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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Luis G. Torres */
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/tools/benchmark/Benchmark.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/geometric/planners/rrt/RRTstar.h>
namespace ob = ompl::base;
namespace og = ompl::geometric;
/// @cond IGNORE
//
// In this demo we define a simple 2D planning problem to get from
// (0,0) to (1,1) without obstacles. We're interested in collecting
// data over the execution of a planner using the Benchmark class.
//
// This program will output two files: a .console file, and a .log
// file. You can generate plots in a file called "plot.pdf" from this
// experiment using the ompl/scripts/ompl_benchmark_statistics.py
// script and the .log file like so:
//
// python path/to/ompl/scripts/ompl_benchmark_statistics.py <your_log_filename>.log -p plot.pdf
//
// Toward the bottom of the generated plot.pdf file, you'll see plots
// for how various properties change, on average, during planning
// runs.
int main(int argc, char** argv)
{
ob::StateSpacePtr space(new ob::RealVectorStateSpace(2));
space->as<ob::RealVectorStateSpace>()->setBounds(0, 1);
og::SimpleSetup ss(space);
// Set our robot's starting state to be the bottom-left corner of
// the environment, or (0,0).
ob::ScopedState<> start(space);
start->as<ob::RealVectorStateSpace::StateType>()->values[0] = 0.0;
start->as<ob::RealVectorStateSpace::StateType>()->values[1] = 0.0;
// Set our robot's goal state to be the top-right corner of the
// environment, or (1,1).
ob::ScopedState<> goal(space);
goal->as<ob::RealVectorStateSpace::StateType>()->values[0] = 1.0;
goal->as<ob::RealVectorStateSpace::StateType>()->values[1] = 1.0;
// Goal tolerance is 0.05
ss.setStartAndGoalStates(start, goal, 0.05);
// Create a new Benchmark object and set the RRTstar algorithm as
// the planner. We're using RRTstar because currently, only the
// RRTstar algorithm reports interesting planner progress
// properties.
ompl::tools::Benchmark b(ss, "my experiment");
og::RRTstar* rrt = new og::RRTstar(ss.getSpaceInformation());
rrt->setName("rrtstar");
// We disable goal biasing so that the straight-line path doesn't
// get found immediately. We want to demonstrate the steady
// downward trend in path cost that characterizes RRTstar.
rrt->setGoalBias(0.0);
b.addPlanner(ob::PlannerPtr(rrt));
// Here we specify options for this benchmark. Maximum time spent
// per planner execution is 2.0 seconds, maximum memory is 100MB,
// number of planning runs is 50, planner progress properties will
// be queried every 0.01 seconds, and a progress bar will be
// displayed to show how the benchmarking is going.
ompl::tools::Benchmark::Request req;
req.maxTime = 2.0;
req.maxMem = 100;
req.runCount = 50;
req.timeBetweenUpdates = 0.01;
req.displayProgress = true;
b.benchmark(req);
b.saveResultsToFile();
return 0;
}
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