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<li class="navelem"><b>ompl</b></li><li class="navelem"><b>tools</b></li><li class="navelem"><b>benchmark</b></li><li class="navelem"><b>src</b></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*********************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Copyright (c) 2010, Rice University</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * All rights reserved.</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> *</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * are met:</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment"> * with the distribution.</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment"> * * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment"> *</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment"> *********************************************************************/</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">/* Author: Ioan Sucan, Luis G. Torres */</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include "ompl/tools/benchmark/Benchmark.h"</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "ompl/tools/benchmark/MachineSpecs.h"</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "ompl/util/Time.h"</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "ompl/config.h"</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <boost/scoped_ptr.hpp></span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <thread></span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <mutex></span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <condition_variable></span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <fstream></span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#include <sstream></span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl.html">ompl</a></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span>{</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">namespace </span><a class="code hl_namespace" href="namespaceompl_1_1tools.html">tools</a></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> {</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">static</span> std::string getResultsFilename(<span class="keyword">const</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html">Benchmark::CompleteExperiment</a> &exp)</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> {</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">return</span> <span class="stringliteral">"ompl_"</span> + exp.host + <span class="stringliteral">"_"</span> + <a class="code hl_function" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(exp.startTime) + <span class="stringliteral">".log"</span>;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> }</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">static</span> std::string getConsoleFilename(<span class="keyword">const</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html">Benchmark::CompleteExperiment</a> &exp)</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> {</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordflow">return</span> <span class="stringliteral">"ompl_"</span> + exp.host + <span class="stringliteral">"_"</span> + <a class="code hl_function" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(exp.startTime) + <span class="stringliteral">".console"</span>;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> }</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> terminationCondition(<span class="keyword">const</span> <a class="code hl_typedef" href="namespaceompl_1_1machine.html#af898d386f21d6c8311821bb4f87b5132">machine::MemUsage_t</a> maxMem, <span class="keyword">const</span> <a class="code hl_typedef" href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">time::point</a> &endTime)</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() < endTime && <a class="code hl_function" href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">machine::getProcessMemoryUsage</a>() < maxMem)</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> }</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">class </span>RunPlanner</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">public</span>:</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> RunPlanner(<span class="keyword">const</span> Benchmark *benchmark) : benchmark_(benchmark), timeUsed_(0.0), memUsed_(0)</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> {</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> }</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">void</span> run(<span class="keyword">const</span> base::PlannerPtr &planner, <span class="keyword">const</span> machine::MemUsage_t memStart,</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">const</span> machine::MemUsage_t maxMem, <span class="keyword">const</span> <span class="keywordtype">double</span> maxTime, <span class="keyword">const</span> <span class="keywordtype">double</span> timeBetweenUpdates)</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> {</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> runThread(planner, memStart + maxMem, time::seconds(maxTime), time::seconds(timeBetweenUpdates));</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> }</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordtype">double</span> getTimeUsed()<span class="keyword"> const</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordflow">return</span> timeUsed_;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> }</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> machine::MemUsage_t getMemUsed()<span class="keyword"> const</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordflow">return</span> memUsed_;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> }</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> base::PlannerStatus getStatus()<span class="keyword"> const</span></div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordflow">return</span> status_;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> }</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> Benchmark::RunProgressData &getRunProgressData()<span class="keyword"> const</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span><span class="keyword"> </span>{</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">return</span> runProgressData_;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> }</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keyword">private</span>:</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">void</span> runThread(<span class="keyword">const</span> base::PlannerPtr &planner, <span class="keyword">const</span> machine::MemUsage_t maxMem,</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> time::duration &maxDuration, <span class="keyword">const</span> time::duration &timeBetweenUpdates)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> time::point timeStart = time::now();</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> {</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">const</span> time::point endtime = time::now() + maxDuration;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_typedef" href="namespaceompl_1_1base.html#acc9ed849c703c408f640d996275c3079">base::PlannerTerminationConditionFn</a> ptc([maxMem, endtime]</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> { <span class="keywordflow">return</span> terminationCondition(maxMem, endtime); });</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> solved_ = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="comment">// Only launch the planner progress property</span></div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="comment">// collector if there is any data for it to report</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="comment">//</span></div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="comment">// \todo issue here is that at least one sample</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="comment">// always gets taken before planner even starts;</span></div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="comment">// might be worth adding a short wait time before</span></div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="comment">// collector begins sampling</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> boost::scoped_ptr<std::thread> t;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordflow">if</span> (planner->getPlannerProgressProperties().size() > 0)</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> t.reset(<span class="keyword">new</span> std::thread(</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> [<span class="keyword">this</span>, &planner, timeBetweenUpdates]</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> {</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> collectProgressProperties(planner->getPlannerProgressProperties(), timeBetweenUpdates);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> }));</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> status_ = planner->solve(ptc, 0.1);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> solvedFlag_.lock();</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> solved_ = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> solvedCondition_.notify_all();</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> solvedFlag_.unlock();</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordflow">if</span> (t)</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> t->join(); <span class="comment">// maybe look into interrupting even if planner throws an exception</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> }</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> {</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> std::stringstream es;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> es << <span class="stringliteral">"There was an error executing planner "</span> << benchmark_->getStatus().activePlanner</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> << <span class="stringliteral">", run = "</span> << benchmark_->getStatus().activeRun << std::endl;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> std::cerr << es.str();</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> }</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> timeUsed_ = time::seconds(time::now() - timeStart);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> memUsed_ = machine::getProcessMemoryUsage();</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> }</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">void</span> collectProgressProperties(<span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1base_1_1Planner.html#adc4df80108aec5db29373302e4b8d723">base::Planner::PlannerProgressProperties</a> &properties,</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> time::duration &timePerUpdate)</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> {</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> time::point timeStart = time::now();</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> std::unique_lock<std::mutex> ulock(solvedFlag_);</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordflow">while</span> (!solved_)</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> {</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordflow">if</span> (solvedCondition_.wait_for(ulock, timePerUpdate) == std::cv_status::no_timeout)</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> {</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> timeInSeconds = time::seconds(time::now() - timeStart);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> std::string timeStamp = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(timeInSeconds);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> std::map<std::string, std::string> data;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> data[<span class="stringliteral">"time REAL"</span>] = timeStamp;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> {</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> data[<span class="keyword">property</span>.first] = <span class="keyword">property</span>.second();</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> }</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> runProgressData_.push_back(data);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> }</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> }</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> }</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">const</span> Benchmark *benchmark_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">double</span> timeUsed_;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> machine::MemUsage_t memUsed_;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> base::PlannerStatus status_;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> Benchmark::RunProgressData runProgressData_;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="comment">// variables needed for progress property collection</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">bool</span> solved_;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> std::mutex solvedFlag_;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::condition_variable solvedCondition_;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> };</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> } <span class="comment">// namespace tools</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span>} <span class="comment">// namespace ompl</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="foldopen" id="foldopen00196" data-start="{" data-end="}">
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3"> 196</a></span><a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3">ompl::tools::Benchmark::Benchmark</a>(<a class="code hl_class" href="classompl_1_1geometric_1_1SimpleSetup.html">geometric::SimpleSetup</a> &setup, <span class="keyword">const</span> std::string &name)</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>(&setup), <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>(nullptr)</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span>{</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name = name;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span>}</div>
</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="foldopen" id="foldopen00202" data-start="{" data-end="}">
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a85887f3c709f330558df3f9c2217d177"> 202</a></span><a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3">ompl::tools::Benchmark::Benchmark</a>(<a class="code hl_class" href="classompl_1_1control_1_1SimpleSetup.html">control::SimpleSetup</a> &setup, <span class="keyword">const</span> std::string &name)</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>(nullptr), <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>(&setup)</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>{</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name = name;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span>}</div>
</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1"> 208</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">ompl::tools::Benchmark::addExperimentParameter</a>(<span class="keyword">const</span> std::string &name, <span class="keyword">const</span> std::string &type,</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> std::string &value)</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span>{</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.parameters[name + <span class="stringliteral">" "</span> + type] = value;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span>}</div>
</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="foldopen" id="foldopen00214" data-start="{" data-end="}">
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a2e407791f8baa54b2e7d491f20c4b3f5"> 214</a></span><span class="keyword">const</span> std::map<std::string, std::string> &<a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a2e407791f8baa54b2e7d491f20c4b3f5">ompl::tools::Benchmark::getExperimentParameters</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.parameters;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span>}</div>
</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
<div class="foldopen" id="foldopen00219" data-start="{" data-end="}">
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a96a5e5c2c1465e95ec5a5ea57c449518"> 219</a></span>std::size_t <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a96a5e5c2c1465e95ec5a5ea57c449518">ompl::tools::Benchmark::numExperimentParameters</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.parameters.size();</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>}</div>
</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> </div>
<div class="foldopen" id="foldopen00224" data-start="{" data-end="}">
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a5cd270d95be4b130654bb6f3b978badf"> 224</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a5cd270d95be4b130654bb6f3b978badf">ompl::tools::Benchmark::setExperimentName</a>(<span class="keyword">const</span> std::string &name)</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span>{</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name = name;</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span>}</div>
</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="foldopen" id="foldopen00229" data-start="{" data-end="}">
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a4adb9f2da67bbb9074aadd0af4dde9ef"> 229</a></span><span class="keyword">const</span> std::string &<a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a4adb9f2da67bbb9074aadd0af4dde9ef">ompl::tools::Benchmark::getExperimentName</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name;</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>}</div>
</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="foldopen" id="foldopen00234" data-start="{" data-end="}">
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a86fdc0094b39debe8ee310a9e2de8e31"> 234</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a86fdc0094b39debe8ee310a9e2de8e31">ompl::tools::Benchmark::addPlanner</a>(<span class="keyword">const</span> base::PlannerPtr &planner)</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span>{</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordflow">if</span> (planner && planner->getSpaceInformation().get() != (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> != <span class="keyword">nullptr</span> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation().get() :</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation().get()))</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordflow">throw</span> <a class="code hl_class" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Planner instance does not match space information"</span>);</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.push_back(planner);</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span>}</div>
</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
<div class="foldopen" id="foldopen00242" data-start="{" data-end="}">
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a9641c6a479d33dc5e59a836bdd511fa4"> 242</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a9641c6a479d33dc5e59a836bdd511fa4">ompl::tools::Benchmark::addPlannerAllocator</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespaceompl_1_1base.html#a41bba72a22115120172303d5a5951c75">base::PlannerAllocator</a> &pa)</div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span>{</div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.push_back(pa(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> != <span class="keyword">nullptr</span> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation() : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation()));</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span>}</div>
</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="foldopen" id="foldopen00247" data-start="{" data-end="}">
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a3dd03001e2d2afb0dc209fe8f6980f58"> 247</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a3dd03001e2d2afb0dc209fe8f6980f58">ompl::tools::Benchmark::clearPlanners</a>()</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span>{</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.clear();</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span>}</div>
</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
<div class="foldopen" id="foldopen00252" data-start="{" data-end="}">
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a641cd9b520392c02eefd1ce96ec07a4e"> 252</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a641cd9b520392c02eefd1ce96ec07a4e">ompl::tools::Benchmark::setPlannerSwitchEvent</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1tools_1_1Benchmark.html#a23533c490c5ae9617b9aeff21cb3929f">PreSetupEvent</a> &event)</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span>{</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a1bf6e6b434ae98d6d54808d5e65ded43">plannerSwitch_</a> = event;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span>}</div>
</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span></div>
<div class="foldopen" id="foldopen00258" data-start="{" data-end="}">
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a405e0a2857e17e93992ca9e642618787"> 258</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a405e0a2857e17e93992ca9e642618787">ompl::tools::Benchmark::setPreRunEvent</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1tools_1_1Benchmark.html#a23533c490c5ae9617b9aeff21cb3929f">PreSetupEvent</a> &event)</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span>{</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#ab3b2565d2fb0362bff5fbdd0d0080159">preRun_</a> = event;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span>}</div>
</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span></div>
<div class="foldopen" id="foldopen00264" data-start="{" data-end="}">
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a8c97a673cf3d27b4c8d6dbc592b56ce4"> 264</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a8c97a673cf3d27b4c8d6dbc592b56ce4">ompl::tools::Benchmark::setPostRunEvent</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="classompl_1_1tools_1_1Benchmark.html#a75b718cb770089ade746bcb12c74b832">PostSetupEvent</a> &event)</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span>{</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a48b0e489b98ae6d5801f730467430bc1">postRun_</a> = event;</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span>}</div>
</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> </div>
<div class="foldopen" id="foldopen00269" data-start="{" data-end="}">
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a37b5881fa63f93377e88766f6c25d88a"> 269</a></span><span class="keyword">const</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1Status.html">ompl::tools::Benchmark::Status</a> &<a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a37b5881fa63f93377e88766f6c25d88a">ompl::tools::Benchmark::getStatus</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>;</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span>}</div>
</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="foldopen" id="foldopen00274" data-start="{" data-end="}">
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#aa5706f2fed0ed94583f9e39377cc89e3"> 274</a></span><span class="keyword">const</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html">ompl::tools::Benchmark::CompleteExperiment</a> &<a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#aa5706f2fed0ed94583f9e39377cc89e3">ompl::tools::Benchmark::getRecordedExperimentData</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordflow">return</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>;</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span>}</div>
</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> </div>
<div class="foldopen" id="foldopen00279" data-start="{" data-end="}">
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#ac3a46507c4b8f4a3379ecca534f4ca93"> 279</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02">ompl::tools::Benchmark::saveResultsToFile</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *filename)<span class="keyword"> const</span></div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> std::ofstream fout(filename);</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordflow">if</span> (fout.good())</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> {</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> result = <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a9f63b0b4e3de67b937bfa3022caf7348">saveResultsToStream</a>(fout);</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Results saved to '%s'"</span>, filename);</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> }</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> {</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="comment">// try to save to a different file, if we can</span></div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keywordflow">if</span> (getResultsFilename(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>) != std::string(filename))</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> result = <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#ac3a46507c4b8f4a3379ecca534f4ca93">saveResultsToFile</a>();</div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> </div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Unable to write results to '%s'"</span>, filename);</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> }</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keywordflow">return</span> result;</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span>}</div>
</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> </div>
<div class="foldopen" id="foldopen00300" data-start="{" data-end="}">
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02"> 300</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02">ompl::tools::Benchmark::saveResultsToFile</a>()<span class="keyword"> const</span></div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> std::string filename = getResultsFilename(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>);</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#ac3a46507c4b8f4a3379ecca534f4ca93">saveResultsToFile</a>(filename.c_str());</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span>}</div>
</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> </div>
<div class="foldopen" id="foldopen00306" data-start="{" data-end="}">
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a9f63b0b4e3de67b937bfa3022caf7348"> 306</a></span><span class="keywordtype">bool</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a9f63b0b4e3de67b937bfa3022caf7348">ompl::tools::Benchmark::saveResultsToStream</a>(std::ostream &out)<span class="keyword"> const</span></div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span><span class="keyword"></span>{</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners.empty())</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> {</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <a class="code hl_define" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"There is no experimental data to save"</span>);</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> }</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordflow">if</span> (!out.good())</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> {</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Unable to write to stream"</span>);</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> }</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> out << <span class="stringliteral">"OMPL version "</span> << OMPL_VERSION << std::endl;</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> out << <span class="stringliteral">"Experiment "</span> << (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name.empty() ? <span class="stringliteral">"NO_NAME"</span> : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name) << std::endl;</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> </div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.parameters.size() << <span class="stringliteral">" experiment properties"</span> << std::endl;</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &parameter : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.parameters)</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> out << parameter.first << <span class="stringliteral">" = "</span> << parameter.second << std::endl;</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> out << <span class="stringliteral">"Running on "</span> << (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.host.empty() ? <span class="stringliteral">"UNKNOWN"</span> : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.host) << std::endl;</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> out << <span class="stringliteral">"Starting at "</span> << <a class="code hl_function" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.startTime) << std::endl;</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> out << <span class="stringliteral">"<<<|"</span> << std::endl << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.setupInfo << <span class="stringliteral">"|>>>"</span> << std::endl;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> out << <span class="stringliteral">"<<<|"</span> << std::endl << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.cpuInfo << <span class="stringliteral">"|>>>"</span> << std::endl;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.seed << <span class="stringliteral">" is the random seed"</span> << std::endl;</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.maxTime << <span class="stringliteral">" seconds per run"</span> << std::endl;</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.maxMem << <span class="stringliteral">" MB per run"</span> << std::endl;</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.runCount << <span class="stringliteral">" runs per planner"</span> << std::endl;</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.totalDuration << <span class="stringliteral">" seconds spent to collect the data"</span> << std::endl;</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> </div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="comment">// change this if more enum types are added</span></div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> out << <span class="stringliteral">"1 enum type"</span> << std::endl;</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> out << <span class="stringliteral">"status"</span>;</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code hl_enumvalue" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4ac60ae0f04326edcd4fa202cda3dddb33">base::PlannerStatus::TYPE_COUNT</a>; ++i)</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> out << <span class="charliteral">'|'</span> << <a class="code hl_struct" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a>(<span class="keyword">static_cast<</span><a class="code hl_enumeration" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a><span class="keyword">></span>(i)).<a class="code hl_function" href="structompl_1_1base_1_1PlannerStatus.html#ac9bdc9db7d5325710fb9ac74d27900ad">asString</a>();</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> out << std::endl;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> out << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners.size() << <span class="stringliteral">" planners"</span> << std::endl;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &planner : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners)</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> {</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> out << planner.name << std::endl;</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="comment">// get names of common properties</span></div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> std::vector<std::string> properties;</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : planner.common)</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> properties.push_back(property.first);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> std::sort(properties.begin(), properties.end());</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="comment">// print names & values of common properties</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> out << properties.size() << <span class="stringliteral">" common properties"</span> << std::endl;</div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> {</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">auto</span> it = planner.common.find(property);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> out << it->first << <span class="stringliteral">" = "</span> << it->second << std::endl;</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> }</div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> </div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="comment">// construct the list of all possible properties for all runs</span></div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> std::map<std::string, bool> propSeen;</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &run : planner.runs)</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : run)</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> propSeen[<span class="keyword">property</span>.first] = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> </div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> properties.clear();</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> </div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &it : propSeen)</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> properties.push_back(it.first);</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> std::sort(properties.begin(), properties.end());</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> </div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="comment">// print the property names</span></div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> out << properties.size() << <span class="stringliteral">" properties for each run"</span> << std::endl;</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> out << <span class="keyword">property</span> << std::endl;</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> </div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="comment">// print the data for each run</span></div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> out << planner.runs.size() << <span class="stringliteral">" runs"</span> << std::endl;</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &run : planner.runs)</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> {</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> {</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keyword">auto</span> it = run.find(property);</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordflow">if</span> (it != run.end())</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> out << it->second;</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> out << <span class="stringliteral">"; "</span>;</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> }</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> out << std::endl;</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> }</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="comment">// print the run progress data if it was reported</span></div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordflow">if</span> (planner.runsProgressData.size() > 0)</div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> {</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="comment">// Print number of progress properties</span></div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> out << planner.progressPropertyNames.size() << <span class="stringliteral">" progress properties for each run"</span> << std::endl;</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="comment">// Print progress property names</span></div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &progPropName : planner.progressPropertyNames)</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> {</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> out << progPropName << std::endl;</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> }</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="comment">// Print progress properties for each run</span></div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> out << planner.runsProgressData.size() << <span class="stringliteral">" runs"</span> << std::endl;</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &r : planner.runsProgressData)</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> {</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="comment">// For each time point</span></div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &t : r)</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> {</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="comment">// Print each of the properties at that time point</span></div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &iter : t)</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> {</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> out << iter.second << <span class="stringliteral">","</span>;</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> }</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> </div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="comment">// Separate time points by semicolons</span></div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> out << <span class="stringliteral">";"</span>;</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> }</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> </div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="comment">// Separate runs by newlines</span></div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> out << std::endl;</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> }</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> }</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> </div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> out << <span class="charliteral">'.'</span> << std::endl;</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> }</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span>}</div>
</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> </div>
<div class="foldopen" id="foldopen00433" data-start="{" data-end="}">
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a3257cb8dccc15037e81c0f235c61a7e8"> 433</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="classompl_1_1tools_1_1Benchmark.html#a3257cb8dccc15037e81c0f235c61a7e8">ompl::tools::Benchmark::benchmark</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1Request.html">Request</a> &req)</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span>{</div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="comment">// sanity checks</span></div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> {</div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation()->isSetup())</div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation()->setup();</div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> }</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> {</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation()->isSetup())</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation()->setup();</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> }</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> </div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordflow">if</span> (!(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getGoal() : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getGoal()))</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> {</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"No goal defined"</span>);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> }</div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.empty())</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> {</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"There are no planners to benchmark"</span>);</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> }</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> </div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.running = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.totalDuration = 0.0;</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.maxTime = req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a>;</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.maxMem = req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a>;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.runCount = req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>;</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.host = <a class="code hl_function" href="namespaceompl_1_1machine.html#a72f733ca0ea9660e62e7d78887778494">machine::getHostname</a>();</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.cpuInfo = <a class="code hl_function" href="namespaceompl_1_1machine.html#a75c4da4e42a1de9050a171213135fa26">machine::getCPUInfo</a>();</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.seed = <a class="code hl_function" href="classompl_1_1RNG.html#a9b59291cc9599888d41a1b7a748aa5fe">RNG::getSeed</a>();</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> </div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.startTime = <a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> </div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Configuring planners ..."</span>);</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> </div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <span class="comment">// clear previous experimental data</span></div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners.clear();</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners.resize(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.size());</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> </div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="keyword">const</span> base::ProblemDefinitionPtr &pdef =</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getProblemDefinition() : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getProblemDefinition();</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="comment">// set up all the planners</span></div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.size(); ++i)</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> {</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="comment">// configure the planner</span></div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->setProblemDefinition(pdef);</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->isSetup())</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->setup();</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].name = (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> ? <span class="stringliteral">"geometric_"</span> : <span class="stringliteral">"control_"</span>) + <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->getName();</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Configured %s"</span>, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].name.c_str());</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> }</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> </div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Done configuring planners."</span>);</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Saving planner setup information ..."</span>);</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> </div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> std::stringstream setupInfo;</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->print(setupInfo);</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->print(setupInfo);</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> setupInfo << std::endl << <span class="stringliteral">"Properties of benchmarked planners:"</span> << std::endl;</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>)</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> planner->printProperties(setupInfo);</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> </div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.setupInfo = setupInfo.str();</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> </div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Done saving information"</span>);</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> </div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Beginning benchmark"</span>);</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> <a class="code hl_class" href="classompl_1_1msg_1_1OutputHandler.html">msg::OutputHandler</a> *oh = <a class="code hl_function" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">msg::getOutputHandler</a>();</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> boost::scoped_ptr<msg::OutputHandlerFile> ohf;</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a882d384685f86176fbb441c256d34044">saveConsoleOutput</a>)</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> {</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> ohf.reset(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1msg_1_1OutputHandlerFile.html">msg::OutputHandlerFile</a>(getConsoleFilename(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>).c_str()));</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <a class="code hl_function" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">msg::useOutputHandler</a>(ohf.get());</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> }</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <a class="code hl_function" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">msg::noOutputHandler</a>();</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Beginning benchmark"</span>);</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> </div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> boost::scoped_ptr<ompl::time::ProgressDisplay> progress;</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> {</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> std::cout << <span class="stringliteral">"Running experiment "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.name << <span class="stringliteral">"."</span> << std::endl;</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>)</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> std::cout << <span class="stringliteral">"Each planner will be executed "</span> << req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> << <span class="stringliteral">" times for at most "</span> << req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a></div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> << <span class="stringliteral">" seconds."</span>;</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> std::cout << <span class="stringliteral">"Each planner will be executed as many times as possible within "</span> << req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a></div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> << <span class="stringliteral">" seconds."</span>;</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> std::cout << <span class="stringliteral">" Memory is limited at "</span> << req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a> << <span class="stringliteral">"MB."</span> << std::endl;</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> progress.reset(<span class="keyword">new</span> <a class="code hl_class" href="classompl_1_1time_1_1ProgressDisplay.html">ompl::time::ProgressDisplay</a>);</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> }</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> </div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <a class="code hl_typedef" href="namespaceompl_1_1machine.html#af898d386f21d6c8311821bb4f87b5132">machine::MemUsage_t</a> memStart = <a class="code hl_function" href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">machine::getProcessMemoryUsage</a>();</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keyword">auto</span> maxMemBytes = (<a class="code hl_typedef" href="namespaceompl_1_1machine.html#af898d386f21d6c8311821bb4f87b5132">machine::MemUsage_t</a>)(req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a> * 1024 * 1024);</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> </div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.size(); ++i)</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> {</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner = <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].name;</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <span class="comment">// execute planner switch event, if set</span></div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> {</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a1bf6e6b434ae98d6d54808d5e65ded43">plannerSwitch_</a>)</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> {</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing planner-switch event for planner %s ..."</span>, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner.c_str());</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a1bf6e6b434ae98d6d54808d5e65ded43">plannerSwitch_</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]);</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of planner-switch event"</span>);</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> }</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> }</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> {</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> std::stringstream es;</div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> es << <span class="stringliteral">"There was an error executing the planner-switch event for planner "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> << std::endl;</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> std::cerr << es.str();</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> }</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->setup();</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->setup();</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->params().getParams(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].common);</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->getSpaceInformation()->params().getParams(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].common);</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="comment">// Add planner progress property names to struct</span></div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].progressPropertyNames.emplace_back(<span class="stringliteral">"time REAL"</span>);</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &property : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->getPlannerProgressProperties())</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> {</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].progressPropertyNames.push_back(property.first);</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> }</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> std::sort(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].progressPropertyNames.begin(), <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].progressPropertyNames.end());</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> </div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="comment">// run the planner</span></div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keywordtype">double</span> maxTime = req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a>;</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> {</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun = j;</div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.progressPercentage =</div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> ? (double)(100 * (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> * i + j)) / (double)(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.size() * req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>) :</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> (double)(100 * i) / (double)(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>.size());</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> </div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keywordflow">while</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.progressPercentage > progress->count())</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> ++(*progress);</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> </div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Preparing for run %d of %s"</span>, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner.c_str());</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> </div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="comment">// make sure all planning data structures are cleared</span></div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> {</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->clear();</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> {</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getProblemDefinition()->clearSolutionPaths();</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation()->getMotionValidator()->resetMotionCounter();</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> }</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> {</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getProblemDefinition()->clearSolutionPaths();</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation()->getMotionValidator()->resetMotionCounter();</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> }</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> }</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> {</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> std::stringstream es;</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> es << <span class="stringliteral">"There was an error while preparing for run "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun << <span class="stringliteral">" of planner "</span></div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner << std::endl;</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> std::cerr << es.str();</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> }</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> </div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="comment">// execute pre-run event, if set</span></div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> {</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#ab3b2565d2fb0362bff5fbdd0d0080159">preRun_</a>)</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> {</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing pre-run event for run %d of planner %s ..."</span>, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun,</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner.c_str());</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#ab3b2565d2fb0362bff5fbdd0d0080159">preRun_</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]);</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of pre-run event"</span>);</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> }</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> }</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> {</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> std::stringstream es;</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> es << <span class="stringliteral">"There was an error executing the pre-run event for run "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun << <span class="stringliteral">" of planner "</span></div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner << std::endl;</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> std::cerr << es.str();</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> }</div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> </div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> RunPlanner rp(<span class="keyword">this</span>);</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> rp.run(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i], memStart, maxMemBytes, maxTime, req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a7f308d71127840e12c6fedfe2668d652">timeBetweenUpdates</a>);</div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">bool</span> solved = <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->haveSolutionPath() : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->haveSolutionPath();</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> </div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="comment">// store results</span></div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> {</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <a class="code hl_struct" href="structompl_1_1tools_1_1Benchmark_1_1RunProperties.html">RunProperties</a> run;</div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> </div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> run[<span class="stringliteral">"time REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(rp.getTimeUsed());</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> run[<span class="stringliteral">"memory REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>((<span class="keywordtype">double</span>)rp.getMemUsed() / (1024.0 * 1024.0));</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> run[<span class="stringliteral">"status ENUM"</span>] = std::to_string((<span class="keywordtype">int</span>)<span class="keyword">static_cast<</span><a class="code hl_enumeration" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a><span class="keyword">></span>(rp.getStatus()));</div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> {</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> run[<span class="stringliteral">"solved BOOLEAN"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->haveExactSolutionPath());</div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span> run[<span class="stringliteral">"valid segment fraction REAL"</span>] =</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());</div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> }</div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> {</div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> run[<span class="stringliteral">"solved BOOLEAN"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->haveExactSolutionPath());</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> run[<span class="stringliteral">"valid segment fraction REAL"</span>] =</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> }</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> <span class="keywordflow">if</span> (solved)</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> {</div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>)</div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> {</div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] =</div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getProblemDefinition()->hasApproximateSolution());</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> run[<span class="stringliteral">"solution difference REAL"</span>] =</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getProblemDefinition()->getSolutionDifference());</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> run[<span class="stringliteral">"solution length REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().length());</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> run[<span class="stringliteral">"solution smoothness REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().smoothness());</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> run[<span class="stringliteral">"solution clearance REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().clearance());</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> run[<span class="stringliteral">"solution segments INTEGER"</span>] =</div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().getStateCount() - 1);</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().check());</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> </div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> factor = <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getStateSpace()->getValidSegmentCountFactor();</div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getStateSpace()->setValidSegmentCountFactor(factor * 4);</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> run[<span class="stringliteral">"correct solution strict BOOLEAN"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().check());</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getStateSpace()->setValidSegmentCountFactor(factor);</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#af7c98e06da0e8b8181a5feec8b57ac6d">simplify</a>)</div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> {</div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> <span class="comment">// simplify solution</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> <a class="code hl_typedef" href="namespaceompl_1_1time.html#a217fd988fc9b3192af36c37613d51a39">time::point</a> timeStart = <a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->simplifySolution();</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> <span class="keywordtype">double</span> timeUsed = <a class="code hl_function" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - timeStart);</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> run[<span class="stringliteral">"simplification time REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(timeUsed);</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> run[<span class="stringliteral">"simplified solution length REAL"</span>] =</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().length());</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> run[<span class="stringliteral">"simplified solution smoothness REAL"</span>] =</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().smoothness());</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> run[<span class="stringliteral">"simplified solution clearance REAL"</span>] =</div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().clearance());</div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> run[<span class="stringliteral">"simplified solution segments INTEGER"</span>] =</div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().getStateCount() - 1);</div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> run[<span class="stringliteral">"simplified correct solution BOOLEAN"</span>] =</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().check());</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getStateSpace()->setValidSegmentCountFactor(factor * 4);</div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span> run[<span class="stringliteral">"simplified correct solution strict BOOLEAN"</span>] =</div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSolutionPath().check());</div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getStateSpace()->setValidSegmentCountFactor(factor);</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> }</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> }</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> {</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] =</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getProblemDefinition()->hasApproximateSolution());</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> run[<span class="stringliteral">"solution difference REAL"</span>] =</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getProblemDefinition()->getSolutionDifference());</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> run[<span class="stringliteral">"solution length REAL"</span>] = <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSolutionPath().length());</div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span> run[<span class="stringliteral">"solution clearance REAL"</span>] =</div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> <a class="code hl_function" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSolutionPath().asGeometric().clearance());</div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span> run[<span class="stringliteral">"solution segments INTEGER"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSolutionPath().getControlCount());</div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = std::to_string(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSolutionPath().check());</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> }</div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> }</div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> </div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> <a class="code hl_class" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> pd(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a> ? <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">gsetup_</a>->getSpaceInformation() : <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">csetup_</a>->getSpaceInformation());</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->getPlannerData(pd);</div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> run[<span class="stringliteral">"graph states INTEGER"</span>] = std::to_string(pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>());</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> run[<span class="stringliteral">"graph motions INTEGER"</span>] = std::to_string(pd.<a class="code hl_function" href="classompl_1_1base_1_1PlannerData.html#a383876c22dd92deeed0a536c10f7ecd4">numEdges</a>());</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> </div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &prop : pd.<a class="code hl_variable" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c">properties</a>)</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> run[prop.first] = prop.second;</div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> </div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> <span class="comment">// execute post-run event, if set</span></div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <span class="keywordflow">try</span></div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> {</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a48b0e489b98ae6d5801f730467430bc1">postRun_</a>)</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> {</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing post-run event for run %d of planner %s ..."</span>, <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun,</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner.c_str());</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a48b0e489b98ae6d5801f730467430bc1">postRun_</a>(<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i], run);</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of post-run event"</span>);</div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> }</div>
<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"> 733</span> }</div>
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"> 734</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span> {</div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> std::stringstream es;</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"> 737</span> es << <span class="stringliteral">"There was an error in the execution of the post-run event for run "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activeRun</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno"> 738</span> << <span class="stringliteral">" of planner "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner << std::endl;</div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"> 739</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"> 740</span> std::cerr << es.str();</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> }</div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> </div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"> 744</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].runs.push_back(run);</div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> </div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> <span class="comment">// Add planner progress data from the planner progress</span></div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> <span class="comment">// collector if there was anything to report</span></div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->getPlannerProgressProperties().size() > 0)</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> {</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.planners[i].runsProgressData.push_back(rp.getRunProgressData());</div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> }</div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> }</div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> {</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> std::stringstream es;</div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> es << <span class="stringliteral">"There was an error in the extraction of planner results: planner = "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner</div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> << <span class="stringliteral">", run = "</span> << <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.activePlanner << std::endl;</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> std::cerr << es.str();</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> <a class="code hl_define" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> }</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> </div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> ++j;</div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> == 0)</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> {</div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> maxTime -= rp.getTimeUsed();</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> <span class="keywordflow">if</span> (maxTime < 0.)</div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> }</div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> <span class="keywordflow">else</span></div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"> 771</span> {</div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span> <span class="keywordflow">if</span> (j >= req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>)</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> }</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> }</div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">planners_</a>[i]->clear();</div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> }</div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> </div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.running = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.progressPercentage = 100.0;</div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> <span class="keywordflow">if</span> (req.<a class="code hl_variable" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> {</div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> <span class="keywordflow">while</span> (<a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">status_</a>.progressPercentage > progress->count())</div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span> ++(*progress);</div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> std::cout << std::endl;</div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> }</div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> </div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.totalDuration = <a class="code hl_function" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code hl_function" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - <a class="code hl_variable" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.startTime);</div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span> </div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Benchmark complete"</span>);</div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> <a class="code hl_function" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">msg::useOutputHandler</a>(oh);</div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> <a class="code hl_define" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Benchmark complete"</span>);</div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span>}</div>
</div>
<div class="ttc" id="aclassompl_1_1Exception_html"><div class="ttname"><a href="classompl_1_1Exception.html">ompl::Exception</a></div><div class="ttdoc">The exception type for ompl.</div><div class="ttdef"><b>Definition</b> <a href="Exception_8h_source.html#l00046">Exception.h:47</a></div></div>
<div class="ttc" id="aclassompl_1_1RNG_html_a9b59291cc9599888d41a1b7a748aa5fe"><div class="ttname"><a href="classompl_1_1RNG.html#a9b59291cc9599888d41a1b7a748aa5fe">ompl::RNG::getSeed</a></div><div class="ttdeci">static std::uint_fast32_t getSeed()</div><div class="ttdoc">Get the seed used to generate the seeds of each RNG instance. Passing the returned value to setSeed()...</div><div class="ttdef"><b>Definition</b> <a href="RandomNumbers_8cpp_source.html#l00209">RandomNumbers.cpp:209</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html">ompl::base::PlannerData</a></div><div class="ttdoc">Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00174">PlannerData.h:175</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a383876c22dd92deeed0a536c10f7ecd4"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a383876c22dd92deeed0a536c10f7ecd4">ompl::base::PlannerData::numEdges</a></div><div class="ttdeci">unsigned int numEdges() const</div><div class="ttdoc">Retrieve the number of edges in this structure.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00205">PlannerData.cpp:205</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_a877a673801134168cba0581b277cae79"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">ompl::base::PlannerData::numVertices</a></div><div class="ttdeci">unsigned int numVertices() const</div><div class="ttdoc">Retrieve the number of vertices in this structure.</div><div class="ttdef"><b>Definition</b> <a href="src_2ompl_2base_2src_2PlannerData_8cpp_source.html#l00200">PlannerData.cpp:200</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1PlannerData_html_aca9e2da9d9a46e42c516fc8b926ab65c"><div class="ttname"><a href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c">ompl::base::PlannerData::properties</a></div><div class="ttdeci">std::map< std::string, std::string > properties</div><div class="ttdoc">Any extra properties (key-value pairs) the planner can set.</div><div class="ttdef"><b>Definition</b> <a href="base_2PlannerData_8h_source.html#l00410">PlannerData.h:410</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1Planner_html_adc4df80108aec5db29373302e4b8d723"><div class="ttname"><a href="classompl_1_1base_1_1Planner.html#adc4df80108aec5db29373302e4b8d723">ompl::base::Planner::PlannerProgressProperties</a></div><div class="ttdeci">std::map< std::string, PlannerProgressProperty > PlannerProgressProperties</div><div class="ttdoc">A dictionary which maps the name of a progress property to the function to be used for querying that ...</div><div class="ttdef"><b>Definition</b> <a href="Planner_8h_source.html#l00353">Planner.h:353</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1SimpleSetup_html"><div class="ttname"><a href="classompl_1_1control_1_1SimpleSetup.html">ompl::control::SimpleSetup</a></div><div class="ttdoc">Create the set of classes typically needed to solve a control problem.</div><div class="ttdef"><b>Definition</b> <a href="control_2SimpleSetup_8h_source.html#l00062">SimpleSetup.h:63</a></div></div>
<div class="ttc" id="aclassompl_1_1geometric_1_1SimpleSetup_html"><div class="ttname"><a href="classompl_1_1geometric_1_1SimpleSetup.html">ompl::geometric::SimpleSetup</a></div><div class="ttdoc">Create the set of classes typically needed to solve a geometric problem.</div><div class="ttdef"><b>Definition</b> <a href="geometric_2SimpleSetup_8h_source.html#l00062">SimpleSetup.h:63</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandlerFile_html"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandlerFile.html">ompl::msg::OutputHandlerFile</a></div><div class="ttdoc">Implementation of OutputHandler that saves messages in a file.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00125">Console.h:126</a></div></div>
<div class="ttc" id="aclassompl_1_1msg_1_1OutputHandler_html"><div class="ttname"><a href="classompl_1_1msg_1_1OutputHandler.html">ompl::msg::OutputHandler</a></div><div class="ttdoc">Generic class to handle output from a piece of code.</div><div class="ttdef"><b>Definition</b> <a href="Console_8h_source.html#l00102">Console.h:103</a></div></div>
<div class="ttc" id="aclassompl_1_1time_1_1ProgressDisplay_html"><div class="ttname"><a href="classompl_1_1time_1_1ProgressDisplay.html">ompl::time::ProgressDisplay</a></div><div class="ttdef"><b>Definition</b> <a href="Time_8h_source.html#l00087">Time.h:88</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a1bf6e6b434ae98d6d54808d5e65ded43"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a1bf6e6b434ae98d6d54808d5e65ded43">ompl::tools::Benchmark::plannerSwitch_</a></div><div class="ttdeci">PreSetupEvent plannerSwitch_</div><div class="ttdoc">Event to be called when the evaluated planner is switched.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00288">Benchmark.h:288</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a23533c490c5ae9617b9aeff21cb3929f"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a23533c490c5ae9617b9aeff21cb3929f">ompl::tools::Benchmark::PreSetupEvent</a></div><div class="ttdeci">std::function< void(const base::PlannerPtr &)> PreSetupEvent</div><div class="ttdoc">Signature of function that can be called before a planner execution is started.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00079">Benchmark.h:79</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a28b6c76500d022dba4a8bc075bdcc5d2"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a28b6c76500d022dba4a8bc075bdcc5d2">ompl::tools::Benchmark::status_</a></div><div class="ttdeci">Status status_</div><div class="ttdoc">The current status of this benchmarking instance.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00285">Benchmark.h:285</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a2e407791f8baa54b2e7d491f20c4b3f5"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a2e407791f8baa54b2e7d491f20c4b3f5">ompl::tools::Benchmark::getExperimentParameters</a></div><div class="ttdeci">const std::map< std::string, std::string > & getExperimentParameters() const</div><div class="ttdoc">Get all optional benchmark parameters. The map key is 'name type'.</div><div class="ttdef"><b>Definition</b> <a href="#l00214">Benchmark.cpp:214</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a3257cb8dccc15037e81c0f235c61a7e8"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a3257cb8dccc15037e81c0f235c61a7e8">ompl::tools::Benchmark::benchmark</a></div><div class="ttdeci">virtual void benchmark(const Request &req)</div><div class="ttdoc">Benchmark the added planners on the defined problem. Repeated calls clear previously gathered data.</div><div class="ttdef"><b>Definition</b> <a href="#l00433">Benchmark.cpp:433</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a37b5881fa63f93377e88766f6c25d88a"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a37b5881fa63f93377e88766f6c25d88a">ompl::tools::Benchmark::getStatus</a></div><div class="ttdeci">const Status & getStatus() const</div><div class="ttdoc">Get the status of the benchmarking code. This function can be called in a separate thread to check ho...</div><div class="ttdef"><b>Definition</b> <a href="#l00269">Benchmark.cpp:269</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a3dd03001e2d2afb0dc209fe8f6980f58"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a3dd03001e2d2afb0dc209fe8f6980f58">ompl::tools::Benchmark::clearPlanners</a></div><div class="ttdeci">void clearPlanners()</div><div class="ttdoc">Clear the set of planners to be benchmarked.</div><div class="ttdef"><b>Definition</b> <a href="#l00247">Benchmark.cpp:247</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a3e166b0c8a0e8c935ec5b5f8627ed119"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a3e166b0c8a0e8c935ec5b5f8627ed119">ompl::tools::Benchmark::planners_</a></div><div class="ttdeci">std::vector< base::PlannerPtr > planners_</div><div class="ttdoc">The set of planners to be tested.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00279">Benchmark.h:279</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a405e0a2857e17e93992ca9e642618787"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a405e0a2857e17e93992ca9e642618787">ompl::tools::Benchmark::setPreRunEvent</a></div><div class="ttdeci">void setPreRunEvent(const PreSetupEvent &event)</div><div class="ttdoc">Set the event to be called before the run of a planner.</div><div class="ttdef"><b>Definition</b> <a href="#l00258">Benchmark.cpp:258</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a48b0e489b98ae6d5801f730467430bc1"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a48b0e489b98ae6d5801f730467430bc1">ompl::tools::Benchmark::postRun_</a></div><div class="ttdeci">PostSetupEvent postRun_</div><div class="ttdoc">Event to be called after the run of a planner.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00294">Benchmark.h:294</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a4adb9f2da67bbb9074aadd0af4dde9ef"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a4adb9f2da67bbb9074aadd0af4dde9ef">ompl::tools::Benchmark::getExperimentName</a></div><div class="ttdeci">const std::string & getExperimentName() const</div><div class="ttdoc">Get the name of the experiment.</div><div class="ttdef"><b>Definition</b> <a href="#l00229">Benchmark.cpp:229</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a5cd270d95be4b130654bb6f3b978badf"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a5cd270d95be4b130654bb6f3b978badf">ompl::tools::Benchmark::setExperimentName</a></div><div class="ttdeci">void setExperimentName(const std::string &name)</div><div class="ttdoc">Set the name of the experiment.</div><div class="ttdef"><b>Definition</b> <a href="#l00224">Benchmark.cpp:224</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a641cd9b520392c02eefd1ce96ec07a4e"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a641cd9b520392c02eefd1ce96ec07a4e">ompl::tools::Benchmark::setPlannerSwitchEvent</a></div><div class="ttdeci">void setPlannerSwitchEvent(const PreSetupEvent &event)</div><div class="ttdoc">Set the event to be called before any runs of a particular planner (when the planner is switched).</div><div class="ttdef"><b>Definition</b> <a href="#l00252">Benchmark.cpp:252</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a6a7267b64dbde28d9b505ffac55c217e"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">ompl::tools::Benchmark::exp_</a></div><div class="ttdeci">CompleteExperiment exp_</div><div class="ttdoc">The collected experimental data (for all planners).</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00282">Benchmark.h:282</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a74f68df4ca4750779c5a2d5ef202c27e"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a74f68df4ca4750779c5a2d5ef202c27e">ompl::tools::Benchmark::csetup_</a></div><div class="ttdeci">control::SimpleSetup * csetup_</div><div class="ttdoc">The instance of the problem to benchmark (if planning with controls).</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00276">Benchmark.h:276</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a75b718cb770089ade746bcb12c74b832"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a75b718cb770089ade746bcb12c74b832">ompl::tools::Benchmark::PostSetupEvent</a></div><div class="ttdeci">std::function< void(const base::PlannerPtr &, RunProperties &)> PostSetupEvent</div><div class="ttdoc">Signature of function that can be called after a planner execution is completed.</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00082">Benchmark.h:82</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a86fdc0094b39debe8ee310a9e2de8e31"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a86fdc0094b39debe8ee310a9e2de8e31">ompl::tools::Benchmark::addPlanner</a></div><div class="ttdeci">void addPlanner(const base::PlannerPtr &planner)</div><div class="ttdoc">Add a planner to use.</div><div class="ttdef"><b>Definition</b> <a href="#l00234">Benchmark.cpp:234</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a8a562ed0d721cffc94c8aa0a2e565a25"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a8a562ed0d721cffc94c8aa0a2e565a25">ompl::tools::Benchmark::gsetup_</a></div><div class="ttdeci">geometric::SimpleSetup * gsetup_</div><div class="ttdoc">The instance of the problem to benchmark (if geometric planning).</div><div class="ttdef"><b>Definition</b> <a href="Benchmark_8h_source.html#l00273">Benchmark.h:273</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a8c97a673cf3d27b4c8d6dbc592b56ce4"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a8c97a673cf3d27b4c8d6dbc592b56ce4">ompl::tools::Benchmark::setPostRunEvent</a></div><div class="ttdeci">void setPostRunEvent(const PostSetupEvent &event)</div><div class="ttdoc">Set the event to be called after the run of a planner.</div><div class="ttdef"><b>Definition</b> <a href="#l00264">Benchmark.cpp:264</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a9641c6a479d33dc5e59a836bdd511fa4"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a9641c6a479d33dc5e59a836bdd511fa4">ompl::tools::Benchmark::addPlannerAllocator</a></div><div class="ttdeci">void addPlannerAllocator(const base::PlannerAllocator &pa)</div><div class="ttdoc">Add a planner allocator to use.</div><div class="ttdef"><b>Definition</b> <a href="#l00242">Benchmark.cpp:242</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a96a5e5c2c1465e95ec5a5ea57c449518"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a96a5e5c2c1465e95ec5a5ea57c449518">ompl::tools::Benchmark::numExperimentParameters</a></div><div class="ttdeci">std::size_t numExperimentParameters() const</div><div class="ttdoc">Return the number of optional benchmark parameters.</div><div class="ttdef"><b>Definition</b> <a href="#l00219">Benchmark.cpp:219</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_a979f5df0704b89e7da4a1c29ab857a02"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02">ompl::tools::Benchmark::saveResultsToFile</a></div><div class="ttdeci">bool saveResultsToFile() const</div><div class="ttdoc">Save the results of the benchmark to a file. The name of the file is the current date and time.</div><div class="ttdef"><b>Definition</b> <a href="#l00300">Benchmark.cpp:300</a></div></div>