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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 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 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 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 name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a 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 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 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 name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> *</span></div>
<div class="line"><a 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 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 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 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 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 name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a 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 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 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 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 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 name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan, Luis G. Torres */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/tools/benchmark/Benchmark.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/tools/benchmark/MachineSpecs.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#include "ompl/util/Time.h"</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "ompl/config.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/util/String.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <boost/scoped_ptr.hpp></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <thread></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <mutex></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <condition_variable></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <fstream></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="preprocessor">#include <sstream></span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keyword">namespace </span>tools</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  {</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keyword">static</span> std::string getResultsFilename(<span class="keyword">const</span> Benchmark::CompleteExperiment &exp)</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a 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" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(exp.startTime) + <span class="stringliteral">".log"</span>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">static</span> std::string getConsoleFilename(<span class="keyword">const</span> Benchmark::CompleteExperiment &exp)</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a 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" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(exp.startTime) + <span class="stringliteral">".console"</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  }</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a 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" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> maxMem, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> &endTime)</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">if</span> (<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() < endTime && <a class="code" href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">machine::getProcessMemoryUsage</a>() < maxMem)</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">class </span>RunPlanner</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">public</span>:</div>
<div class="line"><a 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 name="l00079"></a><span class="lineno"> 79</span>  {</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a 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> <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> memStart,</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> 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 name="l00084"></a><span class="lineno"> 84</span>  {</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  runThread(planner, memStart + maxMem, <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(maxTime), <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(timeBetweenUpdates));</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">double</span> getTimeUsed()<span class="keyword"> const</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">return</span> timeUsed_;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> getMemUsed()<span class="keyword"> const</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> memUsed_;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  base::PlannerStatus getStatus()<span class="keyword"> const</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">return</span> status_;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
<div class="line"><a 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 name="l00104"></a><span class="lineno"> 104</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">return</span> runProgressData_;</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keyword">private</span>:</div>
<div class="line"><a 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> <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> maxMem,</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#ae77961d01352b61e3fcd521ec3e5d59a">time::duration</a> &maxDuration, <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#ae77961d01352b61e3fcd521ec3e5d59a">time::duration</a> &timeBetweenUpdates)</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> timeStart = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  {</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> endtime = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() + maxDuration;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <a class="code" href="namespaceompl_1_1base.html#a5c218cde462780a4502dfc561708e903">base::PlannerTerminationConditionFn</a> ptc([maxMem, endtime]</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  { <span class="keywordflow">return</span> terminationCondition(maxMem, endtime); });</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  solved_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="comment">// Only launch the planner progress property</span></div>
<div class="line"><a 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 name="l00122"></a><span class="lineno"> 122</span>  <span class="comment">//</span></div>
<div class="line"><a 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 name="l00124"></a><span class="lineno"> 124</span>  <span class="comment">// always gets taken before planner even starts;</span></div>
<div class="line"><a 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 name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">// collector begins sampling</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  boost::scoped_ptr<std::thread> t;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">if</span> (planner->getPlannerProgressProperties().size() > 0)</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  t.reset(<span class="keyword">new</span> std::thread(</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  [<span class="keyword">this</span>, &planner, timeBetweenUpdates] {</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  collectProgressProperties(planner->getPlannerProgressProperties(), timeBetweenUpdates);</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }));</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  status_ = planner->solve(ptc, 0.1);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  solvedFlag_.lock();</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  solved_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  solvedCondition_.notify_all();</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  solvedFlag_.unlock();</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (t)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  t->join(); <span class="comment">// maybe look into interrupting even if planner throws an exception</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  std::stringstream es;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  es << <span class="stringliteral">"There was an error executing planner "</span> << benchmark_->getStatus().activePlanner</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  << <span class="stringliteral">", run = "</span> << benchmark_->getStatus().activeRun << std::endl;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  }</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  </div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  timeUsed_ = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - timeStart);</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  memUsed_ = <a class="code" href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">machine::getProcessMemoryUsage</a>();</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">void</span> collectProgressProperties(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html#adc4df80108aec5db29373302e4b8d723">base::Planner::PlannerProgressProperties</a> &properties,</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="keyword">const</span> <a class="code" href="namespaceompl_1_1time.html#ae77961d01352b61e3fcd521ec3e5d59a">time::duration</a> &timePerUpdate)</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  {</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> timeStart = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  std::unique_lock<std::mutex> ulock(solvedFlag_);</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">while</span> (!solved_)</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  {</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">if</span> (solvedCondition_.wait_for(ulock, timePerUpdate) == std::cv_status::no_timeout)</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  {</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">double</span> timeInSeconds = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - timeStart);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  std::string timeStamp = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(timeInSeconds);</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::map<std::string, std::string> data;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  data[<span class="stringliteral">"time REAL"</span>] = timeStamp;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  data[<span class="keyword">property</span>.first] = <span class="keyword">property</span>.second();</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  runProgressData_.push_back(data);</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  }</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keyword">const</span> Benchmark *benchmark_;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="keywordtype">double</span> timeUsed_;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> memUsed_;</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  base::PlannerStatus status_;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  Benchmark::RunProgressData runProgressData_;</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="comment">// variables needed for progress property collection</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordtype">bool</span> solved_;</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  std::mutex solvedFlag_;</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  std::condition_variable solvedCondition_;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  };</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  } <span class="comment">// namespace tools</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> } <span class="comment">// namespace ompl</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"></span> </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3"> 195</a></span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3">ompl::tools::Benchmark::Benchmark</a>(<a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html">geometric::SimpleSetup</a> &setup, <span class="keyword">const</span> std::string &name)</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  : gsetup_(&setup), csetup_(nullptr)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html#afbe731482939c3147ef29b7e66a417d5">name</a> = name;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> }</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a85887f3c709f330558df3f9c2217d177"> 201</a></span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3">ompl::tools::Benchmark::Benchmark</a>(<a class="code" href="classompl_1_1control_1_1SimpleSetup.html">control::SimpleSetup</a> &setup, <span class="keyword">const</span> std::string &name)</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  : gsetup_(nullptr), csetup_(&setup)</div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> {</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a6a7267b64dbde28d9b505ffac55c217e">exp_</a>.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html#afbe731482939c3147ef29b7e66a417d5">name</a> = name;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> }</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1"> 207</a></span> <span class="keywordtype">void</span> <a class="code" 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 name="l00208"></a><span class="lineno"> 208</span>  <span class="keyword">const</span> std::string &value)</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> {</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  exp_.parameters[name + <span class="stringliteral">" "</span> + type] = value;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> }</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a2e407791f8baa54b2e7d491f20c4b3f5"> 213</a></span> <span class="keyword">const</span> std::map<std::string, std::string> &<a class="code" href="classompl_1_1tools_1_1Benchmark.html#a2e407791f8baa54b2e7d491f20c4b3f5">ompl::tools::Benchmark::getExperimentParameters</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">return</span> exp_.parameters;</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> }</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a96a5e5c2c1465e95ec5a5ea57c449518"> 218</a></span> std::size_t <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a96a5e5c2c1465e95ec5a5ea57c449518">ompl::tools::Benchmark::numExperimentParameters</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> exp_.parameters.size();</div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> }</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a5cd270d95be4b130654bb6f3b978badf"> 223</a></span> <span class="keywordtype">void</span> <a class="code" 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 name="l00224"></a><span class="lineno"> 224</span> {</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  exp_.name = name;</div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> }</div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  </div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a4adb9f2da67bbb9074aadd0af4dde9ef"> 228</a></span> <span class="keyword">const</span> std::string &<a class="code" href="classompl_1_1tools_1_1Benchmark.html#a4adb9f2da67bbb9074aadd0af4dde9ef">ompl::tools::Benchmark::getExperimentName</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">return</span> exp_.name;</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> }</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a86fdc0094b39debe8ee310a9e2de8e31"> 233</a></span> <span class="keywordtype">void</span> <a class="code" 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 name="l00234"></a><span class="lineno"> 234</span> {</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span> (planner && planner->getSpaceInformation().get() != (gsetup_ != <span class="keyword">nullptr</span> ? gsetup_->getSpaceInformation().get() :</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  csetup_->getSpaceInformation().get()))</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html">Exception</a>(<span class="stringliteral">"Planner instance does not match space information"</span>);</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  planners_.push_back(planner);</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> }</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a9641c6a479d33dc5e59a836bdd511fa4"> 241</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a9641c6a479d33dc5e59a836bdd511fa4">ompl::tools::Benchmark::addPlannerAllocator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1base.html#a301d8c702c92a85d73832f79cb989ee5">base::PlannerAllocator</a> &pa)</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> {</div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  planners_.push_back(pa(gsetup_ != <span class="keyword">nullptr</span> ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> }</div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  </div>
<div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a3dd03001e2d2afb0dc209fe8f6980f58"> 246</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a3dd03001e2d2afb0dc209fe8f6980f58">ompl::tools::Benchmark::clearPlanners</a>()</div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> {</div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  planners_.clear();</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> }</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  </div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a641cd9b520392c02eefd1ce96ec07a4e"> 251</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a641cd9b520392c02eefd1ce96ec07a4e">ompl::tools::Benchmark::setPlannerSwitchEvent</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a23533c490c5ae9617b9aeff21cb3929f">PreSetupEvent</a> &event)</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> {</div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  plannerSwitch_ = event;</div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> }</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a405e0a2857e17e93992ca9e642618787"> 257</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a405e0a2857e17e93992ca9e642618787">ompl::tools::Benchmark::setPreRunEvent</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a23533c490c5ae9617b9aeff21cb3929f">PreSetupEvent</a> &event)</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> {</div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  preRun_ = event;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> }</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  </div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a8c97a673cf3d27b4c8d6dbc592b56ce4"> 263</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a8c97a673cf3d27b4c8d6dbc592b56ce4">ompl::tools::Benchmark::setPostRunEvent</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a75b718cb770089ade746bcb12c74b832">PostSetupEvent</a> &event)</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> {</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  postRun_ = event;</div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> }</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a37b5881fa63f93377e88766f6c25d88a"> 268</a></span> <span class="keyword">const</span> <a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Status.html">ompl::tools::Benchmark::Status</a> &<a class="code" href="classompl_1_1tools_1_1Benchmark.html#a37b5881fa63f93377e88766f6c25d88a">ompl::tools::Benchmark::getStatus</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">return</span> status_;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> }</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  </div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#aa5706f2fed0ed94583f9e39377cc89e3"> 273</a></span> <span class="keyword">const</span> <a class="code" href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html">ompl::tools::Benchmark::CompleteExperiment</a> &<a class="code" href="classompl_1_1tools_1_1Benchmark.html#aa5706f2fed0ed94583f9e39377cc89e3">ompl::tools::Benchmark::getRecordedExperimentData</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">return</span> exp_;</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> }</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
<div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#ac3a46507c4b8f4a3379ecca534f4ca93"> 278</a></span> <span class="keywordtype">bool</span> <a class="code" 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 name="l00279"></a><span class="lineno"> 279</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  std::ofstream fout(filename);</div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <span class="keywordflow">if</span> (fout.good())</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  {</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  result = saveResultsToStream(fout);</div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Results saved to '%s'"</span>, filename);</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  {</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="comment">// try to save to a different file, if we can</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordflow">if</span> (getResultsFilename(exp_) != std::string(filename))</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  result = saveResultsToFile();</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Unable to write results to '%s'"</span>, filename);</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  }</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> }</div>
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02"> 299</a></span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a979f5df0704b89e7da4a1c29ab857a02">ompl::tools::Benchmark::saveResultsToFile</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  std::string filename = getResultsFilename(exp_);</div>
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordflow">return</span> saveResultsToFile(filename.c_str());</div>
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> }</div>
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  </div>
<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a9f63b0b4e3de67b937bfa3022caf7348"> 305</a></span> <span class="keywordtype">bool</span> <a class="code" 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 name="l00306"></a><span class="lineno"> 306</span> <span class="keyword"></span>{</div>
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordflow">if</span> (exp_.planners.empty())</div>
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  {</div>
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <a class="code" href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a>(<span class="stringliteral">"There is no experimental data to save"</span>);</div>
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  }</div>
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  </div>
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">if</span> (!out.good())</div>
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  {</div>
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"Unable to write to stream"</span>);</div>
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  }</div>
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  </div>
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  out << <span class="stringliteral">"OMPL version "</span> << OMPL_VERSION << std::endl;</div>
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  out << <span class="stringliteral">"Experiment "</span> << (exp_.name.empty() ? <span class="stringliteral">"NO_NAME"</span> : exp_.name) << std::endl;</div>
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div>
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  out << exp_.parameters.size() << <span class="stringliteral">" experiment properties"</span> << std::endl;</div>
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &parameter : exp_.parameters)</div>
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  out << parameter.first << <span class="stringliteral">" = "</span> << parameter.second << std::endl;</div>
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  </div>
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  out << <span class="stringliteral">"Running on "</span> << (exp_.host.empty() ? <span class="stringliteral">"UNKNOWN"</span> : exp_.host) << std::endl;</div>
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  out << <span class="stringliteral">"Starting at "</span> << <a class="code" href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">time::as_string</a>(exp_.startTime) << std::endl;</div>
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  out << <span class="stringliteral">"<<<|"</span> << std::endl << exp_.setupInfo << <span class="stringliteral">"|>>>"</span> << std::endl;</div>
<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  out << <span class="stringliteral">"<<<|"</span> << std::endl << exp_.cpuInfo << <span class="stringliteral">"|>>>"</span> << std::endl;</div>
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  </div>
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  out << exp_.seed << <span class="stringliteral">" is the random seed"</span> << std::endl;</div>
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  out << exp_.maxTime << <span class="stringliteral">" seconds per run"</span> << std::endl;</div>
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  out << exp_.maxMem << <span class="stringliteral">" MB per run"</span> << std::endl;</div>
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  out << exp_.runCount << <span class="stringliteral">" runs per planner"</span> << std::endl;</div>
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  out << exp_.totalDuration << <span class="stringliteral">" seconds spent to collect the data"</span> << std::endl;</div>
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  </div>
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="comment">// change this if more enum types are added</span></div>
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  out << <span class="stringliteral">"1 enum type"</span> << std::endl;</div>
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  out << <span class="stringliteral">"status"</span>;</div>
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < <a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4ac60ae0f04326edcd4fa202cda3dddb33">base::PlannerStatus::TYPE_COUNT</a>; ++i)</div>
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  out << <span class="charliteral">'|'</span> << <a class="code" href="structompl_1_1base_1_1PlannerStatus.html">base::PlannerStatus</a>(<span class="keyword">static_cast<</span><a class="code" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a><span class="keyword">></span>(i)).<a class="code" href="structompl_1_1base_1_1PlannerStatus.html#ac9bdc9db7d5325710fb9ac74d27900ad">asString</a>();</div>
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  out << std::endl;</div>
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  </div>
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  out << exp_.planners.size() << <span class="stringliteral">" planners"</span> << std::endl;</div>
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  </div>
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &planner : exp_.planners)</div>
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  {</div>
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  out << planner.name << std::endl;</div>
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div>
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="comment">// get names of common properties</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  std::vector<std::string> properties;</div>
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : planner.common)</div>
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  properties.push_back(property.first);</div>
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  std::sort(properties.begin(), properties.end());</div>
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  </div>
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="comment">// print names & values of common properties</span></div>
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  out << properties.size() << <span class="stringliteral">" common properties"</span> << std::endl;</div>
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  {</div>
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="keyword">auto</span> it = planner.common.find(property);</div>
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  out << it->first << <span class="stringliteral">" = "</span> << it->second << std::endl;</div>
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  }</div>
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  </div>
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="comment">// construct the list of all possible properties for all runs</span></div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  std::map<std::string, bool> propSeen;</div>
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &run : planner.runs)</div>
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : run)</div>
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  propSeen[<span class="keyword">property</span>.first] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  </div>
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  properties.clear();</div>
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  </div>
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &it : propSeen)</div>
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  properties.push_back(it.first);</div>
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  std::sort(properties.begin(), properties.end());</div>
<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  </div>
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="comment">// print the property names</span></div>
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  out << properties.size() << <span class="stringliteral">" properties for each run"</span> << std::endl;</div>
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  out << <span class="keyword">property</span> << std::endl;</div>
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  </div>
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  <span class="comment">// print the data for each run</span></div>
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  out << planner.runs.size() << <span class="stringliteral">" runs"</span> << std::endl;</div>
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &run : planner.runs)</div>
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  {</div>
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &property : properties)</div>
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  {</div>
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keyword">auto</span> it = run.find(property);</div>
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="keywordflow">if</span> (it != run.end())</div>
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  out << it->second;</div>
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  out << <span class="stringliteral">"; "</span>;</div>
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  }</div>
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  out << std::endl;</div>
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  }</div>
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  </div>
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="comment">// print the run progress data if it was reported</span></div>
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">if</span> (planner.runsProgressData.size() > 0)</div>
<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  {</div>
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="comment">// Print number of progress properties</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  out << planner.progressPropertyNames.size() << <span class="stringliteral">" progress properties for each run"</span> << std::endl;</div>
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="comment">// Print progress property names</span></div>
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &progPropName : planner.progressPropertyNames)</div>
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  {</div>
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  out << progPropName << std::endl;</div>
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  }</div>
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  <span class="comment">// Print progress properties for each run</span></div>
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  out << planner.runsProgressData.size() << <span class="stringliteral">" runs"</span> << std::endl;</div>
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &r : planner.runsProgressData)</div>
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  {</div>
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="comment">// For each time point</span></div>
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &t : r)</div>
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  {</div>
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="comment">// Print each of the properties at that time point</span></div>
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &iter : t)</div>
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  {</div>
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  out << iter.second << <span class="stringliteral">","</span>;</div>
<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  }</div>
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  </div>
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="comment">// Separate time points by semicolons</span></div>
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  out << <span class="stringliteral">";"</span>;</div>
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  }</div>
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  </div>
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">// Separate runs by newlines</span></div>
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  out << std::endl;</div>
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  }</div>
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  }</div>
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  </div>
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  out << <span class="charliteral">'.'</span> << std::endl;</div>
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  }</div>
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> }</div>
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  </div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classompl_1_1tools_1_1Benchmark.html#a3257cb8dccc15037e81c0f235c61a7e8"> 432</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1tools_1_1Benchmark.html#a3257cb8dccc15037e81c0f235c61a7e8">ompl::tools::Benchmark::benchmark</a>(<span class="keyword">const</span> <a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html">Request</a> &req)</div>
<div class="line"><a name="l00433"></a><span class="lineno"> 433</span> {</div>
<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  <span class="comment">// sanity checks</span></div>
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  {</div>
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  <span class="keywordflow">if</span> (!gsetup_->getSpaceInformation()->isSetup())</div>
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  gsetup_->getSpaceInformation()->setup();</div>
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  }</div>
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  {</div>
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  <span class="keywordflow">if</span> (!csetup_->getSpaceInformation()->isSetup())</div>
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  csetup_->getSpaceInformation()->setup();</div>
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  }</div>
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  </div>
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">if</span> (!(gsetup_ ? gsetup_->getGoal() : csetup_->getGoal()))</div>
<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  {</div>
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"No goal defined"</span>);</div>
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  }</div>
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  </div>
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  <span class="keywordflow">if</span> (planners_.empty())</div>
<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  {</div>
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(<span class="stringliteral">"There are no planners to benchmark"</span>);</div>
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  }</div>
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  </div>
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  status_.running = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  exp_.totalDuration = 0.0;</div>
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  exp_.maxTime = req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a>;</div>
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  exp_.maxMem = req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a>;</div>
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  exp_.runCount = req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>;</div>
<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  exp_.host = <a class="code" href="namespaceompl_1_1machine.html#a72f733ca0ea9660e62e7d78887778494">machine::getHostname</a>();</div>
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  exp_.cpuInfo = <a class="code" href="namespaceompl_1_1machine.html#a75c4da4e42a1de9050a171213135fa26">machine::getCPUInfo</a>();</div>
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  exp_.seed = <a class="code" href="classompl_1_1RNG.html#a9b59291cc9599888d41a1b7a748aa5fe">RNG::getSeed</a>();</div>
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  </div>
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  exp_.startTime = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  </div>
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Configuring planners ..."</span>);</div>
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  </div>
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="comment">// clear previous experimental data</span></div>
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  exp_.planners.clear();</div>
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  exp_.planners.resize(planners_.size());</div>
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  </div>
<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  <span class="keyword">const</span> base::ProblemDefinitionPtr &pdef =</div>
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  gsetup_ ? gsetup_->getProblemDefinition() : csetup_->getProblemDefinition();</div>
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  <span class="comment">// set up all the planners</span></div>
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < planners_.size(); ++i)</div>
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  {</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="comment">// configure the planner</span></div>
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  planners_[i]->setProblemDefinition(pdef);</div>
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="keywordflow">if</span> (!planners_[i]->isSetup())</div>
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  planners_[i]->setup();</div>
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  exp_.planners[i].name = (gsetup_ ? <span class="stringliteral">"geometric_"</span> : <span class="stringliteral">"control_"</span>) + planners_[i]->getName();</div>
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Configured %s"</span>, exp_.planners[i].name.c_str());</div>
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  }</div>
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  </div>
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Done configuring planners."</span>);</div>
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Saving planner setup information ..."</span>);</div>
<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  </div>
<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  std::stringstream setupInfo;</div>
<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  gsetup_->print(setupInfo);</div>
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  csetup_->print(setupInfo);</div>
<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  setupInfo << std::endl << <span class="stringliteral">"Properties of benchmarked planners:"</span> << std::endl;</div>
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &planner : planners_)</div>
<div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  planner->printProperties(setupInfo);</div>
<div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  </div>
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  exp_.setupInfo = setupInfo.str();</div>
<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  </div>
<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Done saving information"</span>);</div>
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  </div>
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Beginning benchmark"</span>);</div>
<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  <a class="code" href="classompl_1_1msg_1_1OutputHandler.html">msg::OutputHandler</a> *oh = <a class="code" href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">msg::getOutputHandler</a>();</div>
<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  boost::scoped_ptr<msg::OutputHandlerFile> ohf;</div>
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a882d384685f86176fbb441c256d34044">saveConsoleOutput</a>)</div>
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  {</div>
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  ohf.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1msg_1_1OutputHandlerFile.html">msg::OutputHandlerFile</a>(getConsoleFilename(exp_).c_str()));</div>
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">msg::useOutputHandler</a>(ohf.get());</div>
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  }</div>
<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  <a class="code" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">msg::noOutputHandler</a>();</div>
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Beginning benchmark"</span>);</div>
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  </div>
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  boost::scoped_ptr<ompl::time::ProgressDisplay> progress;</div>
<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  {</div>
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  std::cout << <span class="stringliteral">"Running experiment "</span> << exp_.name << <span class="stringliteral">"."</span> << std::endl;</div>
<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>)</div>
<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  std::cout << <span class="stringliteral">"Each planner will be executed "</span> << req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> << <span class="stringliteral">" times for at most "</span> << req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a></div>
<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  << <span class="stringliteral">" seconds."</span>;</div>
<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  std::cout << <span class="stringliteral">"Each planner will be executed as many times as possible within "</span> << req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a></div>
<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  << <span class="stringliteral">" seconds."</span>;</div>
<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  std::cout << <span class="stringliteral">" Memory is limited at "</span> << req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a> << <span class="stringliteral">"MB."</span> << std::endl;</div>
<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  progress.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1time_1_1ProgressDisplay.html">ompl::time::ProgressDisplay</a>);</div>
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  }</div>
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  </div>
<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  <a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a> memStart = <a class="code" href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">machine::getProcessMemoryUsage</a>();</div>
<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <span class="keyword">auto</span> maxMemBytes = (<a class="code" href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">machine::MemUsage_t</a>)(req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">maxMem</a> * 1024 * 1024);</div>
<div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  </div>
<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < planners_.size(); ++i)</div>
<div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  {</div>
<div class="line"><a name="l00535"></a><span class="lineno"> 535</span>  status_.activePlanner = exp_.planners[i].name;</div>
<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="comment">// execute planner switch event, if set</span></div>
<div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  {</div>
<div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  <span class="keywordflow">if</span> (plannerSwitch_)</div>
<div class="line"><a name="l00540"></a><span class="lineno"> 540</span>  {</div>
<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing planner-switch event for planner %s ..."</span>, status_.activePlanner.c_str());</div>
<div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  plannerSwitch_(planners_[i]);</div>
<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of planner-switch event"</span>);</div>
<div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  }</div>
<div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  }</div>
<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  {</div>
<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  std::stringstream es;</div>
<div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  es << <span class="stringliteral">"There was an error executing the planner-switch event for planner "</span> << status_.activePlanner</div>
<div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  << std::endl;</div>
<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  }</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  gsetup_->setup();</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00558"></a><span class="lineno"> 558</span>  csetup_->setup();</div>
<div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  planners_[i]->params().getParams(exp_.planners[i].common);</div>
<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  planners_[i]->getSpaceInformation()->params().getParams(exp_.planners[i].common);</div>
<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  </div>
<div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  <span class="comment">// Add planner progress property names to struct</span></div>
<div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  exp_.planners[i].progressPropertyNames.emplace_back(<span class="stringliteral">"time REAL"</span>);</div>
<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &property : planners_[i]->getPlannerProgressProperties())</div>
<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  {</div>
<div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  exp_.planners[i].progressPropertyNames.push_back(property.first);</div>
<div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  }</div>
<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  std::sort(exp_.planners[i].progressPropertyNames.begin(), exp_.planners[i].progressPropertyNames.end());</div>
<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  </div>
<div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  <span class="comment">// run the planner</span></div>
<div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  <span class="keywordtype">double</span> maxTime = req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#ae29e119a2a3ca7d1325f701159a7636a">maxTime</a>;</div>
<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  <span class="keywordflow">while</span> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00574"></a><span class="lineno"> 574</span>  {</div>
<div class="line"><a name="l00575"></a><span class="lineno"> 575</span>  status_.activeRun = j;</div>
<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  status_.progressPercentage =</div>
<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> ? (double)(100 * (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> * i + j)) / (<span class="keywordtype">double</span>)(planners_.size() * req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>) :</div>
<div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  (<span class="keywordtype">double</span>)(100 * i) / (<span class="keywordtype">double</span>)(planners_.size());</div>
<div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  </div>
<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  <span class="keywordflow">while</span> (status_.progressPercentage > progress->count())</div>
<div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  ++(*progress);</div>
<div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  </div>
<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Preparing for run %d of %s"</span>, status_.activeRun, status_.activePlanner.c_str());</div>
<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  </div>
<div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  <span class="comment">// make sure all planning data structures are cleared</span></div>
<div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  {</div>
<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  planners_[i]->clear();</div>
<div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00591"></a><span class="lineno"> 591</span>  {</div>
<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  gsetup_->getProblemDefinition()->clearSolutionPaths();</div>
<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  gsetup_->getSpaceInformation()->getMotionValidator()->resetMotionCounter();</div>
<div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  }</div>
<div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  {</div>
<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  csetup_->getProblemDefinition()->clearSolutionPaths();</div>
<div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  csetup_->getSpaceInformation()->getMotionValidator()->resetMotionCounter();</div>
<div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  }</div>
<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  }</div>
<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  {</div>
<div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  std::stringstream es;</div>
<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  es << <span class="stringliteral">"There was an error while preparing for run "</span> << status_.activeRun << <span class="stringliteral">" of planner "</span></div>
<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  << status_.activePlanner << std::endl;</div>
<div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  }</div>
<div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  </div>
<div class="line"><a name="l00611"></a><span class="lineno"> 611</span>  <span class="comment">// execute pre-run event, if set</span></div>
<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  {</div>
<div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  <span class="keywordflow">if</span> (preRun_)</div>
<div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  {</div>
<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing pre-run event for run %d of planner %s ..."</span>, status_.activeRun,</div>
<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  status_.activePlanner.c_str());</div>
<div class="line"><a name="l00618"></a><span class="lineno"> 618</span>  preRun_(planners_[i]);</div>
<div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of pre-run event"</span>);</div>
<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  }</div>
<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  }</div>
<div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00623"></a><span class="lineno"> 623</span>  {</div>
<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  std::stringstream es;</div>
<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  es << <span class="stringliteral">"There was an error executing the pre-run event for run "</span> << status_.activeRun << <span class="stringliteral">" of planner "</span></div>
<div class="line"><a name="l00626"></a><span class="lineno"> 626</span>  << status_.activePlanner << std::endl;</div>
<div class="line"><a name="l00627"></a><span class="lineno"> 627</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  }</div>
<div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  </div>
<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  RunPlanner rp(<span class="keyword">this</span>);</div>
<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  rp.run(planners_[i], memStart, maxMemBytes, maxTime, req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a7f308d71127840e12c6fedfe2668d652">timeBetweenUpdates</a>);</div>
<div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  <span class="keywordtype">bool</span> solved = gsetup_ ? gsetup_->haveSolutionPath() : csetup_->haveSolutionPath();</div>
<div class="line"><a name="l00635"></a><span class="lineno"> 635</span>  </div>
<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  <span class="comment">// store results</span></div>
<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  {</div>
<div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  <a class="code" href="structompl_1_1tools_1_1Benchmark_1_1RunProperties.html">RunProperties</a> run;</div>
<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  </div>
<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  run[<span class="stringliteral">"time REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(rp.getTimeUsed());</div>
<div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  run[<span class="stringliteral">"memory REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>((<span class="keywordtype">double</span>)rp.getMemUsed() / (1024.0 * 1024.0));</div>
<div class="line"><a name="l00643"></a><span class="lineno"> 643</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" href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">base::PlannerStatus::StatusType</a><span class="keyword">></span>(rp.getStatus()));</div>
<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  {</div>
<div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  run[<span class="stringliteral">"solved BOOLEAN"</span>] = std::to_string(gsetup_->haveExactSolutionPath());</div>
<div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  run[<span class="stringliteral">"valid segment fraction REAL"</span>] =</div>
<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());</div>
<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  }</div>
<div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  {</div>
<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  run[<span class="stringliteral">"solved BOOLEAN"</span>] = std::to_string(csetup_->haveExactSolutionPath());</div>
<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  run[<span class="stringliteral">"valid segment fraction REAL"</span>] =</div>
<div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(csetup_->getSpaceInformation()->getMotionValidator()->getValidMotionFraction());</div>
<div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  }</div>
<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  </div>
<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <span class="keywordflow">if</span> (solved)</div>
<div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  {</div>
<div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="keywordflow">if</span> (gsetup_)</div>
<div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  {</div>
<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] =</div>
<div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  std::to_string(gsetup_->getProblemDefinition()->hasApproximateSolution());</div>
<div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  run[<span class="stringliteral">"solution difference REAL"</span>] =</div>
<div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getProblemDefinition()->getSolutionDifference());</div>
<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  run[<span class="stringliteral">"solution length REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().length());</div>
<div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  run[<span class="stringliteral">"solution smoothness REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().smoothness());</div>
<div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  run[<span class="stringliteral">"solution clearance REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().clearance());</div>
<div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  run[<span class="stringliteral">"solution segments INTEGER"</span>] =</div>
<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  std::to_string(gsetup_->getSolutionPath().getStateCount() - 1);</div>
<div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = std::to_string(gsetup_->getSolutionPath().check());</div>
<div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  </div>
<div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> factor = gsetup_->getStateSpace()->getValidSegmentCountFactor();</div>
<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  gsetup_->getStateSpace()->setValidSegmentCountFactor(factor * 4);</div>
<div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  run[<span class="stringliteral">"correct solution strict BOOLEAN"</span>] = std::to_string(gsetup_->getSolutionPath().check());</div>
<div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  gsetup_->getStateSpace()->setValidSegmentCountFactor(factor);</div>
<div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  </div>
<div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#af7c98e06da0e8b8181a5feec8b57ac6d">simplify</a>)</div>
<div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  {</div>
<div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  <span class="comment">// simplify solution</span></div>
<div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  <a class="code" href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">time::point</a> timeStart = <a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>();</div>
<div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  gsetup_->simplifySolution();</div>
<div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  <span class="keywordtype">double</span> timeUsed = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - timeStart);</div>
<div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  run[<span class="stringliteral">"simplification time REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(timeUsed);</div>
<div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  run[<span class="stringliteral">"simplified solution length REAL"</span>] =</div>
<div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().length());</div>
<div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  run[<span class="stringliteral">"simplified solution smoothness REAL"</span>] =</div>
<div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().smoothness());</div>
<div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  run[<span class="stringliteral">"simplified solution clearance REAL"</span>] =</div>
<div class="line"><a name="l00689"></a><span class="lineno"> 689</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(gsetup_->getSolutionPath().clearance());</div>
<div class="line"><a name="l00690"></a><span class="lineno"> 690</span>  run[<span class="stringliteral">"simplified solution segments INTEGER"</span>] =</div>
<div class="line"><a name="l00691"></a><span class="lineno"> 691</span>  std::to_string(gsetup_->getSolutionPath().getStateCount() - 1);</div>
<div class="line"><a name="l00692"></a><span class="lineno"> 692</span>  run[<span class="stringliteral">"simplified correct solution BOOLEAN"</span>] =</div>
<div class="line"><a name="l00693"></a><span class="lineno"> 693</span>  std::to_string(gsetup_->getSolutionPath().check());</div>
<div class="line"><a name="l00694"></a><span class="lineno"> 694</span>  gsetup_->getStateSpace()->setValidSegmentCountFactor(factor * 4);</div>
<div class="line"><a name="l00695"></a><span class="lineno"> 695</span>  run[<span class="stringliteral">"simplified correct solution strict BOOLEAN"</span>] =</div>
<div class="line"><a name="l00696"></a><span class="lineno"> 696</span>  std::to_string(gsetup_->getSolutionPath().check());</div>
<div class="line"><a name="l00697"></a><span class="lineno"> 697</span>  gsetup_->getStateSpace()->setValidSegmentCountFactor(factor);</div>
<div class="line"><a name="l00698"></a><span class="lineno"> 698</span>  }</div>
<div class="line"><a name="l00699"></a><span class="lineno"> 699</span>  }</div>
<div class="line"><a name="l00700"></a><span class="lineno"> 700</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00701"></a><span class="lineno"> 701</span>  {</div>
<div class="line"><a name="l00702"></a><span class="lineno"> 702</span>  run[<span class="stringliteral">"approximate solution BOOLEAN"</span>] =</div>
<div class="line"><a name="l00703"></a><span class="lineno"> 703</span>  std::to_string(csetup_->getProblemDefinition()->hasApproximateSolution());</div>
<div class="line"><a name="l00704"></a><span class="lineno"> 704</span>  run[<span class="stringliteral">"solution difference REAL"</span>] =</div>
<div class="line"><a name="l00705"></a><span class="lineno"> 705</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(csetup_->getProblemDefinition()->getSolutionDifference());</div>
<div class="line"><a name="l00706"></a><span class="lineno"> 706</span>  run[<span class="stringliteral">"solution length REAL"</span>] = <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(csetup_->getSolutionPath().length());</div>
<div class="line"><a name="l00707"></a><span class="lineno"> 707</span>  run[<span class="stringliteral">"solution clearance REAL"</span>] =</div>
<div class="line"><a name="l00708"></a><span class="lineno"> 708</span>  <a class="code" href="namespaceompl.html#a6e6c38ce80fbb8f10d826bb19b64735a">ompl::toString</a>(csetup_->getSolutionPath().asGeometric().clearance());</div>
<div class="line"><a name="l00709"></a><span class="lineno"> 709</span>  run[<span class="stringliteral">"solution segments INTEGER"</span>] = std::to_string(csetup_->getSolutionPath().getControlCount());</div>
<div class="line"><a name="l00710"></a><span class="lineno"> 710</span>  run[<span class="stringliteral">"correct solution BOOLEAN"</span>] = std::to_string(csetup_->getSolutionPath().check());</div>
<div class="line"><a name="l00711"></a><span class="lineno"> 711</span>  }</div>
<div class="line"><a name="l00712"></a><span class="lineno"> 712</span>  }</div>
<div class="line"><a name="l00713"></a><span class="lineno"> 713</span>  </div>
<div class="line"><a name="l00714"></a><span class="lineno"> 714</span>  <a class="code" href="classompl_1_1base_1_1PlannerData.html">base::PlannerData</a> pd(gsetup_ ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation());</div>
<div class="line"><a name="l00715"></a><span class="lineno"> 715</span>  planners_[i]->getPlannerData(pd);</div>
<div class="line"><a name="l00716"></a><span class="lineno"> 716</span>  run[<span class="stringliteral">"graph states INTEGER"</span>] = std::to_string(pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a877a673801134168cba0581b277cae79">numVertices</a>());</div>
<div class="line"><a name="l00717"></a><span class="lineno"> 717</span>  run[<span class="stringliteral">"graph motions INTEGER"</span>] = std::to_string(pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a383876c22dd92deeed0a536c10f7ecd4">numEdges</a>());</div>
<div class="line"><a name="l00718"></a><span class="lineno"> 718</span>  </div>
<div class="line"><a name="l00719"></a><span class="lineno"> 719</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &prop : pd.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aca9e2da9d9a46e42c516fc8b926ab65c">properties</a>)</div>
<div class="line"><a name="l00720"></a><span class="lineno"> 720</span>  run[prop.first] = prop.second;</div>
<div class="line"><a name="l00721"></a><span class="lineno"> 721</span>  </div>
<div class="line"><a name="l00722"></a><span class="lineno"> 722</span>  <span class="comment">// execute post-run event, if set</span></div>
<div class="line"><a name="l00723"></a><span class="lineno"> 723</span>  <span class="keywordflow">try</span></div>
<div class="line"><a name="l00724"></a><span class="lineno"> 724</span>  {</div>
<div class="line"><a name="l00725"></a><span class="lineno"> 725</span>  <span class="keywordflow">if</span> (postRun_)</div>
<div class="line"><a name="l00726"></a><span class="lineno"> 726</span>  {</div>
<div class="line"><a name="l00727"></a><span class="lineno"> 727</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Executing post-run event for run %d of planner %s ..."</span>, status_.activeRun,</div>
<div class="line"><a name="l00728"></a><span class="lineno"> 728</span>  status_.activePlanner.c_str());</div>
<div class="line"><a name="l00729"></a><span class="lineno"> 729</span>  postRun_(planners_[i], run);</div>
<div class="line"><a name="l00730"></a><span class="lineno"> 730</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Completed execution of post-run event"</span>);</div>
<div class="line"><a name="l00731"></a><span class="lineno"> 731</span>  }</div>
<div class="line"><a name="l00732"></a><span class="lineno"> 732</span>  }</div>
<div class="line"><a name="l00733"></a><span class="lineno"> 733</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00734"></a><span class="lineno"> 734</span>  {</div>
<div class="line"><a name="l00735"></a><span class="lineno"> 735</span>  std::stringstream es;</div>
<div class="line"><a name="l00736"></a><span class="lineno"> 736</span>  es << <span class="stringliteral">"There was an error in the execution of the post-run event for run "</span> << status_.activeRun</div>
<div class="line"><a name="l00737"></a><span class="lineno"> 737</span>  << <span class="stringliteral">" of planner "</span> << status_.activePlanner << std::endl;</div>
<div class="line"><a name="l00738"></a><span class="lineno"> 738</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00739"></a><span class="lineno"> 739</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00740"></a><span class="lineno"> 740</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00741"></a><span class="lineno"> 741</span>  }</div>
<div class="line"><a name="l00742"></a><span class="lineno"> 742</span>  </div>
<div class="line"><a name="l00743"></a><span class="lineno"> 743</span>  exp_.planners[i].runs.push_back(run);</div>
<div class="line"><a name="l00744"></a><span class="lineno"> 744</span>  </div>
<div class="line"><a name="l00745"></a><span class="lineno"> 745</span>  <span class="comment">// Add planner progress data from the planner progress</span></div>
<div class="line"><a name="l00746"></a><span class="lineno"> 746</span>  <span class="comment">// collector if there was anything to report</span></div>
<div class="line"><a name="l00747"></a><span class="lineno"> 747</span>  <span class="keywordflow">if</span> (planners_[i]->getPlannerProgressProperties().size() > 0)</div>
<div class="line"><a name="l00748"></a><span class="lineno"> 748</span>  {</div>
<div class="line"><a name="l00749"></a><span class="lineno"> 749</span>  exp_.planners[i].runsProgressData.push_back(rp.getRunProgressData());</div>
<div class="line"><a name="l00750"></a><span class="lineno"> 750</span>  }</div>
<div class="line"><a name="l00751"></a><span class="lineno"> 751</span>  }</div>
<div class="line"><a name="l00752"></a><span class="lineno"> 752</span>  <span class="keywordflow">catch</span> (std::runtime_error &e)</div>
<div class="line"><a name="l00753"></a><span class="lineno"> 753</span>  {</div>
<div class="line"><a name="l00754"></a><span class="lineno"> 754</span>  std::stringstream es;</div>
<div class="line"><a name="l00755"></a><span class="lineno"> 755</span>  es << <span class="stringliteral">"There was an error in the extraction of planner results: planner = "</span> << status_.activePlanner</div>
<div class="line"><a name="l00756"></a><span class="lineno"> 756</span>  << <span class="stringliteral">", run = "</span> << status_.activePlanner << std::endl;</div>
<div class="line"><a name="l00757"></a><span class="lineno"> 757</span>  es << <span class="stringliteral">"*** "</span> << e.what() << std::endl;</div>
<div class="line"><a name="l00758"></a><span class="lineno"> 758</span>  std::cerr << es.str();</div>
<div class="line"><a name="l00759"></a><span class="lineno"> 759</span>  <a class="code" href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a>(es.str().c_str());</div>
<div class="line"><a name="l00760"></a><span class="lineno"> 760</span>  }</div>
<div class="line"><a name="l00761"></a><span class="lineno"> 761</span>  </div>
<div class="line"><a name="l00762"></a><span class="lineno"> 762</span>  ++j;</div>
<div class="line"><a name="l00763"></a><span class="lineno"> 763</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a> == 0)</div>
<div class="line"><a name="l00764"></a><span class="lineno"> 764</span>  {</div>
<div class="line"><a name="l00765"></a><span class="lineno"> 765</span>  maxTime -= rp.getTimeUsed();</div>
<div class="line"><a name="l00766"></a><span class="lineno"> 766</span>  <span class="keywordflow">if</span> (maxTime < 0.)</div>
<div class="line"><a name="l00767"></a><span class="lineno"> 767</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00768"></a><span class="lineno"> 768</span>  }</div>
<div class="line"><a name="l00769"></a><span class="lineno"> 769</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00770"></a><span class="lineno"> 770</span>  {</div>
<div class="line"><a name="l00771"></a><span class="lineno"> 771</span>  <span class="keywordflow">if</span> (j >= req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">runCount</a>)</div>
<div class="line"><a name="l00772"></a><span class="lineno"> 772</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00773"></a><span class="lineno"> 773</span>  }</div>
<div class="line"><a name="l00774"></a><span class="lineno"> 774</span>  }</div>
<div class="line"><a name="l00775"></a><span class="lineno"> 775</span>  planners_[i]->clear();</div>
<div class="line"><a name="l00776"></a><span class="lineno"> 776</span>  }</div>
<div class="line"><a name="l00777"></a><span class="lineno"> 777</span>  </div>
<div class="line"><a name="l00778"></a><span class="lineno"> 778</span>  status_.running = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00779"></a><span class="lineno"> 779</span>  status_.progressPercentage = 100.0;</div>
<div class="line"><a name="l00780"></a><span class="lineno"> 780</span>  <span class="keywordflow">if</span> (req.<a class="code" href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">displayProgress</a>)</div>
<div class="line"><a name="l00781"></a><span class="lineno"> 781</span>  {</div>
<div class="line"><a name="l00782"></a><span class="lineno"> 782</span>  <span class="keywordflow">while</span> (status_.progressPercentage > progress->count())</div>
<div class="line"><a name="l00783"></a><span class="lineno"> 783</span>  ++(*progress);</div>
<div class="line"><a name="l00784"></a><span class="lineno"> 784</span>  std::cout << std::endl;</div>
<div class="line"><a name="l00785"></a><span class="lineno"> 785</span>  }</div>
<div class="line"><a name="l00786"></a><span class="lineno"> 786</span>  </div>
<div class="line"><a name="l00787"></a><span class="lineno"> 787</span>  exp_.totalDuration = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">time::now</a>() - exp_.startTime);</div>
<div class="line"><a name="l00788"></a><span class="lineno"> 788</span>  </div>
<div class="line"><a name="l00789"></a><span class="lineno"> 789</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Benchmark complete"</span>);</div>
<div class="line"><a name="l00790"></a><span class="lineno"> 790</span>  <a class="code" href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">msg::useOutputHandler</a>(oh);</div>
<div class="line"><a name="l00791"></a><span class="lineno"> 791</span>  <a class="code" href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a>(<span class="stringliteral">"Benchmark complete"</span>);</div>
<div class="line"><a name="l00792"></a><span class="lineno"> 792</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1CompleteExperiment_html_afbe731482939c3147ef29b7e66a417d5"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html#afbe731482939c3147ef29b7e66a417d5">ompl::tools::Benchmark::CompleteExperiment::name</a></div><div class="ttdeci">std::string name</div><div class="ttdoc">The name of the experiment.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00210">Benchmark.h:210</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="Benchmark_8cpp_source.html#l00257">Benchmark.cpp:257</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="Benchmark_8cpp_source.html#l00251">Benchmark.cpp:251</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a5c218cde462780a4502dfc561708e903"><div class="ttname"><a href="namespaceompl_1_1base.html#a5c218cde462780a4502dfc561708e903">ompl::base::PlannerTerminationConditionFn</a></div><div class="ttdeci">std::function< bool()> PlannerTerminationConditionFn</div><div class="ttdoc">Signature for functions that decide whether termination conditions have been met for a planner,...</div><div class="ttdef"><b>Definition:</b> <a href="PlannerTerminationCondition_8h_source.html#l00120">PlannerTerminationCondition.h:120</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#l00151">Time.h:151</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#l00178">Benchmark.h:178</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a4bbc20223e0b408d4a59f453a1ae7a25"><div class="ttname"><a href="namespaceompl_1_1time.html#a4bbc20223e0b408d4a59f453a1ae7a25">ompl::time::point</a></div><div class="ttdeci">std::chrono::system_clock::time_point point</div><div class="ttdoc">Representation of a point in time.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00116">Time.h:116</a></div></div>
<div class="ttc" id="anamespaceompl_1_1machine_html_a72f733ca0ea9660e62e7d78887778494"><div class="ttname"><a href="namespaceompl_1_1machine.html#a72f733ca0ea9660e62e7d78887778494">ompl::machine::getHostname</a></div><div class="ttdeci">std::string getHostname()</div><div class="ttdoc">Get the hostname of the machine in use.</div></div>
<div class="ttc" id="anamespaceompl_1_1machine_html_a263d0e9d43cd9e10edb468b97f46a198"><div class="ttname"><a href="namespaceompl_1_1machine.html#a263d0e9d43cd9e10edb468b97f46a198">ompl::machine::getProcessMemoryUsage</a></div><div class="ttdeci">MemUsage_t getProcessMemoryUsage()</div><div class="ttdoc">Get the amount of memory the current process is using. This should work on major platforms (Windows,...</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="Benchmark_8cpp_source.html#l00228">Benchmark.cpp:228</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a83e28f524a5576a73bb062523bbdc53d"><div class="ttname"><a href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a></div><div class="ttdeci">void noOutputHandler()</div><div class="ttdoc">This function instructs ompl that no messages should be outputted. Equivalent to useOutputHandler(nul...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00095">Console.cpp:95</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#l00417">Planner.h:417</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:102</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a66fd8fd39855d4166ff40164fe4d9d6b"><div class="ttname"><a href="namespaceompl_1_1msg.html#a66fd8fd39855d4166ff40164fe4d9d6b">ompl::msg::useOutputHandler</a></div><div class="ttdeci">void useOutputHandler(OutputHandler *oh)</div><div class="ttdoc">Specify the instance of the OutputHandler to use. By default, this is OutputHandlerSTD.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00108">Console.cpp:108</a></div></div>
<div class="ttc" id="anamespaceompl_1_1machine_html_ab382994b8b47d80d0e7a2a7fb16c7a84"><div class="ttname"><a href="namespaceompl_1_1machine.html#ab382994b8b47d80d0e7a2a7fb16c7a84">ompl::machine::MemUsage_t</a></div><div class="ttdeci">unsigned long long MemUsage_t</div><div class="ttdoc">Amount of memory used, in bytes.</div><div class="ttdef"><b>Definition:</b> <a href="MachineSpecs_8h_source.html#l00112">MachineSpecs.h:112</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#l00126">SimpleSetup.h:126</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#l00378">Benchmark.h:378</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_ac9bdc9db7d5325710fb9ac74d27900ad"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#ac9bdc9db7d5325710fb9ac74d27900ad">ompl::base::PlannerStatus::asString</a></div><div class="ttdeci">std::string asString() const</div><div class="ttdoc">Return a string representation.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8cpp_source.html#l00039">PlannerStatus.cpp:39</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4ac60ae0f04326edcd4fa202cda3dddb33"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4ac60ae0f04326edcd4fa202cda3dddb33">ompl::base::PlannerStatus::TYPE_COUNT</a></div><div class="ttdeci">@ TYPE_COUNT</div><div class="ttdoc">The number of possible status values.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00202">PlannerStatus.h:202</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_a5da903c529cfbbce79900b7c1cbc6cc3"><div class="ttname"><a href="namespaceompl_1_1time.html#a5da903c529cfbbce79900b7c1cbc6cc3">ompl::time::now</a></div><div class="ttdeci">point now()</div><div class="ttdoc">Get the current time point.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00122">Time.h:122</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="agroup__logging_html_ga04bc36d1b8c57ad7e13a8a48451a3a05"><div class="ttname"><a href="group__logging.html#ga04bc36d1b8c57ad7e13a8a48451a3a05">OMPL_INFORM</a></div><div class="ttdeci">#define OMPL_INFORM(fmt,...)</div><div class="ttdoc">Log a formatted information string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00068">Console.h:68</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1CompleteExperiment_html"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1CompleteExperiment.html">ompl::tools::Benchmark::CompleteExperiment</a></div><div class="ttdoc">This structure holds experimental data for a set of planners.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00207">Benchmark.h:207</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="Benchmark_8cpp_source.html#l00246">Benchmark.cpp:246</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="Benchmark_8cpp_source.html#l00213">Benchmark.cpp:213</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html_af7c98e06da0e8b8181a5feec8b57ac6d"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html#af7c98e06da0e8b8181a5feec8b57ac6d">ompl::tools::Benchmark::Request::simplify</a></div><div class="ttdeci">bool simplify</div><div class="ttdoc">flag indicating whether simplification should be applied to path; true by default</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_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#l00238">PlannerData.h:238</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_aa5706f2fed0ed94583f9e39377cc89e3"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#aa5706f2fed0ed94583f9e39377cc89e3">ompl::tools::Benchmark::getRecordedExperimentData</a></div><div class="ttdeci">const CompleteExperiment & getRecordedExperimentData() const</div><div class="ttdoc">Return all the experiment data that would be written to the results file. The data should not be chan...</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8cpp_source.html#l00273">Benchmark.cpp:273</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="Benchmark_8cpp_source.html#l00241">Benchmark.cpp:241</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="Benchmark_8cpp_source.html#l00233">Benchmark.cpp:233</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#l00175">Benchmark.h:175</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html_a0252082e35f936c93c86eabf0d713e01"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0252082e35f936c93c86eabf0d713e01">ompl::tools::Benchmark::Request::runCount</a></div><div class="ttdeci">unsigned int runCount</div><div class="ttdoc">the number of times to run each planner; 100 by default If set to 0, then run each planner as many ti...</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00271">Benchmark.h:271</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="Benchmark_8cpp_source.html#l00223">Benchmark.cpp:223</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html_a882d384685f86176fbb441c256d34044"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a882d384685f86176fbb441c256d34044">ompl::tools::Benchmark::Request::saveConsoleOutput</a></div><div class="ttdeci">bool saveConsoleOutput</div><div class="ttdoc">flag indicating whether console output is saved (in an automatically generated filename); true by def...</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_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_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#l00126">SimpleSetup.h:126</a></div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_afab48f173edc785ee005301642b1afb1"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#afab48f173edc785ee005301642b1afb1">ompl::tools::Benchmark::addExperimentParameter</a></div><div class="ttdeci">void addExperimentParameter(const std::string &name, const std::string &type, const std::string &value)</div><div class="ttdoc">Add an optional parameter's information to the benchmark output. Useful for aggregating results over ...</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8cpp_source.html#l00207">Benchmark.cpp:207</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html_a0e63ef873358346cfb78a69121dfd2ec"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a0e63ef873358346cfb78a69121dfd2ec">ompl::tools::Benchmark::Request::displayProgress</a></div><div class="ttdeci">bool displayProgress</div><div class="ttdoc">flag indicating whether progress is to be displayed or not; true by default</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00278">Benchmark.h:278</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="Benchmark_8cpp_source.html#l00299">Benchmark.cpp:299</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html">ompl::base::PlannerStatus</a></div><div class="ttdoc">A class to store the exit status of Planner::solve()</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00112">PlannerStatus.h:112</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a301d8c702c92a85d73832f79cb989ee5"><div class="ttname"><a href="namespaceompl_1_1base.html#a301d8c702c92a85d73832f79cb989ee5">ompl::base::PlannerAllocator</a></div><div class="ttdeci">std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator</div><div class="ttdoc">Definition of a function that can allocate a planner.</div><div class="ttdef"><b>Definition:</b> <a href="Planner_8h_source.html#l00501">Planner.h:501</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html">ompl::tools::Benchmark::Request</a></div><div class="ttdoc">Representation of a benchmark request.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00247">Benchmark.h:247</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:125</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="anamespaceompl_1_1time_html_ae77961d01352b61e3fcd521ec3e5d59a"><div class="ttname"><a href="namespaceompl_1_1time.html#ae77961d01352b61e3fcd521ec3e5d59a">ompl::time::duration</a></div><div class="ttdeci">std::chrono::system_clock::duration duration</div><div class="ttdoc">Representation of a time duration.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00119">Time.h:119</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="Benchmark_8cpp_source.html#l00218">Benchmark.cpp:218</a></div></div>
<div class="ttc" id="agroup__logging_html_gab76357dced39cb468d2061d3358f80a6"><div class="ttname"><a href="group__logging.html#gab76357dced39cb468d2061d3358f80a6">OMPL_WARN</a></div><div class="ttdeci">#define OMPL_WARN(fmt,...)</div><div class="ttdoc">Log a formatted warning string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00066">Console.h:66</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#l00474">PlannerData.h:474</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="Benchmark_8cpp_source.html#l00432">Benchmark.cpp:432</a></div></div>
<div class="ttc" id="anamespaceompl_1_1machine_html_a75c4da4e42a1de9050a171213135fa26"><div class="ttname"><a href="namespaceompl_1_1machine.html#a75c4da4e42a1de9050a171213135fa26">ompl::machine::getCPUInfo</a></div><div class="ttdeci">std::string getCPUInfo()</div><div class="ttdoc">Get information about the CPU of the machine in use.</div></div>
<div class="ttc" id="aclassompl_1_1tools_1_1Benchmark_html_ade874bfcc461409dbe925aa6ee0bcbd3"><div class="ttname"><a href="classompl_1_1tools_1_1Benchmark.html#ade874bfcc461409dbe925aa6ee0bcbd3">ompl::tools::Benchmark::Benchmark</a></div><div class="ttdeci">Benchmark(geometric::SimpleSetup &setup, const std::string &name=std::string())</div><div class="ttdoc">Constructor needs the SimpleSetup instance needed for planning. Optionally, the experiment name (name...</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8cpp_source.html#l00195">Benchmark.cpp:195</a></div></div>
<div class="ttc" id="astructompl_1_1base_1_1PlannerStatus_html_a5fe3825813b066b664b3dd34dd1bc8c4"><div class="ttname"><a href="structompl_1_1base_1_1PlannerStatus.html#a5fe3825813b066b664b3dd34dd1bc8c4">ompl::base::PlannerStatus::StatusType</a></div><div class="ttdeci">StatusType</div><div class="ttdoc">The possible values of the status returned by a planner.</div><div class="ttdef"><b>Definition:</b> <a href="PlannerStatus_8h_source.html#l00147">PlannerStatus.h:147</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1RunProperties_html"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1RunProperties.html">ompl::tools::Benchmark::RunProperties</a></div><div class="ttdoc">The data collected from a run of a planner is stored as key-value pairs.</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00168">Benchmark.h:168</a></div></div>
<div class="ttc" id="astructompl_1_1tools_1_1Benchmark_1_1Request_html_a12b3d959f8e7349120cdd87ef21f72b8"><div class="ttname"><a href="structompl_1_1tools_1_1Benchmark_1_1Request.html#a12b3d959f8e7349120cdd87ef21f72b8">ompl::tools::Benchmark::Request::maxMem</a></div><div class="ttdeci">double maxMem</div><div class="ttdoc">the maximum amount of memory a planner is allowed to use (MB); 4096.0 by default</div><div class="ttdef"><b>Definition:</b> <a href="Benchmark_8h_source.html#l00267">Benchmark.h:267</a></div></div>
<div class="ttc" id="agroup__logging_html_ga05ad3ae88188e7f248748785afd2b882"><div class="ttname"><a href="group__logging.html#ga05ad3ae88188e7f248748785afd2b882">OMPL_ERROR</a></div><div class="ttdeci">#define OMPL_ERROR(fmt,...)</div><div class="ttdoc">Log a formatted error string.</div><div class="ttdef"><b>Definition:</b> <a href="Console_8h_source.html#l00064">Console.h:64</a></div></div>
<div class="ttc" id="anamespaceompl_1_1time_html_ae8d794354a37128403aba90a187fe532"><div class="ttname"><a href="namespaceompl_1_1time.html#ae8d794354a37128403aba90a187fe532">ompl::time::as_string</a></div><div class="ttdeci">std::string as_string(const point &p)</div><div class="ttdoc">Return string representation of point in time.</div><div class="ttdef"><b>Definition:</b> <a href="Time_8h_source.html#l00142">Time.h:142</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="Benchmark_8cpp_source.html#l00263">Benchmark.cpp:263</a></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#l00078">Exception.h:78</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="Benchmark_8cpp_source.html#l00268">Benchmark.cpp:268</a></div></div>
<div class="ttc" id="anamespaceompl_1_1msg_html_a0e9a5d161592281f8caf01b0c8b2e746"><div class="ttname"><a href="namespaceompl_1_1msg.html#a0e9a5d161592281f8caf01b0c8b2e746">ompl::msg::getOutputHandler</a></div><div class="ttdeci">OutputHandler * getOutputHandler()</div><div class="ttdoc">Get the instance of the OutputHandler currently used. This is nullptr in case there is no output hand...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00115">Console.cpp:115</a></div></div>