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The MoveIt Motion Planning Framework for ROS 2.
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moveit_ros_benchmarks::BenchmarkOptions Struct Reference

Options to configure a benchmark experiment. The configuration is provided via ROS2 parameters. More...

#include <BenchmarkOptions.h>

Public Member Functions

 BenchmarkOptions (const rclcpp::Node::SharedPtr &node)
 Constructor. More...
 
void getPlanningPipelineNames (std::vector< std::string > &planning_pipeline_names) const
 Get all planning pipeline names. More...
 
const std::string & getWorkspaceFrameID () const
 
const moveit_msgs::msg::WorkspaceParameters & getWorkspaceParameters () const
 
bool readBenchmarkOptions (const rclcpp::Node::SharedPtr &node)
 
bool readPlannerConfigs (const rclcpp::Node::SharedPtr &node)
 
void readWorkspaceParameters (const rclcpp::Node::SharedPtr &node)
 
void readGoalOffset (const rclcpp::Node::SharedPtr &node)
 

Public Attributes

std::string hostname
 Warehouse parameters. More...
 
int port
 
std::string scene_name
 
int runs
 Benchmark parameters. More...
 
double timeout
 
std::string benchmark_name
 
std::string group_name
 
std::string output_directory
 
std::string query_regex
 
std::string start_state_regex
 
std::string goal_constraint_regex
 
std::string path_constraint_regex
 
std::string trajectory_constraint_regex
 
std::vector< std::string > predefined_poses
 
std::string predefined_poses_group
 
std::vector< double > goal_offsets
 
std::map< std::string, std::vector< std::string > > planning_pipelines
 planner configurations More...
 
std::map< std::string, std::vector< std::pair< std::string, std::string > > > parallel_planning_pipelines
 
moveit_msgs::msg::WorkspaceParameters workspace
 

Detailed Description

Options to configure a benchmark experiment. The configuration is provided via ROS2 parameters.

TODO(sjahr): Replace with generate_parameter_library config

Parameter configuration example: benchmark_config: # Benchmark param namespace warehouse: host: # Host address for warehouse port: # Port name for warehouse scene_name: # Scene name to load for this experiment parameters: name: # Experiment name runs: # Number of experiment runs group: # Joint group name timeout: # Experiment timeout output_directory: # Output directory for results file queries_regex: # Number of queries start_states_regex: # Start states goal_constraints_regex: # Goal constrains path_constraints_regex trajectory_constraints_regex predefined_poses_group: # Group where the predefined poses are specified predefined_poses: # List of named targets planning_pipelines: pipeline_names: # List of pipeline names to be loaded by moveit_cpp pipelines: # List of pipeline names to be used by the benchmark tool my_pipeline: # Example pipeline definition name: # Pipeline name planners: # List of planners of the pipeline to be tested parallel_pipelines: # List of parallel planning pipelines to be tested my_parallel_planning_pipeline: pipelines: # List of parallel planning pipelines planner_ids: # Ordered! list planner_ids used by the individual pipelines listed in 'pipeline'

Definition at line 80 of file BenchmarkOptions.h.

Constructor & Destructor Documentation

◆ BenchmarkOptions()

BenchmarkOptions::BenchmarkOptions ( const rclcpp::Node::SharedPtr &  node)

Constructor.

Definition at line 51 of file BenchmarkOptions.cpp.

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Member Function Documentation

◆ getPlanningPipelineNames()

void BenchmarkOptions::getPlanningPipelineNames ( std::vector< std::string > &  planning_pipeline_names) const

Get all planning pipeline names.

Definition at line 163 of file BenchmarkOptions.cpp.

◆ getWorkspaceFrameID()

const std::string& moveit_ros_benchmarks::BenchmarkOptions::getWorkspaceFrameID ( ) const

◆ getWorkspaceParameters()

const moveit_msgs::msg::WorkspaceParameters& moveit_ros_benchmarks::BenchmarkOptions::getWorkspaceParameters ( ) const

◆ readBenchmarkOptions()

bool BenchmarkOptions::readBenchmarkOptions ( const rclcpp::Node::SharedPtr &  node)

Definition at line 59 of file BenchmarkOptions.cpp.

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◆ readGoalOffset()

void moveit_ros_benchmarks::BenchmarkOptions::readGoalOffset ( const rclcpp::Node::SharedPtr &  node)

◆ readPlannerConfigs()

bool BenchmarkOptions::readPlannerConfigs ( const rclcpp::Node::SharedPtr &  node)

Definition at line 172 of file BenchmarkOptions.cpp.

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◆ readWorkspaceParameters()

void moveit_ros_benchmarks::BenchmarkOptions::readWorkspaceParameters ( const rclcpp::Node::SharedPtr &  node)

Member Data Documentation

◆ benchmark_name

std::string moveit_ros_benchmarks::BenchmarkOptions::benchmark_name

Definition at line 107 of file BenchmarkOptions.h.

◆ goal_constraint_regex

std::string moveit_ros_benchmarks::BenchmarkOptions::goal_constraint_regex

Definition at line 112 of file BenchmarkOptions.h.

◆ goal_offsets

std::vector<double> moveit_ros_benchmarks::BenchmarkOptions::goal_offsets
Initial value:
=
std::vector<double>(CARTESIAN_DOF)

Definition at line 117 of file BenchmarkOptions.h.

◆ group_name

std::string moveit_ros_benchmarks::BenchmarkOptions::group_name

Definition at line 108 of file BenchmarkOptions.h.

◆ hostname

std::string moveit_ros_benchmarks::BenchmarkOptions::hostname

Warehouse parameters.

Definition at line 100 of file BenchmarkOptions.h.

◆ output_directory

std::string moveit_ros_benchmarks::BenchmarkOptions::output_directory

Definition at line 109 of file BenchmarkOptions.h.

◆ parallel_planning_pipelines

std::map<std::string, std::vector<std::pair<std::string, std::string> > > moveit_ros_benchmarks::BenchmarkOptions::parallel_planning_pipelines

Definition at line 122 of file BenchmarkOptions.h.

◆ path_constraint_regex

std::string moveit_ros_benchmarks::BenchmarkOptions::path_constraint_regex

Definition at line 113 of file BenchmarkOptions.h.

◆ planning_pipelines

std::map<std::string, std::vector<std::string> > moveit_ros_benchmarks::BenchmarkOptions::planning_pipelines

planner configurations

Definition at line 121 of file BenchmarkOptions.h.

◆ port

int moveit_ros_benchmarks::BenchmarkOptions::port

Definition at line 101 of file BenchmarkOptions.h.

◆ predefined_poses

std::vector<std::string> moveit_ros_benchmarks::BenchmarkOptions::predefined_poses

Definition at line 115 of file BenchmarkOptions.h.

◆ predefined_poses_group

std::string moveit_ros_benchmarks::BenchmarkOptions::predefined_poses_group

Definition at line 116 of file BenchmarkOptions.h.

◆ query_regex

std::string moveit_ros_benchmarks::BenchmarkOptions::query_regex

Definition at line 110 of file BenchmarkOptions.h.

◆ runs

int moveit_ros_benchmarks::BenchmarkOptions::runs

Benchmark parameters.

Definition at line 105 of file BenchmarkOptions.h.

◆ scene_name

std::string moveit_ros_benchmarks::BenchmarkOptions::scene_name

Definition at line 102 of file BenchmarkOptions.h.

◆ start_state_regex

std::string moveit_ros_benchmarks::BenchmarkOptions::start_state_regex

Definition at line 111 of file BenchmarkOptions.h.

◆ timeout

double moveit_ros_benchmarks::BenchmarkOptions::timeout

Definition at line 106 of file BenchmarkOptions.h.

◆ trajectory_constraint_regex

std::string moveit_ros_benchmarks::BenchmarkOptions::trajectory_constraint_regex

Definition at line 114 of file BenchmarkOptions.h.

◆ workspace

moveit_msgs::msg::WorkspaceParameters moveit_ros_benchmarks::BenchmarkOptions::workspace

Definition at line 124 of file BenchmarkOptions.h.

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