</span>
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <span class="comment">// try to save to a different file, if we can</span>
<a name="l00167"></a>00167 <span class="keywordflow">if</span> (getResultsFilename(<a class="code" href="classompl_1_1Benchmark.html#a74dfbbcaad551d0b74096e80fd1b143c" title="The collected experimental data (for all planners)">exp_</a>) != std::string(filename))
<a name="l00168"></a>00168 result = <a class="code" href="classompl_1_1Benchmark.html#a848349a734629a46cae8b425ea688018" title="Save the results of the benchmark to a file. The name of the file is the current date and time...">saveResultsToFile</a>();
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <a class="code" href="classompl_1_1Benchmark.html#a739e8d29b9e507c96b91dfd234786389" title="Interface for console output.">msg_</a>.<a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575" title="Forward an error.">error</a>(<span class="stringliteral">"Unable to write results to '%s'"</span>, filename);
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 <span class="keywordflow">return</span> result;
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174
<a name="l00175"></a><a class="code" href="classompl_1_1Benchmark.html#a848349a734629a46cae8b425ea688018">00175</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1Benchmark.html#a848349a734629a46cae8b425ea688018" title="Save the results of the benchmark to a file. The name of the file is the current date and time...">ompl::Benchmark::saveResultsToFile</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00176"></a>00176 <span class="keyword"></span>{
<a name="l00177"></a>00177 std::string filename = getResultsFilename(exp_);
<a name="l00178"></a>00178 <span class="keywordflow">return</span> saveResultsToFile(filename.c_str());
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180
<a name="l00181"></a><a class="code" href="classompl_1_1Benchmark.html#abaf7d3138d919aa4592f46108f95f4d2">00181</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1Benchmark.html#abaf7d3138d919aa4592f46108f95f4d2" title="Save the results of the benchmark to a stream.">ompl::Benchmark::saveResultsToStream</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00182"></a>00182 <span class="keyword"></span>{
<a name="l00183"></a>00183 <span class="keywordflow">if</span> (exp_.planners.empty())
<a name="l00184"></a>00184 {
<a name="l00185"></a>00185 msg_.warn(<span class="stringliteral">"There is no experimental data to save"</span>);
<a name="l00186"></a>00186 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="keywordflow">if</span> (!out.good())
<a name="l00190"></a>00190 {
<a name="l00191"></a>00191 msg_.error(<span class="stringliteral">"Unable to write to stream"</span>);
<a name="l00192"></a>00192 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a>00195 out << <span class="stringliteral">"Experiment "</span> << (exp_.name.empty() ? <span class="stringliteral">"NO_NAME"</span> : exp_.name) << std::endl;
<a name="l00196"></a>00196 out << <span class="stringliteral">"Running on "</span> << (exp_.host.empty() ? <span class="stringliteral">"UNKNOWN"</span> : exp_.host) << std::endl;
<a name="l00197"></a>00197 out << <span class="stringliteral">"Starting at "</span> << boost::posix_time::to_iso_extended_string(exp_.startTime) << std::endl;
<a name="l00198"></a>00198 out << <span class="stringliteral">"<<<|"</span> << std::endl << exp_.setupInfo << <span class="stringliteral">"|>>>"</span> << std::endl;
<a name="l00199"></a>00199
<a name="l00200"></a>00200 out << exp_.seed << <span class="stringliteral">" is the random seed"</span> << std::endl;
<a name="l00201"></a>00201 out << exp_.maxTime << <span class="stringliteral">" seconds per run"</span> << std::endl;
<a name="l00202"></a>00202 out << exp_.maxMem << <span class="stringliteral">" MB per run"</span> << std::endl;
<a name="l00203"></a>00203 out << exp_.totalDuration << <span class="stringliteral">" seconds spent to collect the data"</span> << std::endl;
<a name="l00204"></a>00204 out << exp_.planners.size() << <span class="stringliteral">" planners"</span> << std::endl;
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < exp_.planners.size() ; ++i)
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 out << exp_.planners[i].name << std::endl;
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="comment">// get names of common properties</span>
<a name="l00211"></a>00211 std::vector<std::string> properties;
<a name="l00212"></a>00212 <span class="keywordflow">for</span> (std::map<std::string, std::string>::const_iterator mit = exp_.planners[i].common.begin() ;
<a name="l00213"></a>00213 mit != exp_.planners[i].common.end() ; ++mit)
<a name="l00214"></a>00214 properties.push_back(mit->first);
<a name="l00215"></a>00215 std::sort(properties.begin(), properties.end());
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="comment">// print names & values of common properties</span>
<a name="l00218"></a>00218 out << properties.size() << <span class="stringliteral">" common properties"</span> << std::endl;
<a name="l00219"></a>00219 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0 ; k < properties.size() ; ++k)
<a name="l00220"></a>00220 {
<a name="l00221"></a>00221 std::map<std::string, std::string>::const_iterator it = exp_.planners[i].common.find(properties[k]);
<a name="l00222"></a>00222 out << it->first << <span class="stringliteral">" = "</span> << it->second << std::endl;
<a name="l00223"></a>00223 }
<a name="l00224"></a>00224
<a name="l00225"></a>00225 <span class="comment">// construct the list of all possible properties for all runs</span>
<a name="l00226"></a>00226 std::map<std::string, bool> propSeen;
<a name="l00227"></a>00227 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < exp_.planners[i].runs.size() ; ++j)
<a name="l00228"></a>00228 <span class="keywordflow">for</span> (std::map<std::string, std::string>::const_iterator mit = exp_.planners[i].runs[j].begin() ;
<a name="l00229"></a>00229 mit != exp_.planners[i].runs[j].end() ; ++mit)
<a name="l00230"></a>00230 propSeen[mit->first] = <span class="keyword">true</span>;
<a name="l00231"></a>00231
<a name="l00232"></a>00232 properties.clear();
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="keywordflow">for</span> (std::map<std::string, bool>::iterator it = propSeen.begin() ; it != propSeen.end() ; ++it)
<a name="l00235"></a>00235 properties.push_back(it->first);
<a name="l00236"></a>00236 std::sort(properties.begin(), properties.end());
<a name="l00237"></a>00237
<a name="l00238"></a>00238 <span class="comment">// print the property names</span>
<a name="l00239"></a>00239 out << properties.size() << <span class="stringliteral">" properties for each run"</span> << std::endl;
<a name="l00240"></a>00240 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < properties.size() ; ++j)
<a name="l00241"></a>00241 out << properties[j] << std::endl;
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <span class="comment">// print the data for each run</span>
<a name="l00244"></a>00244 out << exp_.planners[i].runs.size() << <span class="stringliteral">" runs"</span> << std::endl;
<a name="l00245"></a>00245 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < exp_.planners[i].runs.size() ; ++j)
<a name="l00246"></a>00246 {
<a name="l00247"></a>00247 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0 ; k < properties.size() ; ++k)
<a name="l00248"></a>00248 {
<a name="l00249"></a>00249 std::map<std::string, std::string>::const_iterator it = exp_.planners[i].runs[j].find(properties[k]);
<a name="l00250"></a>00250 <span class="keywordflow">if</span> (it != exp_.planners[i].runs[j].end())
<a name="l00251"></a>00251 out << it->second;
<a name="l00252"></a>00252 out << <span class="stringliteral">"; "</span>;
<a name="l00253"></a>00253 }
<a name="l00254"></a>00254 out << std::endl;
<a name="l00255"></a>00255 }
<a name="l00256"></a>00256
<a name="l00257"></a>00257 out << <span class="charliteral">'.'</span> << std::endl;
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00260"></a>00260 }
<a name="l00261"></a>00261
<a name="l00262"></a><a class="code" href="classompl_1_1Benchmark.html#a14e970715817e989b272006274a07876">00262</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1Benchmark.html#a14e970715817e989b272006274a07876" title="Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data...">ompl::Benchmark::benchmark</a>(<span class="keywordtype">double</span> maxTime, <span class="keywordtype">double</span> maxMem, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> runCount, <span class="keywordtype">bool</span> displayProgress)
<a name="l00263"></a>00263 {
<a name="l00264"></a>00264 <span class="comment">// sanity checks</span>
<a name="l00265"></a>00265 <span class="keywordflow">if</span> (gsetup_)
<a name="l00266"></a>00266 gsetup_->setup();
<a name="l00267"></a>00267 <span class="keywordflow">else</span>
<a name="l00268"></a>00268 csetup_->setup();
<a name="l00269"></a>00269
<a name="l00270"></a>00270 <span class="keywordflow">if</span> (!(gsetup_ ? gsetup_->getGoal() : csetup_->getGoal()))
<a name="l00271"></a>00271 {
<a name="l00272"></a>00272 msg_.error(<span class="stringliteral">"No goal defined"</span>);
<a name="l00273"></a>00273 <span class="keywordflow">return</span>;
<a name="l00274"></a>00274 }
<a name="l00275"></a>00275
<a name="l00276"></a>00276 <span class="keywordflow">if</span> (planners_.empty())
<a name="l00277"></a>00277 {
<a name="l00278"></a>00278 msg_.error(<span class="stringliteral">"There are no planners to benchmark"</span>);
<a name="l00279"></a>00279 <span class="keywordflow">return</span>;
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281
<a name="l00282"></a>00282 status_.running = <span class="keyword">true</span>;
<a name="l00283"></a>00283 exp_.totalDuration = 0.0;
<a name="l00284"></a>00284 exp_.maxTime = maxTime;
<a name="l00285"></a>00285 exp_.maxMem = maxMem;
<a name="l00286"></a>00286 exp_.host = <a class="code" href="namespaceompl_1_1machine.html#a2127521d1fee6fec67dfb652f8ba63fe" title="Get the hostname of the machine in use.">machine::getHostname</a>();
<a name="l00287"></a>00287 exp_.seed = <a class="code" href="classompl_1_1RNG.html#a6609dc30a714e43d5f96673c30c30872" title="Get the seed used for random number generation. Passing the returned value to setSeed() at a subseque...">RNG::getSeed</a>();
<a name="l00288"></a>00288
<a name="l00289"></a>00289 exp_.startTime = <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>();
<a name="l00290"></a>00290
<a name="l00291"></a>00291 msg_.inform(<span class="stringliteral">"Configuring planners ..."</span>);
<a name="l00292"></a>00292
<a name="l00293"></a>00293 <span class="comment">// clear previous experimental data</span>
<a name="l00294"></a>00294 exp_.planners.clear();
<a name="l00295"></a>00295 exp_.planners.resize(planners_.size());
<a name="l00296"></a>00296
<a name="l00297"></a>00297 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">base::ProblemDefinitionPtr</a> &pdef = gsetup_ ? gsetup_->getProblemDefinition() : csetup_->getProblemDefinition();
<a name="l00298"></a>00298 <span class="comment">// set up all the planners</span>
<a name="l00299"></a>00299 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < planners_.size() ; ++i)
<a name="l00300"></a>00300 {
<a name="l00301"></a>00301 <span class="comment">// configure the planner</span>
<a name="l00302"></a>00302 planners_[i]->setProblemDefinition(pdef);
<a name="l00303"></a>00303 <span class="keywordflow">if</span> (!planners_[i]->isSetup())
<a name="l00304"></a>00304 planners_[i]->setup();
<a name="l00305"></a>00305 exp_.planners[i].name = (gsetup_ ? <span class="stringliteral">"geometric_"</span> : <span class="stringliteral">"control_"</span>) + planners_[i]->getName();
<a name="l00306"></a>00306 }
<a name="l00307"></a>00307
<a name="l00308"></a>00308 msg_.inform(<span class="stringliteral">"Done configuring planners."</span>);
<a name="l00309"></a>00309 msg_.inform(<span class="stringliteral">"Saving planner setup information ..."</span>);
<a name="l00310"></a>00310
<a name="l00311"></a>00311 std::stringstream setupInfo;
<a name="l00312"></a>00312 <span class="keywordflow">if</span> (gsetup_)
<a name="l00313"></a>00313 gsetup_->print(setupInfo);
<a name="l00314"></a>00314 <span class="keywordflow">else</span>
<a name="l00315"></a>00315 csetup_->print(setupInfo);
<a name="l00316"></a>00316 exp_.setupInfo = setupInfo.str();
<a name="l00317"></a>00317
<a name="l00318"></a>00318 msg_.inform(<span class="stringliteral">"Done saving information"</span>);
<a name="l00319"></a>00319
<a name="l00320"></a>00320 msg_.inform(<span class="stringliteral">"Beginning benchmark"</span>);
<a name="l00321"></a>00321 <a class="code" href="classompl_1_1msg_1_1OutputHandler.html" title="Generic class to handle output from a piece of code.">msg::OutputHandler</a> *oh = <a class="code" href="namespaceompl_1_1msg.html#ac32f8f123774d2644538b9ce7ebd24e6" title="Get the instance of the OutputHandler currently used. This is NULL in case there is no output handler...">msg::getOutputHandler</a>();
<a name="l00322"></a>00322 <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html" title="Implementation of OutputHandler that saves messages in a file.">msg::OutputHandlerFile</a> ohf(getConsoleFilename(exp_).c_str());
<a name="l00323"></a>00323 <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b" title="Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.">msg::useOutputHandler</a>(&ohf);
<a name="l00324"></a>00324 msg_.inform(<span class="stringliteral">"Beginning benchmark"</span>);
<a name="l00325"></a>00325
<a name="l00326"></a>00326 boost::shared_ptr<boost::progress_display> progress;
<a name="l00327"></a>00327 <span class="keywordflow">if</span> (displayProgress)
<a name="l00328"></a>00328 {
<a name="l00329"></a>00329 std::cout << <span class="stringliteral">"Running experiment "</span> << exp_.name << std::endl;
<a name="l00330"></a>00330 progress.reset(<span class="keyword">new</span> boost::progress_display(100, std::cout));
<a name="l00331"></a>00331 }
<a name="l00332"></a>00332
<a name="l00333"></a>00333 <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> memStart = <a class="code" href="namespaceompl_1_1machine.html#a8924e2e9ab70ab753b43d4d47e22c3eb" title="Get the amount of memory the current process is using. This should work on major platforms (Windows...">machine::getProcessMemoryUsage</a>();
<a name="l00334"></a>00334 <a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a> maxMemBytes = (<a class="code" href="namespaceompl_1_1machine.html#ab33b6ae8d7c29d501ac4f205cc5719e4" title="Amount of memory used, in bytes.">machine::MemUsage_t</a>)(maxMem * 1024 * 1024);
<a name="l00335"></a>00335
<a name="l00336"></a>00336 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < planners_.size() ; ++i)
<a name="l00337"></a>00337 {
<a name="l00338"></a>00338 status_.activePlanner = exp_.planners[i].name;
<a name="l00339"></a>00339
<a name="l00340"></a>00340 <span class="comment">// run the planner</span>
<a name="l00341"></a>00341 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < runCount ; ++j)
<a name="l00342"></a>00342 {
<a name="l00343"></a>00343 status_.activeRun = j;
<a name="l00344"></a>00344 status_.progressPercentage = (double)(100 * (runCount * i + j)) / (<span class="keywordtype">double</span>)(planners_.size() * runCount);
<a name="l00345"></a>00345
<a name="l00346"></a>00346 <span class="keywordflow">if</span> (displayProgress)
<a name="l00347"></a>00347 <span class="keywordflow">while</span> (status_.progressPercentage > progress->count())
<a name="l00348"></a>00348 ++(*progress);
<a name="l00349"></a>00349
<a name="l00350"></a>00350 msg_.inform(<span class="stringliteral">"Preparing for run %d of %s"</span>, status_.activeRun, status_.activePlanner.c_str());
<a name="l00351"></a>00351
<a name="l00352"></a>00352 <span class="comment">// make sure all planning data structures are cleared</span>
<a name="l00353"></a>00353 <span class="keywordflow">try</span>
<a name="l00354"></a>00354 {
<a name="l00355"></a>00355 planners_[i]->clear();
<a name="l00356"></a>00356 <span class="keywordflow">if</span> (gsetup_)
<a name="l00357"></a>00357 {
<a name="l00358"></a>00358 gsetup_->getGoal()->clearSolutionPath();
<a name="l00359"></a>00359 gsetup_->getSpaceInformation()->getMotionValidator()->resetMotionCounter();
<a name="l00360"></a>00360 }
<a name="l00361"></a>00361 <span class="keywordflow">else</span>
<a name="l00362"></a>00362 {
<a name="l00363"></a>00363 csetup_->getGoal()->clearSolutionPath();
<a name="l00364"></a>00364 csetup_->getSpaceInformation()->getMotionValidator()->resetMotionCounter();
<a name="l00365"></a>00365 }
<a name="l00366"></a>00366 }
<a name="l00367"></a>00367 <span class="keywordflow">catch</span>(std::runtime_error &e)
<a name="l00368"></a>00368 {
<a name="l00369"></a>00369 std::stringstream es;
<a name="l00370"></a>00370 es << <span class="stringliteral">"There was an error while preparing for run "</span> << status_.activeRun << <span class="stringliteral">" of planner "</span> << status_.activePlanner << std::endl;
<a name="l00371"></a>00371 es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;
<a name="l00372"></a>00372 std::cerr << es.str();
<a name="l00373"></a>00373 msg_.error(es.str());
<a name="l00374"></a>00374 }
<a name="l00375"></a>00375
<a name="l00376"></a>00376 <span class="comment">// execute pre-run event, if set</span>
<a name="l00377"></a>00377 <span class="keywordflow">try</span>
<a name="l00378"></a>00378 {
<a name="l00379"></a>00379 <span class="keywordflow">if</span> (preRun_)
<a name="l00380"></a>00380 {
<a name="l00381"></a>00381 msg_.inform(<span class="stringliteral">"Executing pre-run event for run %d of planner %s ..."</span>, status_.activeRun, status_.activePlanner.c_str());
<a name="l00382"></a>00382 preRun_(planners_[i]);
<a name="l00383"></a>00383 msg_.inform(<span class="stringliteral">"Completed execution of pre-run event"</span>);
<a name="l00384"></a>00384 }
<a name="l00385"></a>00385 }
<a name="l00386"></a>00386 <span class="keywordflow">catch</span>(std::runtime_error &e)
<a name="l00387"></a>00387 {
<a name="l00388"></a>00388 std::stringstream es;
<a name="l00389"></a>00389 es << <span class="stringliteral">"There was an error executing the pre-run event for run "</span> << status_.activeRun << <span class="stringliteral">" of planner "</span> << status_.activePlanner << std::endl;
<a name="l00390"></a>00390 es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;
<a name="l00391"></a>00391 std::cerr << es.str();
<a name="l00392"></a>00392 msg_.error(es.str());
<a name="l00393"></a>00393 }
<a name="l00394"></a>00394
<a name="l00395"></a>00395 RunPlanner rp(<span class="keyword">this</span>);
<a name="l00396"></a>00396 rp.run(planners_[i], memStart, maxMemBytes, maxTime);
<a name="l00397"></a>00397 <span class="keywordtype">bool</span> solved = gsetup_ ? gsetup_->haveSolutionPath() : csetup_->haveSolutionPath();
<a name="l00398"></a>00398
<a name="l00399"></a>00399 <span class="comment">// store results</span>
<a name="l00400"></a>00400 <span class="keywordflow">try</span>
<a name="l00401"></a>00401 {
<a name="l00402"></a>00402 <a class="code" href="classompl_1_1Benchmark.html#a5140cf758234fc69a8d9f828f5ef2e04" title="The data collected from a run of a planner is stored as key-value pairs.">RunProperties</a> run;
<a name="l00403"></a>00403
<a name="l00404"></a>00404 run[<span class="stringliteral">"crashed BOOLEAN"</span>] = boost::lexical_cast<std::string>(rp.crashed());
<a name="l00405"></a>00405 run[<span class="stringliteral">"time REAL"</span>] = boost::lexical_cast<std::string>(rp.getTimeUsed());
<a name="l00406"></a>00406 run[<span class="stringliteral">"memory REAL"</span>] = boost::lexical_cast<std::string>((double)rp.getMemUsed() / (1024.0 * 1024.0));
<a name="l00407"></a>00407 <span class="keywordflow">if</span> (gsetup_)
<a name="l00408"></a>00408 {
<a name="l00409"></a>00409 run[<span class="stringliteral">"solved BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->haveExactSolutionPath());
<a name="l00410"></a>00410 run[<span class="stringliteral">"valid segment fraction REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());
<a name="l00411"></a>00411 }
<a name="l00412"></a>00412 <span class="keywordflow">else</span>
<a name="l00413"></a>00413 {
<a name="l00414"></a>00414 run[<span class="stringliteral">"solved BOOLEAN"</span>] = boost::lexical_cast<std::string>(csetup_->haveExactSolutionPath());
<a name="l00415"></a>00415 run[<span class="stringliteral">"valid segment fraction REAL"</span>] = boost::lexical_cast<std::string>(csetup_->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());
<a name="l00416"></a>00416 }
<a name="l00417"></a>00417
<a name="l00418"></a>00418 <span class="keywordflow">if</span> (solved)
<a name="l00419"></a>00419 {
<a name="l00420"></a>00420 <span class="keywordflow">if</span> (gsetup_)
<a name="l00421"></a>00421 {
<a name="l00422"></a>00422 run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->getGoal()->isApproximate());
<a name="l00423"></a>00423 run[<span class="stringliteral">"solution difference REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getGoal()->getDifference());
<a name="l00424"></a>00424 run[<span class="stringliteral">"solution length REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().length());
<a name="l00425"></a>00425 run[<span class="stringliteral">"solution smoothness REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().smoothness());
<a name="l00426"></a>00426 run[<span class="stringliteral">"solution clearance REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().clearance());
<a name="l00427"></a>00427 run[<span class="stringliteral">"solution segments INTEGER"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().states.size() - 1);
<a name="l00428"></a>00428 run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().check());
<a name="l00429"></a>00429
<a name="l00430"></a>00430 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> factor = gsetup_->getStateSpace()->getValidSegmentCountFactor();
<a name="l00431"></a>00431 gsetup_->getStateSpace()->setValidSegmentCountFactor(factor * 4);
<a name="l00432"></a>00432 run[<span class="stringliteral">"correct solution strict BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().check());
<a name="l00433"></a>00433 gsetup_->getStateSpace()->setValidSegmentCountFactor(factor);
<a name="l00434"></a>00434
<a name="l00435"></a>00435 <span class="comment">// simplify solution</span>
<a name="l00436"></a>00436 <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> timeStart = <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>();
<a name="l00437"></a>00437 gsetup_->simplifySolution();
<a name="l00438"></a>00438 <span class="keywordtype">double</span> timeUsed = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() - timeStart);
<a name="l00439"></a>00439 run[<span class="stringliteral">"simplification time REAL"</span>] = boost::lexical_cast<std::string>(timeUsed);
<a name="l00440"></a>00440 run[<span class="stringliteral">"simplified solution length REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().length());
<a name="l00441"></a>00441 run[<span class="stringliteral">"simplified solution smoothness REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().smoothness());
<a name="l00442"></a>00442 run[<span class="stringliteral">"simplified solution clearance REAL"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().clearance());
<a name="l00443"></a>00443 run[<span class="stringliteral">"simplified solution segments INTEGER"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().states.size() - 1);
<a name="l00444"></a>00444 run[<span class="stringliteral">"simplified correct solution BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().check());
<a name="l00445"></a>00445 gsetup_->getStateSpace()->setValidSegmentCountFactor(factor * 4);
<a name="l00446"></a>00446 run[<span class="stringliteral">"simplified correct solution strict BOOLEAN"</span>] = boost::lexical_cast<std::string>(gsetup_->getSolutionPath().check());
<a name="l00447"></a>00447 gsetup_->getStateSpace()->setValidSegmentCountFactor(factor);
<a name="l00448"></a>00448 }
<a name="l00449"></a>00449 <span class="keywordflow">else</span>
<a name="l00450"></a>00450 {
<a name="l00451"></a>00451 run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] = boost::lexical_cast<std::string>(csetup_->getGoal()->isApproximate());
<a name="l00452"></a>00452 run[<span class="stringliteral">"solution difference REAL"</span>] = boost::lexical_cast<std::string>(csetup_->getGoal()->getDifference());
<a name="l00453"></a>00453 run[<span class="stringliteral">"solution length REAL"</span>] = boost::lexical_cast<std::string>(csetup_->getSolutionPath().length());
<a name="l00454"></a>00454 run[<span class="stringliteral">"solution clearance REAL"</span>] = boost::lexical_cast<std::string>(csetup_->getSolutionPath().asGeometric().clearance());
<a name="l00455"></a>00455 run[<span class="stringliteral">"solution segments INTEGER"</span>] = boost::lexical_cast<std::string>(csetup_->getSolutionPath().states.size() - 1);
<a name="l00456"></a>00456 run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = boost::lexical_cast<std::string>(csetup_->getSolutionPath().check());
<a name="l00457"></a>00457 }
<a name="l00458"></a>00458 }
<a name="l00459"></a>00459
<a name="l00460"></a>00460 <a class="code" href="classompl_1_1base_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">base::PlannerData</a> pd;
<a name="l00461"></a>00461 planners_[i]->getPlannerData(pd);
<a name="l00462"></a>00462 run[<span class="stringliteral">"graph states INTEGER"</span>] = boost::lexical_cast<std::string>(pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a7f2d6be893b0165ac2348750a40ef389" title="The list of states in the current exploration datastructure.">states</a>.size());
<a name="l00463"></a>00463 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> edges = 0;
<a name="l00464"></a>00464 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k = 0 ; k < pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#af420313f052ef87fc4935e71c6d474e9" title="For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edg...">edges</a>.size() ; ++k)
<a name="l00465"></a>00465 edges += pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#af420313f052ef87fc4935e71c6d474e9" title="For each i, edges[i] contains the values edges[i][j] such that states[i] connects to every states[edg...">edges</a>[k].size();
<a name="l00466"></a>00466 run[<span class="stringliteral">"graph motions INTEGER"</span>] = boost::lexical_cast<std::string>(edges);
<a name="l00467"></a>00467
<a name="l00468"></a>00468 <span class="keywordflow">for</span> (std::map<std::string, std::string>::const_iterator it = pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c" title="Any extra properties (key-value pairs) the planner can set.">properties</a>.begin() ; it != pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c" title="Any extra properties (key-value pairs) the planner can set.">properties</a>.end() ; ++it)
<a name="l00469"></a>00469 run[it->first] = it->second;
<a name="l00470"></a>00470
<a name="l00471"></a>00471 <span class="comment">// execute post-run event, if set</span>
<a name="l00472"></a>00472 <span class="keywordflow">try</span>
<a name="l00473"></a>00473 {
<a name="l00474"></a>00474 if (postRun_)
<a name="l00475"></a>00475 {
<a name="l00476"></a>00476 msg_.inform(<span class="stringliteral">"Executing post-run event for run %d of planner %s ..."</span>, status_.activeRun, status_.activePlanner.c_str());
<a name="l00477"></a>00477 postRun_(planners_[i], run);
<a name="l00478"></a>00478 msg_.inform(<span class="stringliteral">"Completed execution of post-run event"</span>);
<a name="l00479"></a>00479 }
<a name="l00480"></a>00480 }
<a name="l00481"></a>00481 <span class="keywordflow">catch</span>(std::runtime_error &e)
<a name="l00482"></a>00482 {
<a name="l00483"></a>00483 std::stringstream es;
<a name="l00484"></a>00484 es << <span class="stringliteral">"There was an error in the execution of the post-run event for run "</span> << status_.activeRun << <span class="stringliteral">" of planner "</span> << status_.activePlanner << std::endl;
<a name="l00485"></a>00485 es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;
<a name="l00486"></a>00486 std::cerr << es.str();
<a name="l00487"></a>00487 msg_.error(es.str());
<a name="l00488"></a>00488 }
<a name="l00489"></a>00489
<a name="l00490"></a>00490 exp_.planners[i].runs.push_back(run);
<a name="l00491"></a>00491 }
<a name="l00492"></a>00492 <span class="keywordflow">catch</span>(std::runtime_error &e)
<a name="l00493"></a>00493 {
<a name="l00494"></a>00494 std::stringstream es;
<a name="l00495"></a>00495 es << <span class="stringliteral">"There was an error in the extraction of planner results: planner = "</span> << status_.activePlanner << <span class="stringliteral">", run = "</span> << status_.activePlanner << std::endl;
<a name="l00496"></a>00496 es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;
<a name="l00497"></a>00497 std::cerr << es.str();
<a name="l00498"></a>00498 msg_.error(es.str());
<a name="l00499"></a>00499 }
<a name="l00500"></a>00500 }
<a name="l00501"></a>00501 }
<a name="l00502"></a>00502
<a name="l00503"></a>00503 status_.running = <span class="keyword">false</span>;
<a name="l00504"></a>00504 status_.progressPercentage = 100.0;
<a name="l00505"></a>00505 <span class="keywordflow">if</span> (displayProgress)
<a name="l00506"></a>00506 {
<a name="l00507"></a>00507 <span class="keywordflow">while</span> (status_.progressPercentage > progress->count())
<a name="l00508"></a>00508 ++(*progress);
<a name="l00509"></a>00509 std::cout << std::endl;
<a name="l00510"></a>00510 }
<a name="l00511"></a>00511
<a name="l00512"></a>00512 exp_.totalDuration = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() - exp_.startTime);
<a name="l00513"></a>00513
<a name="l00514"></a>00514 msg_.inform(<span class="stringliteral">"Benchmark complete"</span>);
<a name="l00515"></a>00515 <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b" title="Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.">msg::useOutputHandler</a>(oh);
<a name="l00516"></a>00516 msg_.inform(<span class="stringliteral">"Benchmark complete"</span>);
<a name="l00517"></a>00517 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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